Mazda: Add safety, UI toggles, and implement Blended ACC longitudinal control

scripts/launch_onroad_desktop.sh

@@ -56,9 +56,11 @@ UI_TARGETS=()
 LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
 NAV_DEMO=0
+LIVE_CONTROLS=0
 REPLAY_PID=""
 NAV_PID=""
 UI_PIDS=()
+LIVE_PIDS=()
 
 parse_args() {
   while [[ $# -gt 0 ]]; do
@@ -91,6 +93,10 @@ parse_args() {
         NAV_DEMO=1
         shift
         ;;
+      --live|--live-controls)
+        LIVE_CONTROLS=1
+        shift
+        ;;
       --ui)
         if [[ $# -lt 2 ]]; then
           echo "Missing value for --ui" >&2
@@ -205,6 +211,11 @@ cleanup() {
   if [[ -n "${NAV_PID}" ]]; then
     kill "${NAV_PID}" >/dev/null 2>&1 || true
   fi
+  for pid in "${LIVE_PIDS[@]-}"; do
+    if [[ -n "${pid}" ]]; then
+      kill "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
 
   for pid in "${UI_PIDS[@]-}"; do
     if [[ -n "${pid}" ]]; then
@@ -217,6 +228,11 @@ cleanup() {
   if [[ -n "${NAV_PID}" ]]; then
     wait "${NAV_PID}" >/dev/null 2>&1 || true
   fi
+  for pid in "${LIVE_PIDS[@]-}"; do
+    if [[ -n "${pid}" ]]; then
+      wait "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
 
   if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
     echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -290,6 +306,30 @@ ensure_nav_demo_replay_blocklist() {
   REPLAY_ARGS=(-b "${nav_services}" "${REPLAY_ARGS[@]}")
 }
 
+ensure_live_controls_replay_blocklist() {
+  local blocked_services="carState,carParams,carControl,controlsState,sendcan,carOutput"
+  local idx=0
+
+  for ((idx=0; idx<${#REPLAY_ARGS[@]}; idx++)); do
+    case "${REPLAY_ARGS[$idx]}" in
+      -b|--block)
+        if (( idx + 1 >= ${#REPLAY_ARGS[@]} )); then
+          echo "Missing value for ${REPLAY_ARGS[$idx]}" >&2
+          exit 1
+        fi
+        REPLAY_ARGS[$((idx + 1))]="$(append_blocked_service_names "${REPLAY_ARGS[$((idx + 1))]}" "${blocked_services}")"
+        return
+        ;;
+      --block=*)
+        REPLAY_ARGS[$idx]="--block=$(append_blocked_service_names "${REPLAY_ARGS[$idx]#*=}" "${blocked_services}")"
+        return
+        ;;
+    esac
+  done
+
+  REPLAY_ARGS=(-b "${blocked_services}" "${REPLAY_ARGS[@]}")
+}
+
 prepare_env() {
   source .venv/bin/activate
 
@@ -353,7 +393,22 @@ PY
 }
 
 build_replay() {
-  SP_DISABLE_AUTO_DEVICE_SCONS=1 "${ROOT_DIR}/.venv/bin/scons" --extras -j"${jobs}" tools/replay/replay
+  local targets=(
+    tools/replay/replay
+    common/params_pyx.so
+    common/transformations/transformations.so
+    msgq_repo/msgq/ipc_pyx.so
+    msgq_repo/msgq/visionipc/visionipc_pyx.so
+  )
+  if [[ "${LIVE_CONTROLS}" == "1" ]]; then
+    targets+=(
+      selfdrive/pandad/pandad_api_impl.so
+      selfdrive/modeld/models/commonmodel_pyx.so
+      selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
+      selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
+    )
+  fi
+  "${ROOT_DIR}/.venv/bin/scons" --cache-disable --extras -j"${jobs}" "${targets[@]}"
 }
 
 prepare_c3_runtime() {
@@ -445,6 +500,10 @@ if [[ "${NAV_DEMO}" == "1" ]]; then
   ensure_nav_demo_replay_blocklist
 fi
 
+if [[ "${LIVE_CONTROLS}" == "1" ]]; then
+  ensure_live_controls_replay_blocklist
+fi
+
 if [[ ${#REPLAY_ARGS[@]} -eq 0 ]]; then
   usage >&2
   exit 1
@@ -488,6 +547,14 @@ if [[ "${NAV_DEMO}" == "1" ]]; then
   launch_nav_demo
 fi
 
+if [[ "${LIVE_CONTROLS}" == "1" ]]; then
+  echo "Launching live card and controlsd..."
+  "${ROOT_DIR}/.venv/bin/python3" -m selfdrive.car.card &
+  LIVE_PIDS+=("$!")
+  "${ROOT_DIR}/.venv/bin/python3" -m selfdrive.controls.controlsd &
+  LIVE_PIDS+=("$!")
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
   echo "Replay is running without UI windows. Press Ctrl-C to stop."
   wait "${REPLAY_PID}"

scripts/launch_ui_desktop.sh

@@ -222,8 +222,7 @@ for d in "${ROOT_DIR}"/*_repo; do [[ -d "$d" ]] && export PYTHONPATH="${PYTHONPA
 [[ -d "${ROOT_DIR}/third_party/acados" ]] && export PYTHONPATH="${PYTHONPATH}:${ROOT_DIR}/third_party/acados"
 export OPENPILOT_ZMQ_NAMESPACE="${OPENPILOT_ZMQ_NAMESPACE:-desktop-c3-$$}"
 
-export SP_DISABLE_AUTO_DEVICE_SCONS=1
-scons -j"${jobs}" selfdrive/ui/ui
+scons --cache-disable -j"${jobs}" selfdrive/ui/ui common/params_pyx.so common/transformations/transformations.so msgq_repo/msgq/ipc_pyx.so msgq_repo/msgq/visionipc/visionipc_pyx.so
 
 cp -f "${ROOT_DIR}/selfdrive/ui/ui" "${HOST_UI}"
 cleanup