Longitudinal: Dynamic Experimental Control (#564)

* init dec

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* fix static test

* ff

* fix static test

* unitee testt

* Refactor test_dynamic_controller and fix formatting issues

Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency.

* Refactor test indentation for dynamic controller tests

Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code.

* Migrated to pytest using claude

* Integrate radar parameter into dynamic controller's pytest tests

Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases.

* Disabling unittest file to allow checks on the pipeline to succeed.

Pending to remove this, but leaving it to validate the move to pytest is okay before merging

* Replace unittest with pytest for dynamic controller tests

Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage.

* new line...

* Refactor and modularize DynamicExperimentalController logic

Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports.

* Add missing import for messaging in helpers.py

The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code.

* Format

* Formatting

* rebase fix

* Refactor MpcSource definition and update references.

Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality.

* Format

* Refactor DEC into a dedicated longitudinal planner class

Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity.

* **Refactor DEC module structure for better organization**

Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes.

* static test

* static

* had moved to car_state

* cleanup

* some more

* static method

* move around

* more cleanup

* stuff

* into their own

* rename

* check live param

* sync with stock

* type hint

* unused

* smoother trans

* window time

* fix type hint

* pass sm.frame from plannerd

* more fixes

* more

* more explicit

* fix test

* Revert "fix test"

This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0.

* Revert "pass sm.frame from plannerd"

This reverts commit a8deaa69b89f599f86ae517827a570789566e079.

* use internal frame

---------

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/controls/lib/longitudinal_planner.py

@@ -16,6 +16,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.helpers import DecPlanner
+
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -67,10 +69,11 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner:
+class LongitudinalPlanner(DecPlanner):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    DecPlanner.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -105,7 +108,10 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
+    DecPlanner.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if dec_mpc_mode := self.get_mpc_mode(sm):
+      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -206,3 +212,4 @@ class LongitudinalPlanner:
     longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
+    self.publish_longitudinal_plan_sp(sm, pm)

selfdrive/controls/plannerd.py

@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 

selfdrive/ui/qt/offroad/settings.cc

@@ -40,6 +40,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),

selfdrive/ui/translations/main_ar.ts

@@ -1411,6 +1411,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -1395,6 +1395,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_es.ts

@@ -1395,6 +1395,14 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -1395,6 +1395,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -1389,6 +1389,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1395,6 +1395,14 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_th.ts

@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_tr.ts

@@ -1389,6 +1389,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>即使在openpilot未激活时也启用驾驶员监控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1391,6 +1391,14 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>即使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>