Reapply build

This reverts commit 9c1d39b859.

SConstruct

@@ -1,4 +1,5 @@
 import os
+import importlib
 import shutil
 import subprocess
 import sys
@@ -128,6 +129,41 @@ elif arch == "aarch64" and AGNOS:
   arch = "larch64"
 assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
+# AGNOS 19.6 ships native dependencies as versioned Python packages. Link
+# Cap'n Proto statically from that managed package so release binaries don't
+# depend on the removed libcapnp-1.0.2.so system library.
+try:
+  capnproto = importlib.import_module("capnproto")
+except ModuleNotFoundError:
+  capnproto = None
+try:
+  ffmpeg = importlib.import_module("ffmpeg")
+except ModuleNotFoundError:
+  ffmpeg = None
+
+capnproto_include_dirs = [capnproto.INCLUDE_DIR] if capnproto is not None else []
+capnproto_lib_dirs = [capnproto.LIB_DIR] if capnproto is not None else []
+ffmpeg_include_dirs = [ffmpeg.INCLUDE_DIR] if ffmpeg is not None else []
+ffmpeg_lib_dirs = [ffmpeg.LIB_DIR] if ffmpeg is not None else []
+
+# Cross-builds install managed dependencies in /work/.venv-linux-arm64, but
+# comma devices expose the same packages from /usr/local/venv. Never embed the
+# host/container mount path in release binaries.
+ffmpeg_runtime_lib_dirs = ffmpeg_lib_dirs
+if arch == "larch64" and ffmpeg is not None:
+  ffmpeg_runtime_lib_dirs = [os.path.join("/usr/local/venv", os.path.relpath(ffmpeg.LIB_DIR, sys.prefix))]
+
+# The managed native-dependency packages keep their tools inside the package
+# instead of installing them into /usr/local/venv/bin. cereal invokes capnpc
+# directly while SConscript files are evaluated, so make the packaged tools
+# discoverable to both SCons actions and configure-time subprocesses.
+dependency_bin_dirs = [
+  package.BIN_DIR for package in (capnproto, ffmpeg)
+  if package is not None and os.path.isdir(package.BIN_DIR)
+]
+if dependency_bin_dirs:
+  os.environ["PATH"] = os.pathsep.join([*dependency_bin_dirs, os.environ["PATH"]])
+
 # Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
 # Use the system toolchain explicitly on macOS for reliable local builds.
 cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
@@ -269,7 +305,10 @@ env = Environment(
     "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
-  CPPPATH=cpppath + [
+  # Managed dependencies must precede the compatibility sysroot. The sysroot
+  # can intentionally retain legacy libraries for C3 support, but new release
+  # binaries must link against the versions shipped in the managed venv.
+  CPPPATH=capnproto_include_dirs + ffmpeg_include_dirs + cpppath + [
     "#",
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
@@ -288,11 +327,11 @@ env = Environment(
   RANLIB=ranlib,
   LINKFLAGS=ldflags,
 
-  RPATH=rpath,
+  RPATH=ffmpeg_runtime_lib_dirs + rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
+  LIBPATH=capnproto_lib_dirs + ffmpeg_lib_dirs + libpath + [
     "#msgq_repo",
     "#third_party",
     "#selfdrive/pandad",
@@ -371,7 +410,15 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+if capnproto is not None:
+  messaging = [
+    socketmaster,
+    msgq,
+    File(os.path.join(capnproto.LIB_DIR, "libcapnp.a")),
+    File(os.path.join(capnproto.LIB_DIR, "libkj.a")),
+  ]
+else:
+  messaging = [socketmaster, msgq, 'capnp', 'kj']
 Export('messaging')
 
 

cereal/custom.capnp

@@ -265,6 +265,7 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
   alertSize @3 :AlertSize;
   alertType @4 :Text;
   alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
+  vEgo @6 :Float32;
 
   enum AlertStatus {
     normal @0;

common/params_keys.h

@@ -345,6 +345,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"FordCurvatureBlendHigh", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
     {"FordCurvatureBlendLow", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
     {"FordCurvatureLaneChangeFactor", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
+    {"FordHandsFreeCluster", {PERSISTENT, BOOL, "0", "0", 2}},
     {"FordHumanTurnDetection", {PERSISTENT, BOOL, "1", "1", 2}},
     {"FordLateralMode", {PERSISTENT, INT, "1", "1", 2}},
     {"FLMActiveOverrides", {PERSISTENT, JSON, "{}", "{}", 2}},
@@ -679,6 +680,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
     {"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
     {"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"TurnSteeringLimitMuteSpeed", {PERSISTENT, INT, "0", "0", 0}},
     {"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"Updated", {PERSISTENT, STRING, "0", "0"}},
     {"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},

launch_chffrplus.sh

@@ -147,101 +147,10 @@ function launch {
     while true; do sleep 1; done
   fi
 
-  function prebuilt_runtime_compatible {
-    python3 - <<'PY'
-import importlib
-import os
-from pathlib import Path
-import sys
-import time
-
-from openpilot.common.file_chunker import get_existing_chunks
-
-start = time.monotonic()
-last = start
-log_path = os.environ.get("SP_BOOT_TIMING_LOG")
-
-def emit(line):
-  print(line, flush=True)
-  if log_path:
-    try:
-      with open(log_path, "a") as f:
-        f.write(line + "\n")
-    except OSError:
-      pass
-
-def log_step(label):
-  global last
-  now = time.monotonic()
-  emit(f"SP_BOOT_TIMING prebuilt_compat {label} +{now - last:.3f}s total={now - start:.3f}s")
-  last = now
-
-mods = [
-  "openpilot.common.params_pyx",
-  "msgq.ipc_pyx",
-  "msgq.visionipc.visionipc_pyx",
-  "openpilot.common.transformations.transformations",
-  "openpilot.selfdrive.pandad.pandad_api_impl",
-  "openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-  "openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-]
-
-for mod in mods:
-  try:
-    importlib.import_module(mod)
-  except Exception as e:
-    print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
-    raise
-  log_step(f"import:{mod}")
-
-repo_root = Path.cwd().parents[1]
-required_model_artifacts = [
-  repo_root / "selfdrive/modeld/models/driving_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl",
-]
-required_files = [
-  repo_root / "selfdrive/pandad/pandad_api_impl.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
-  repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
-]
-
-for path in required_model_artifacts:
-  try:
-    artifact_paths = [Path(p) for p in get_existing_chunks(path)]
-  except Exception as e:
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}") from e
-  missing_chunks = [p for p in artifact_paths if not p.is_file()]
-  if missing_chunks:
-    missing = ", ".join(str(p) for p in missing_chunks)
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact chunks for {path}: {missing}")
-log_step("required_model_artifacts")
-
-for path in required_files:
-  if not path.is_file():
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
-log_step("required_files")
-PY
-  }
-
-  USE_PREBUILT=1
-  if [ -f /data/params/d/UsePrebuilt ]; then
-    USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
-  fi
-
   sp_launch_timing "prebuilt_decision_done"
-  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
-    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
-    USE_PREBUILT=0
-  fi
-  sp_launch_timing "prebuilt_compat_done"
-
-  if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
+  # Published trees carry this marker and must never compile on-device.
+  # Developers can remove it explicitly when working from a source tree.
+  if [ ! -f "$DIR/prebuilt" ]; then
     sp_launch_timing "build_start"
     ./build.py
     sp_launch_timing "build_done"

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.2"
+  export AGNOS_VERSION="19.6.10"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

opendbc_repo/opendbc/car/ford/carcontroller.py

@@ -255,9 +255,15 @@ class CarController(CarControllerBase):
 
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       show_distance_bars = self.frame - self.distance_bar_frame < 400
+      hands_free_cluster = bool(
+        self.ford_lateral is not None
+        and self.ford_lateral.mode != FordLateralMode.native
+        and self.ford_lateral.mode == self.ford_lateral_announced_mode
+        and self.ford_lateral.hands_free_cluster_enabled)
       can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
                                                  fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
-                                                 hud_control, CS.acc_tja_status_stock_values))
+                                                 hud_control, CS.acc_tja_status_stock_values,
+                                                 hands_free_cluster))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive

opendbc_repo/opendbc/car/ford/fordcan.py

@@ -181,7 +181,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
 
 def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
-                      show_distance_bars: bool, hud_control, stock_values: dict):
+                      show_distance_bars: bool, hud_control, stock_values: dict, hands_free_cluster: bool = False):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -197,6 +197,8 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
       status = 3  # ActiveInterventionLeft
     elif hud_control.rightLaneDepart:
       status = 4  # ActiveInterventionRight
+    elif hands_free_cluster:
+      status = 7  # Hands-free assistance display
     else:
       status = 2  # Active
   elif main_on:

opendbc_repo/opendbc/car/ford/tests/test_ford.py

@@ -1,10 +1,13 @@
 import random
 from collections.abc import Iterable
+from types import SimpleNamespace
 
 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 
 from opendbc.car import gen_empty_fingerprint
+from opendbc.can import CANPacker
+from opendbc.car.ford import fordcan
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.ford.interface import CarInterface
@@ -172,3 +175,29 @@ def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
   assert enhanced.alphaLongitudinalAvailable
   assert enhanced.openpilotLongitudinalControl
   assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
+
+
+def test_hands_free_cluster_status_is_opt_in():
+  packer = CANPacker("ford_lincoln_base_pt")
+  CAN = SimpleNamespace(main=0)
+  CP = SimpleNamespace(openpilotLongitudinalControl=False)
+  hud = SimpleNamespace(leftLaneDepart=False, rightLaneDepart=False)
+  stock_values = dict.fromkeys([
+    "HaDsply_No_Cs", "HaDsply_No_Cnt", "AccStopStat_D_Dsply", "AccTrgDist2_D_Dsply",
+    "AccStopRes_B_Dsply", "TjaWarn_D_Rq", "TjaMsgTxt_D_Dsply", "IaccLamp_D_Rq",
+    "AccMsgTxt_D2_Rq", "FcwDeny_B_Dsply", "FcwMemStat_B_Actl", "AccTGap_B_Dsply",
+    "CadsAlignIncplt_B_Actl", "AccFllwMde_B_Dsply", "CadsRadrBlck_B_Actl",
+    "CmbbPostEvnt_B_Dsply", "AccStopMde_B_Dsply", "FcwMemSens_D_Actl",
+    "FcwMsgTxt_D_Rq", "AccWarn_D_Dsply", "FcwVisblWarn_B_Rq", "FcwAudioWarn_B_Rq",
+    "AccTGap_D_Dsply", "AccMemEnbl_B_RqDrv", "FdaMem_B_Stat",
+  ], 0)
+
+  regular = fordcan.create_acc_ui_msg(
+    packer, CAN, CP, True, True, False, False, False, hud, stock_values)
+  hands_free = fordcan.create_acc_ui_msg(
+    packer, CAN, CP, True, True, False, False, False, hud, stock_values, True)
+  expected_regular = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 2})
+  expected_hands_free = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 7})
+
+  assert regular == expected_regular
+  assert hands_free == expected_hands_free

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -988,6 +988,45 @@ class TestHyundaiFingerprint:
     assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
     assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
 
+  def test_g80_alpha_long_preserves_legacy_safety(self):
+    toggles = get_test_toggles()
+
+    stock_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], False, False, False, toggles)
+    assert CAR.GENESIS_G80 in LEGACY_LONGITUDINAL_CAR
+    assert stock_g80.alphaLongitudinalAvailable
+    assert not stock_g80.openpilotLongitudinalControl
+    assert stock_g80.pcmCruise
+    assert stock_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert not (stock_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+    long_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
+    assert long_g80.alphaLongitudinalAvailable
+    assert long_g80.openpilotLongitudinalControl
+    assert not long_g80.pcmCruise
+    assert long_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert long_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
+
+  @pytest.mark.parametrize("ecu_disabled", (True, False))
+  def test_g80_alpha_long_disables_stock_scc(self, monkeypatch, ecu_disabled):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    called = {}
+
+    def fake_disable_ecu(*args, **kwargs):
+      called.update(kwargs)
+      return ecu_disabled
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, None, None)
+
+    assert called["addr"] == 0x7d0
+    assert called["bus"] == 0
+    assert called["reset"] is False
+    assert CP.openpilotLongitudinalControl == ecu_disabled
+    assert CP.pcmCruise != ecu_disabled
+    assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG) == ecu_disabled
+
   def test_xceed_phev_disable_failure_falls_back_to_stock_acc(self, monkeypatch):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], True, False, False, toggles)

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1213,6 +1213,9 @@ NON_SCC_CAR = CAR.with_flags(HyundaiFlags.NON_SCC)
 #       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
-LEGACY_LONGITUDINAL_CAR = {CAR.KIA_XCEED_PHEV}
+LEGACY_LONGITUDINAL_CAR = {
+  CAR.GENESIS_G80,
+  CAR.KIA_XCEED_PHEV,
+}
 
 DBC = CAR.create_dbc_map()

opendbc_repo/opendbc/car/nissan/interface.py

@@ -15,6 +15,7 @@ LEAF_ADAS_ECU_BUS = 0
 LEAF_ADAS_COMMAND_BUS = 1
 LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
 LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
+LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED = False
 
 LEAF_KWP_EXTENDED_REQUEST = b"\x10\xC0"
 LEAF_KWP_EXTENDED_RESPONSE = b"\x50\xC0"
@@ -26,7 +27,7 @@ LEAF_KWP_TAKEOVER_SESSIONS = (
 
 
 def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
-  return candidate == CAR.NISSAN_LEAF and any(
+  return LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED and candidate == CAR.NISSAN_LEAF and any(
     fw.address == LEAF_ADAS_ECU_ADDR and bytes(fw.fwVersion) == LEAF_2025_SV_PLUS_CAMERA_FW
     for fw in car_fw
   )

opendbc_repo/opendbc/car/nissan/tests/test_nissan.py

@@ -4,6 +4,7 @@ import pytest
 
 from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
+from opendbc.car.nissan import interface as nissan_interface
 from opendbc.car.nissan.carstate import CarState
 from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
                                           leaf_adas_commands_silent, restore_leaf_adas_tx
@@ -18,6 +19,12 @@ SUPPORTED_LEAF_FW = [structs.CarParams.CarFw(
 )]
 
 
+@pytest.fixture
+def experimental_leaf_long(monkeypatch):
+  """Exercise the dormant implementation without making it available in production."""
+  monkeypatch.setattr(nissan_interface, "LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED", True)
+
+
 def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.CarControl.Actuators.LongControlState.pid):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, alpha_long, False, False, TEST_TOGGLES)
   FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
@@ -33,7 +40,28 @@ def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.C
   return {msg[0]: msg for msg in can_sends}
 
 
-def test_leaf_2025_sv_plus_alpha_long_params():
+def test_leaf_2025_sv_plus_alpha_long_is_disabled(monkeypatch):
+  stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
+  alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
+
+  assert not stock.alphaLongitudinalAvailable
+  assert not stock.openpilotLongitudinalControl
+  assert stock.pcmCruise
+  assert not (stock.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
+
+  assert not alpha_long.alphaLongitudinalAvailable
+  assert not alpha_long.openpilotLongitudinalControl
+  assert alpha_long.pcmCruise
+  assert not alpha_long.autoResumeSng
+  assert not (alpha_long.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
+
+  disable_calls = []
+  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: disable_calls.append((args, kwargs)))
+  CarInterface.init(alpha_long, None, None)
+  assert not disable_calls
+
+
+def test_dormant_leaf_2025_sv_plus_alpha_long_params(experimental_leaf_long):
   stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
   alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
 
@@ -79,7 +107,13 @@ def test_stock_controller_does_not_send_longitudinal_messages():
   assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
 
 
-def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
+def test_disabled_alpha_long_controller_does_not_send_longitudinal_messages():
+  can_sends = run_controller(True)
+
+  assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
+
+
+def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive(experimental_leaf_long):
   can_sends = run_controller(True)
 
   assert can_sends[0x2B0][1].hex() == "ff6090ac5b000e03"
@@ -89,13 +123,13 @@ def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
   assert can_sends[0x707][2] == 0
 
 
-def test_alpha_long_controller_clamps_to_panda_accel_limit():
+def test_alpha_long_controller_clamps_to_panda_accel_limit(experimental_leaf_long):
   can_sends = run_controller(True, accel=5.0)
 
   assert can_sends[0x2B0][1].hex() == "007f8fac5b000e0c"
 
 
-def test_alpha_long_controller_blends_friction_brake_below_regen_limit():
+def test_alpha_long_controller_blends_friction_brake_below_regen_limit(experimental_leaf_long):
   can_sends = run_controller(True, accel=-2.0)
 
   assert can_sends[0x2B0][1].hex() == "a827d5ac5b000e09"
@@ -104,7 +138,7 @@ def test_alpha_long_controller_blends_friction_brake_below_regen_limit():
   assert brake[5] & 0x84 == 0x84
 
 
-def test_alpha_long_controller_sends_inactive_commands_when_disengaged():
+def test_alpha_long_controller_sends_inactive_commands_when_disengaged(experimental_leaf_long):
   can_sends = run_controller(True, accel=1.0, long_active=False)
 
   assert can_sends[0x2B0][1].hex() == "dc53a2ac1b000e03"
@@ -113,7 +147,7 @@ def test_alpha_long_controller_sends_inactive_commands_when_disengaged():
 
 @pytest.mark.parametrize(("signal", "button_type"), [("SET_BUTTON", ButtonType.decelCruise),
                                                         ("RES_BUTTON", ButtonType.accelCruise)])
-def test_leaf_set_resume_release_enables_alpha_long(signal, button_type):
+def test_leaf_set_resume_release_enables_alpha_long(signal, button_type, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, TEST_TOGGLES)
   FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
   CS = CarState(CP, FPCP)
@@ -130,7 +164,7 @@ def test_leaf_set_resume_release_enables_alpha_long(signal, button_type):
 
 
 @pytest.mark.parametrize("ecu_disabled", [False, True])
-def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
+def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
   calls = []
 
@@ -158,7 +192,7 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
   assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
 
 
-def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch):
+def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
 
   monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
@@ -171,7 +205,7 @@ def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch):
   assert CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL
 
 
-def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch):
+def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
   restore_calls = []
 

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -165,13 +165,18 @@ class TestCarInterfaces:
       "Center_Stack_2": {"LKAS_Button": 1},
     }, is_ram=True)
 
-  def test_chrysler_wd_mod_enables_steer_to_zero(self):
+  @pytest.mark.parametrize("candidate", (
+    CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+    CHRYSLER_CAR.JEEP_GRAND_CHEROKEE,
+    CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019,
+  ))
+  def test_chrysler_steer_to_zero_module(self, candidate):
     fingerprint = {bus: {} for bus in range(8)}
     fingerprint[0][0x4FF] = 8
     toggles = get_test_starpilot_toggles()
 
     car_params = ChryslerCarInterface.get_params(
-      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      candidate,
       fingerprint,
       [],
       alpha_long=False,
@@ -182,7 +187,7 @@ class TestCarInterfaces:
     assert car_params.minSteerSpeed > 0.
 
     fp_car_params = ChryslerCarInterface.get_starpilot_params(
-      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      candidate,
       fingerprint,
       [],
       car_params,
@@ -206,11 +211,14 @@ class TestCarInterfaces:
       button_message="CRUISE_BUTTONS",
       auto_high_beam=0,
     )
+    controller.update(CC, CS, 0, toggles)
+    controller.update(CC, CS, 0, toggles)
     _, can_sends = controller.update(CC, CS, 0, toggles)
 
     lkas_parser = CANParser(CHRYSLER_DBC[car_params.carFingerprint][Bus.pt], [("LKAS_COMMAND", 50)], 0)
     lkas_parser.update([0, can_sends])
     assert lkas_parser.vl["LKAS_COMMAND"]["LKAS_CONTROL_BIT"] == 1
+    assert lkas_parser.vl["LKAS_COMMAND"]["STEERING_TORQUE"] != 0
 
   @pytest.mark.parametrize("candidate", (CHRYSLER_CAR.JEEP_GRAND_CHEROKEE, CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019))
   def test_jeep_brake_hold_safety_capability_is_provisioned(self, candidate):

opendbc_repo/opendbc/safety/tests/common.py

@@ -1103,6 +1103,7 @@ class SafetyTest(SafetyTestBase):
                                               'TestHyundaiSafetyFCEVLong', 'TestHyundaiLongitudinalAolLkasOnEngageSafety',
                                               'TestHyundaiSafetyCanRefreshLong', 'TestHyundaiSafetyCanRefreshLongCameraSCC',
                                               'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                              'TestHyundaiLegacyLongitudinalSafety',
                                               'TestHyundaiLegacyLongitudinalSafetyHEV'}):
               continue
             volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb', 'TestVolkswagenMeb')
@@ -1156,6 +1157,7 @@ class SafetyTest(SafetyTestBase):
             if attr.startswith('TestHyundaiLongitudinal') or attr in ('TestHyundaiSafetyFCEVLong',
                                                                       'TestHyundaiLongitudinalAolLkasOnEngageSafety',
                                                                       'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                                                      'TestHyundaiLegacyLongitudinalSafety',
                                                                       'TestHyundaiLegacyLongitudinalSafetyHEV'):
               # exceptions for common msgs across different Hyundai CAN platforms
               tx = list(filter(lambda m: m[0] not in [0x420, 0x50A, 0x389, 0x4A2], tx))

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -597,6 +597,14 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
     self.safety.init_tests()
 
 
+class TestHyundaiLegacyLongitudinalSafety(TestHyundaiLongitudinalSafety, TestHyundaiLegacySafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.LONG)
+    self.safety.init_tests()
+
+
 class TestHyundaiLegacyLongitudinalSafetyHEV(TestHyundaiLongitudinalSafety, TestHyundaiLegacySafetyHEV):
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_kia_generic")

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-284dbddd-DEBUG";
+const uint8_t gitversion[19] = "DEV-46ae2472-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-284dbddd-DEBUG
+DEV-46ae2472-DEBUG

pyproject.toml

@@ -29,6 +29,11 @@ dependencies = [
   "setuptools",
   "numpy >=2.0",
 
+  # AGNOS 19.6 native build dependencies
+  "comma-deps-capnproto; python_version >= '3.12'",
+  "comma-deps-ffmpeg; python_version >= '3.12'",
+  "libdatachannel-py>=2026.1.0.dev2; python_version >= '3.12'",
+
   # body / webrtcd
   "aiohttp",
   "aiortc",

scripts/laptop_device_build.sh

@@ -467,6 +467,66 @@ EOF
   echo "==> larch64 scons completed in $(( $(date +%s) - started_at ))s"
 }
 
+validate_larch64_artifacts() {
+  local engine
+  engine="$(detect_engine)"
+
+  echo "==> Validating larch64 runtime dependencies"
+  "${engine}" run --rm --platform linux/arm64 \
+    --user "${DOCKER_RUN_USER}" \
+    -v "${HOST_ROOT_DIR}:/work" \
+    -v "${HOST_VENV_DIR}:/work/.venv-linux-arm64:ro" \
+    -v "${HOST_SYSROOT_DIR}:/opt/tici-sysroot:ro" \
+    -v "${HOST_SYSROOT_DIR}/system/vendor/lib64:/system/vendor/lib64:ro" \
+    -w /work \
+    "${IMAGE_NAME}" bash -lc '
+set -euo pipefail
+ffmpeg_lib_dir="/work/.venv-linux-arm64/lib/python3.12/site-packages/ffmpeg/install/lib"
+target_ffmpeg_runpath="/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/lib"
+runtime_library_path="${ffmpeg_lib_dir}:/work/third_party/acados/larch64/lib:/work/third_party/libyuv/larch64/lib:/work/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code:/work/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code:/opt/tici-sysroot/usr/local/lib:/opt/tici-sysroot/lib/aarch64-linux-gnu:/opt/tici-sysroot/usr/lib/aarch64-linux-gnu:/system/vendor/lib64"
+failures=0
+
+while IFS= read -r -d "" artifact; do
+  if ! readelf -h "${artifact}" 2>/dev/null | grep -q "Machine:.*AArch64"; then
+    continue
+  fi
+
+  dynamic="$(readelf -d "${artifact}" 2>/dev/null || true)"
+  if grep -Eq "(RPATH|RUNPATH).*\/work\/" <<<"${dynamic}"; then
+    echo "ERROR: ${artifact} embeds a build-host runtime path" >&2
+    failures=1
+  fi
+
+  has_ffmpeg=0
+  while IFS= read -r needed; do
+    case "${needed}" in
+      libavformat.so.*|libavcodec.so.*|libswresample.so.*|libavutil.so.*)
+        has_ffmpeg=1
+        if [[ ! -e "${ffmpeg_lib_dir}/${needed}" ]]; then
+          echo "ERROR: ${artifact} links ${needed}, which is not shipped by the managed FFmpeg package" >&2
+          failures=1
+        fi
+        ;;
+    esac
+  done < <(sed -n "s/.*Shared library: \[\([^]]*\)\].*/\1/p" <<<"${dynamic}")
+
+  if [[ "${has_ffmpeg}" -eq 1 ]] && ! grep -Fq "${target_ffmpeg_runpath}" <<<"${dynamic}"; then
+    echo "ERROR: ${artifact} links FFmpeg without the target managed-venv RUNPATH" >&2
+    failures=1
+  fi
+
+  missing="$(LD_LIBRARY_PATH="${runtime_library_path}" ldd "${artifact}" 2>&1 | grep "not found" || true)"
+  if [[ -n "${missing}" ]]; then
+    echo "ERROR: ${artifact} has unresolved target dependencies:" >&2
+    echo "${missing}" >&2
+    failures=1
+  fi
+done < <(git ls-files -z)
+
+exit "${failures}"
+'
+}
+
 setup_host_venv() {
   if [[ ! -f "${ROOT_DIR}/.venv/bin/activate" ]]; then
     if [[ -x "${ROOT_DIR}/tools/install_python_dependencies.sh" ]]; then
@@ -516,6 +576,7 @@ run_larch64_build() {
     cereal/messaging/bridge \
     msgq_repo/msgq/ipc_pyx.so \
     msgq_repo/msgq/visionipc/visionipc_pyx.so
+  validate_larch64_artifacts
   touch "${ROOT_DIR}/prebuilt"
 }
 

selfdrive/car/card.py

@@ -39,6 +39,7 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
 REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
 REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
+SLC_SOURCE_NONE = "None"
 EventName = log.OnroadEvent.EventName
 
 # forward
@@ -276,14 +277,19 @@ class Car:
       self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise
     )
     if not preap_software_cruise:
-      speed_limit_confirmation_pending = is_speed_limit_confirmation_pending(self.sm['starpilotPlan'])
+      starpilot_plan = self.sm['starpilotPlan']
+      speed_limit_confirmation_pending = is_speed_limit_confirmation_pending(starpilot_plan)
+      slc_target_with_offset = 0.0
+      if self.starpilot_toggles.speed_limit_controller and starpilot_plan.slcSpeedLimitSource != SLC_SOURCE_NONE:
+        slc_target_with_offset = starpilot_plan.slcSpeedLimit + starpilot_plan.slcSpeedLimitOffset
       self.v_cruise_helper.update_v_cruise(
         CS,
         self.sm['carControl'].enabled,
         self.is_metric,
         speed_limit_confirmation_pending,
         self.starpilot_toggles,
-        FPCS,
+        starpilot_car_state=FPCS,
+        slc_target_with_offset=slc_target_with_offset,
       )
     else:
       preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)

selfdrive/car/cruise.py

@@ -89,13 +89,15 @@ class VCruiseHelper:
       return bool(getattr(starpilot_car_state, "decelHardCruise", False))
     return False
 
-  def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None):
+  def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None,
+                      slc_target_with_offset=0.0):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
       if self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state,
+                                      slc_target_with_offset)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled, starpilot_car_state)
       else:
@@ -111,7 +113,8 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
-  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None):
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None,
+                                slc_target_with_offset=0.0):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
     if not enabled:
@@ -169,11 +172,22 @@ class VCruiseHelper:
     short_interval, long_interval = self._get_cruise_delta_intervals(starpilot_toggles)
     v_cruise_delta_interval = long_interval if long_press or button_is_hard else short_interval
     v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
+    previous_v_cruise_kph = self.v_cruise_kph
     if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
 
+    # Round to stored cruise-speed precision so the SLC target can be matched exactly.
+    slc_target_with_offset_kph = round(slc_target_with_offset * CV.MS_TO_KPH, 1)
+    # Preserve an active SLC target when an accel increment would otherwise skip it.
+    crossed_slc_target = (
+      button_type in ACCEL_CRUISE_BUTTONS and
+      previous_v_cruise_kph < slc_target_with_offset_kph < self.v_cruise_kph
+    )
+    if crossed_slc_target:
+      self.v_cruise_kph = slc_target_with_offset_kph
+
     # If set is pressed while overriding, clip cruise speed to minimum of vEgo
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)

selfdrive/car/tests/test_cruise_speed.py

@@ -119,6 +119,47 @@ class TestVCruiseHelper:
         )
         assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
+  def test_accel_stops_at_slc_target_before_crossing_it(self):
+    self.starpilot_toggles.cruise_increase = 5
+    self.v_cruise_helper.v_cruise_kph = 30
+    self.v_cruise_helper.v_cruise_cluster_kph = 30
+    slc_target_with_offset = 33 * CV.KPH_TO_MS
+
+    # A 30 km/h limit with a +3 km/h SLC offset should be an intermediate stop.
+    for expected_kph in (33, 35, 40):
+      for pressed in (True, False):
+        CS = car.CarState(cruiseState={"available": True})
+        CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)]
+        self.v_cruise_helper.update_v_cruise(
+          CS,
+          enabled=True,
+          is_metric=True,
+          speed_limit_changed=False,
+          starpilot_toggles=self.starpilot_toggles,
+          slc_target_with_offset=slc_target_with_offset,
+        )
+
+      assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)
+
+  def test_accel_uses_normal_interval_without_an_active_slc_target(self):
+    self.starpilot_toggles.cruise_increase = 5
+    self.v_cruise_helper.v_cruise_kph = 30
+    self.v_cruise_helper.v_cruise_cluster_kph = 30
+
+    # Card passes zero when SLC is disabled or has no active speed-limit source.
+    for pressed in (True, False):
+      CS = car.CarState(cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)]
+      self.v_cruise_helper.update_v_cruise(
+        CS,
+        enabled=True,
+        is_metric=True,
+        speed_limit_changed=False,
+        starpilot_toggles=self.starpilot_toggles,
+      )
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(35)
+
   def test_hard_press_uses_long_press_interval(self):
     self.enable(52 * CV.MPH_TO_MS, False)
     initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph