Build

Restore the existing shebang script's executable mode without changing its source blob.

.gitattributes

@@ -57,3 +57,6 @@ openpilot/selfdrive/pandad/panda_safety.o -text
 openpilot/selfdrive/pandad/panda_usb.o -text
 openpilot/selfdrive/pandad/pandad.o -text
 openpilot/selfdrive/pandad/spi.o -text
+
+# Compressed recorded regression fixture; retain exact binary bytes.
+openpilot/starpilot/tests/testdata/ford_mache_lead_departure.json.gz -text

.github/workflows/tests.yaml

@@ -38,7 +38,9 @@ jobs:
       if: github.event_name == 'push' && github.ref == 'refs/heads/Dom'
       run: python3 tools/ci/check_prebuilt_receipt.py --revision HEAD
     - name: Check shipped device runtime dependencies
-      run: python3 -m unittest tools.laptop_device_build.tests.test_runtime_dependencies -v
+      run: |
+        python3 -m unittest tools.laptop_device_build.tests.test_runtime_dependencies -v
+        python3 -c 'from pathlib import Path; assert b"starting pandad (comma hardware)" in Path("openpilot/selfdrive/pandad/pandad").read_bytes(), "Shipped pandad must use the comma hardware build profile"'
     - name: Validate tracked dependencies
       run: python3 tools/vendor/check.py --revision HEAD
     - run: ./tools/op.sh setup
@@ -256,7 +258,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
+        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
     steps:
     - uses: actions/checkout@v7
     - name: Provide JavaScript runtime for Galaxy contract tests
@@ -289,7 +291,7 @@ jobs:
       timeout-minutes: 15
       env:
         RAYLIB_BACKEND: headless
-      run: .venv/bin/python -m tools.ci.custom_pytest_shards run --index "${{ matrix.shard }}" --count 24 --output "ci-results/custom-pytest-${{ matrix.shard }}"
+      run: .venv/bin/python -m tools.ci.custom_pytest_shards run --index "${{ matrix.shard }}" --count 32 --output "ci-results/custom-pytest-${{ matrix.shard }}"
     - name: Save collection, every outcome, JUnit and durable worker diagnostics
       if: always()
       uses: actions/upload-artifact@v4
@@ -312,7 +314,7 @@ jobs:
         pattern: custom-pytest-*
         path: ci-results/custom-pytest-shards
     - name: Require every case passed or audited capability-unavailable
-      run: python3 -m tools.ci.custom_pytest_shards aggregate --directory ci-results/custom-pytest-shards --count 24 --output ci-results/custom-pytest-complete.json
+      run: python3 -m tools.ci.custom_pytest_shards aggregate --directory ci-results/custom-pytest-shards --count 32 --output ci-results/custom-pytest-complete.json
     - name: Save complete custom catalog verdict
       if: always()
       uses: actions/upload-artifact@v4

CREDITS.md

@@ -2,7 +2,7 @@
 
 ## Jetlink external inference
 
-The comma-side Jetlink client and USB transport in `jetlink_repo` are by Zeph Leggett and the [Jetlink contributors](https://github.com/zoompilot/jetlink). They are vendored from revision `bf4dc940e98f5d3ed9b7163adb021439010d634f` under the MIT license, retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE). StarPilot's adapter (`openpilot/starpilot/models/jetlink_adapter.py`) builds on Jetlink's openpilot layer and owns its param names, Always On Lateral rule, model runner reset, settings and alerts. Companion applications and inference servers remain distributed by Jetlink.
+The comma-side Jetlink client and USB transport in `jetlink_repo` are by Zeph Leggett and the [Jetlink contributors](https://github.com/zoompilot/jetlink). They are vendored from revision `a863c3801da6fd925d14eb1f5b1e250f8efcc649` under the MIT license, retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE). StarPilot's adapter (`openpilot/starpilot/models/jetlink_adapter.py`) builds on Jetlink's openpilot layer and owns its param names, Always On Lateral rule, model runner reset, settings and alerts. Companion applications and inference servers remain distributed by Jetlink.
 
 ## MRR35 Hyundai angle and radar
 
@@ -12,15 +12,11 @@ The copied MRR35 generator source and DBC definition are at `opendbc_repo/opendb
 
 ## Ford support adapted from BluePilot
 
-The Ford lateral strategies, extended CAN constructors, camera-radar filtering and native checks are adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Their lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded.
+Ford lateral control vendors [BluePilot lateral](https://github.com/BluePilotDev/bluepilot-lateral) v0.2.1 (`2b9dc6cc784faac47a1885d0bda0561f7b76f74d`), developed by Alan Polk (`alan-polk`) and the BluePilot contributors. Alan provided the [StarPilot integration in PR #269](https://github.com/StarPilotHQ/StarPilot/pull/269); his commits and authorship are retained. BluePilot maintains the library and its integration; StarPilot keeps its settings, AOL policy, packaging and integration tests separate. Complete contributor and license notices remain in [the library credits](opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md) and [license](opendbc_repo/opendbc/bluepilot_lateral/LICENSE).
 
-Relevant lineage includes the controller and integration work in [`db2bdff05`](https://github.com/BluePilotDev/bluepilot/commit/db2bdff05df103d71df62f45c2a3cb5211aba6e6) and [`d0aac605f`](https://github.com/BluePilotDev/bluepilot/commit/d0aac605f99d37e9da205e419f7989c1e9eaa386), extended CAN and safety work in [`8f8d6d15f`](https://github.com/BluePilotDev/bluepilot/commit/8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d), and manual-turn detection in [`97867c1eb`](https://github.com/BluePilotDev/bluepilot/commit/97867c1eb57b7472f6fc3de62f0fef576e5a5497).
+The Ford CAN FD camera-lead radar filtering is adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Its lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded.
 
-The vehicle strategy and CAN/native owners preserve that attribution while adapting to the current controller interfaces and shared safety limits. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-
-## Optional Ford angle controller
-
-The vendored `opendbc_repo/opendbc/bluepilot_lateral` angle core, codecs and Ford-only safety hooks are adapted directly from [BluePilot bp-7.0 e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a), principally by Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham, Praeuner and other BluePilot, sunnypilot and comma contributors. Exact source paths and intentionally stricter safety checks are recorded in that folder. Both upstream `LICENSE` and `LICENSE.md` notices are retained. Its layout follows Alan Polk's September 2026 library proposal; this is a StarPilot adapter, not a published BluePilot library release.
+The radar interface preserves that attribution while adapting to the current interfaces. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
 
 ## RAV4 Continental ARS510 receiver
 
@@ -34,6 +30,16 @@ Spotify's Bluetooth output binds the comma's BlueALSA A2DP source to the selecte
 
 The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, grade compensation, torque-zero estimator and vehicle-specific gains preserve firestar5683's intentional Dom work, including `7837a3c1aab`, `aed0b7fdb9e9` and pinned `b220a37f4bd119e402225a7aa16a7cd84878d0af`. Original author attribution: firestar5683 <168790843+firestar5683@users.noreply.github.com>. Startup/calibration ownership, current upstream button/PID interfaces and native command bounds are adapted to the current StarPilot architecture; the old permissive native gateway is not transplanted. Existing source/license notices remain intact.
 
-## Ford optional pinion measurement
+## Subaru angle steering from Jacob Waller's fork
 
-The default-off Use Pinion Yaw Sensor measurement option is adapted from jrneulight’s BluePilot PR #145 (https://github.com/BluePilotDev/bluepilot/pull/145), merged as `fe5b019568c8c13fb894dc6d8d779d60985051a8`. Its per-platform geometry, native pinion measurement, integrity requirements and host vehicle-model compensation are retained. StarPilot adapts the option to its existing exact safety-profile word, modern curvature checks, AOL authority and Galaxy/native settings; the upstream maintainers do not maintain this integration. Existing upstream copyright and license notices remain in THIRD_PARTY_NOTICES.md.
+Subaru angle support includes implementation maintained and integrated by **Jacob Waller (jacobw)** in [jacobwaller/openpilot, jul-angle-based](https://github.com/jacobwaller/openpilot/tree/542816196a18dba5f6f0af093c1ece4f415b5a22), with its [opendbc implementation at 8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0](https://github.com/jacobwaller/opendbc/tree/8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0). Jacob authored the VehicleModel angle-limit type correction and integrated the Crosstrek support. The branch also retains the original angle implementation and follow-up work by **lukasloetkolben and elkoled**, alongside comma contributors; their authorship remains theirs.
+
+The inherited source covers Subaru angle platform/firmware definitions, `ES_Status` cruise state, angle controller/CAN integration, vehicle-model limits and native angle enforcement. StarPilot has additional platform-specific limits, driver handoff, discovery and AOL safety guards; this attribution does not claim identical tuning or complete parity with the reference fork. Original source commits, author names, emails and titles are recorded in [the Subaru origin history](opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv).
+
+The explicit StarPilot [jacobw Subaru adapter](opendbc_repo/opendbc/car/subaru/JACOBW.md) additionally integrates that branch's low-speed filter, target-first limiting and Crosstrek EPS envelope. Its preserved stricter guards and platform scope are documented alongside the code.
+
+## StarPilot Ford demand tuning
+
+The previous optional StarPilot Controller, formerly in `openpilot/starpilot/car/ford/starpilot_tuning.py`, restored demand tuning from StarPilot `8da0c9d916^`, descended from BluePilot bp-7.0 `e1d051d7ba270261b4455068bd68f1a58db15a4a` through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Contributors to that lineage include Alan Polk, John Christman, Jacob Neulight, tonesto7 and Haibin Wen. The current protocol adapter is maintained by StarPilot separately from the pinned BluePilot library; this attribution does not imply BluePilot maintains or endorses the adapted tune.
+
+The current StarPilot Controller replaces that historical curvature-primary tune with a separately maintained adaptation of BluePilot v0.2.1's angle strategy (`2b9dc6cc784faac47a1885d0bda0561f7b76f74d`, `core/lateral_angle_ext.py`). Alan Polk is the principal controller author; John Christman contributed angle-mode anti-stall work, Jacob Neulight the pinion/shadow measurement, Nathan Ingraham and Praeuner high-speed damping, and other contributors are retained in the pinned library's `CREDITS.md`. StarPilot adds bounded small-signal conditioning ahead of the unchanged angle limit chain. This adaptation is not maintained or endorsed by BluePilot; the pinned library and its imported hooks are unchanged.

THIRD_PARTY_NOTICES.md

@@ -73,17 +73,7 @@ the exclusion of the other.
 
 ## BluePilot Ford support
 
-The Ford lateral strategies, CAN constructors, camera-radar filtering and native checks include work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to the Ford extension sources; they are retained without resolving the difference between their published license descriptions.
-
-## Optional BluePilot angle library adapter
-
-The angle-only adapter in `opendbc_repo/opendbc/bluepilot_lateral` is sourced directly from BluePilot bp-7.0 commit e1d051d7ba270261b4455068bd68f1a58db15a4a. The complete upstream MIT notice is retained in that folder's `LICENSE`, and the simultaneously published Custom MIT notice is retained verbatim in `LICENSE.md`. The applicable SUNNYPILOT acknowledgments reproduced above are also retained in its `CREDITS.md`. This preserves the published terms without resolving their scope or representing the adapted extension as unambiguously plain MIT.
-
-The optional, default-disabled angle lane-centering trim additionally derives from
-BluePilot bp-dev e22afa6be9b881fa784c92ebb316db47728a3d81. Its exact source and
-contributors are recorded in the library CREDITS.md; the same root/opendbc MIT
-and Custom MIT notices coexist unchanged at that revision. This adds attribution,
-not a license-scope decision or permission grant.
+The Ford CAN FD camera-radar filtering includes work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to that source; they are retained without resolving the difference between their published license descriptions.
 
 ## Continental ARS510 radar
 
@@ -140,3 +130,13 @@ dbus-next 0.2.3 (MIT), ifaddr 0.2.0 (MIT) and Zeroconf 0.151.3
 `vendor/VENDOR.json` records each PyPI source file and its SHA-256. Zeroconf is
 kept as separate, unmodified source files that can be replaced with another
 compatible version, as the LGPL requires.
+
+## Subaru angle support from jacobw
+
+The Subaru angle implementation includes work from Jacob Waller's `jul-angle-based` openpilot/opendbc branches and their upstream contributors. See [CREDITS.md](CREDITS.md#subaru-angle-steering-from-jacob-wallers-fork) and `opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv` for pinned sources, original authors and titles. The source repositories publish the comma MIT license; the complete applicable notice remains in the project `LICENSE` and `opendbc_repo/LICENSE`. StarPilot's adaptations preserve additional native and caller safety guards.
+
+## StarPilot Ford demand tuning
+
+The historical tuning formerly in `openpilot/starpilot/car/ford/starpilot_tuning.py` included the BluePilot bp-7.0-derived work identified in [CREDITS.md](CREDITS.md#starpilot-ford-demand-tuning). The published upstream license notices retained above and in the pinned BluePilot library remain applicable to the adapted source. StarPilot's separate protocol adapter does not modify those notices or resolve their scope.
+
+The angle-primary adaptation in `openpilot/starpilot/car/ford/starpilot_controller.py` is derived from BluePilot v0.2.1. It retains the complete MIT copyright and permission notice in `opendbc_repo/opendbc/bluepilot_lateral/LICENSE`, including Comma.ai, BluePilot and StarPilot contributors. See the contributor attribution in `CREDITS.md`.

jetlink_repo/jetlink/__init__.py

@@ -10,4 +10,4 @@ jetlink: run openpilot's large driving models on an attached Jetson.
 # so does the release check (macos/scripts/check-version.sh). The comma runs
 # jetlink from a checkout, not an install, so this is also all it has. The Swift
 # reads it from Pinned.swift: run JetlinkKit/Scripts/make_pins.py after a bump.
-__version__ = '0.8.9'
+__version__ = '0.8.12'

jetlink_repo/jetlink/client.py

@@ -224,12 +224,16 @@ class JetlinkClient:
 
   # -- handshake ------------------------------------------------------------
 
-  def hello(self, timeout: float = 5.0) -> dict:
+  def hello(self, timeout: float = 5.0, pick: dict | None = None) -> dict:
     """Introduce this client. The server starts its session over on a hello,
     so this is also how a new owner of the gadget takes over one the server
-    never saw end; see Session.greet in JetlinkServer."""
+    never saw end; see Session.greet in JetlinkServer. `pick` is the comma's
+    own big-model pick and its age, {ref, sha256, nbytes, name, age_s}; the
+    answer's `pick` is the newer of it and the server's (PickStore)."""
     seq = self._next_seq()
     client = {'nonce': self.nonce, 'name': self.name}
+    if pick is not None:
+      client['pick'] = pick
     try:
       link = self.t.link_info()
     except Exception:
@@ -301,7 +305,8 @@ class JetlinkClient:
                     frame_skip: int = DEFAULT_FRAME_SKIP,
                     progress: ProgressFn | None = None,
                     build_timeout: float = 900.0,
-                    should_stop: StopFn | None = None) -> ModelSpec:
+                    should_stop: StopFn | None = None,
+                    fetch: bool = False, ref: str | None = None) -> ModelSpec:
     """Make the server ready to run this model, uploading and building if needed.
 
     Blocks until ready or the build fails, and returns the spec the server
@@ -309,8 +314,12 @@ class JetlinkClient:
     parser rejects an export (tinygrad and the org.tinygrad domain) still runs.
 
     `onnx_path` None means the caller cannot upload (modeld) and a missing
-    engine is EngineMissing. `progress(stage, frac, msg)` has stage in
-    upload/patch/parse/build/load. `should_stop` is polled during long waits.
+    engine is EngineMissing. `fetch` asks a server that lacks the model to
+    download it itself (state downloading, stage download) rather than answer
+    need_upload; one that cannot, or is too old to, answers need_upload as
+    before. `ref` is the catalog ref the model is known by.
+    `progress(stage, frac, msg)` has stage in
+    download/upload/patch/parse/build/load. `should_stop` is polled during long waits.
     """
     self.progress_cb = progress
     self._should_stop = should_stop or (lambda: False)
@@ -318,7 +327,12 @@ class JetlinkClient:
     self._engine_state = None
 
     seq = self._next_seq()
-    self.t.send_json(P.Msg.ENGINE_REQ, seq, {'sha256': sha256, 'nbytes': nbytes, 'frame_skip': frame_skip})
+    request = {'sha256': sha256, 'nbytes': nbytes, 'frame_skip': frame_skip}
+    if fetch:
+      request['fetch'] = True
+    if ref:
+      request['ref'] = ref
+    self.t.send_json(P.Msg.ENGINE_REQ, seq, request)
     resp = json.loads(bytes(self._expect(P.Msg.ENGINE_RESP, seq, 60.0).payload))
     self._engine_state = resp
     log.info("server engine state: %s (%s)", resp['state'], resp.get('detail', ''))

jetlink_repo/jetlink/comma/lending.py

@@ -55,7 +55,7 @@ POLL = 0.5
 # what a borrower passes on of the server's hello (Loan.note_server): the owner
 # never speaks the protocol, and sleep_after is how it knows whether letting
 # go of the gadget lets the Jetson sleep. The rest is for its status record
-SERVER_FIELDS = ('protocol', 'device', 'backend', 'runtime_version', 'trt_version', 'sleep_after')
+SERVER_FIELDS = ('protocol', 'device', 'backend', 'runtime_version', 'trt_version', 'sleep_after', 'pick', 'fetches')
 
 
 def _send(conn: socket.socket, msg: dict) -> None:

jetlink_repo/jetlink/openpilot/interface.py

@@ -45,15 +45,23 @@ class Keys:
   offroad: str                   # BOOL: is the car parked (manager's IsOffroad)
   progress: str                  # JSON {stage, frac, msg, drops}: provisioning and join progress
   spec: str                      # JSON: the built model's spec and whether its engine is built
-  pointers: str                  # JSON: catalog ref -> {oid, size}
+  pointers: str                  # JSON: catalog ref, or a hash-named pick's sha256 -> {oid, size}
   # sunnypilot's model manager: the big-model pick, JSON {ref, displayName},
   # and the big-model catalog, JSON {bundles}. Without one both are None, and
-  # jetlink runs its own default big model
+  # jetlink runs its own default big model, or the one picked on the server.
+  # A fork with a picker of its own and no catalog (StarPilot) declares only
+  # big_model, and may name its pick by the ONNX's hash, {sha256,
+  # displayName}; a newer pick made on the server is written into it
   big_model: str | None = None
   catalog: str | None = None
   # BOOL: an iPhone on a direct cable is asked to charge from the comma
   # (comma.port). Off when unset, and without the key
   charge_phone: str | None = None
+  # STRING: where the model manager takes a pick by its ref and stores it in
+  # big_model (sunnypilot's ModelManager_DownloadRef). A newer pick made on
+  # the server is written there, so the comma's own list shows it; without
+  # the key it drives all the same
+  select: str | None = None
 
 
 @dataclass(frozen=True)

jetlink_repo/jetlink/openpilot/link.py

@@ -43,6 +43,8 @@ PRESENT_TIMEOUT = 5.0
 # hardware; the ceiling is only there so a server that has stopped answering
 # does not hold the caller for the rest of the day.
 BUILD_TIMEOUT = 1800.0
+# and on top of that, a server downloading the model itself: 1.75 GB at 1 MB/s
+FETCH_TIMEOUT = 1800.0
 
 
 class ModelMissing(RuntimeError):
@@ -226,12 +228,15 @@ def identity(parts, entry: dict) -> tuple[str, int]:
   """The picked model's sha256 and byte count, from the catalog model's LFS
   pointer, so the comma can name the model without holding or hashing the
   ONNX. Looked up once per model ever and kept in a param: the one part of
-  provisioning that needs the internet."""
+  provisioning that needs the internet. A model picked by its hash alone is
+  only sized."""
   sha256, nbytes = entry.get('oid'), entry.get('size')
   if sha256 and nbytes:
     return sha256, int(nbytes)
   parts.progress.report('connect', 0.0, 'finding model', code='finding_model')
-  return parts.models.resolve_pointer(entry['ref'])
+  if entry.get('ref'):
+    return parts.models.resolve_pointer(entry['ref'])
+  return parts.models.resolve_size(sha256)
 
 
 # What has already been hashed in this process, keyed on the file as it was
@@ -278,21 +283,27 @@ def verified_upload(log, model_path: Path | None, sha256: str, nbytes: int) -> P
 
 
 def ensure(parts, client, sha256: str, nbytes: int, model_path: Path | None, *,
-           progress=None, should_stop=None, build_timeout: float = BUILD_TIMEOUT):
+           progress=None, should_stop=None, build_timeout: float = BUILD_TIMEOUT, ref: str | None = None,
+           fetch: bool = True):
   """Make the server ready for this model and remember what it answered.
   Asks without the file first: the server answers from the sha alone when it
-  has the model, which is every parked poll and every join. EngineMissing means
-  the Jetson has neither the plan nor the bytes, and neither has the caller."""
+  has the model, which is every parked poll and every join. Without the file
+  here either, the server is asked to download the model itself, which only
+  the Jetson needs. EngineMissing means the Jetson has neither the plan nor
+  the bytes and could not get them, and neither has the caller. `fetch` False
+  never asks for the download: a stand-in is a model the server has. `ref`,
+  the catalog's name for the model, goes with a download."""
   from jetlink.client import EngineMissing
-  ask = functools.partial(client.ensure_engine, sha256, nbytes, progress=progress,
-                          build_timeout=build_timeout, should_stop=should_stop)
+  fetch = fetch and model_path is None
+  ask = functools.partial(client.ensure_engine, sha256, nbytes, progress=progress, should_stop=should_stop)
   try:
-    spec = ask(onnx_path=None)
+    spec = ask(onnx_path=None, fetch=fetch, ref=ref if fetch else None,
+               build_timeout=build_timeout + (FETCH_TIMEOUT if fetch else 0.0))
   except EngineMissing:
     upload = verified_upload(parts.log, model_path, sha256, nbytes)
     if upload is None:
       raise
-    spec = ask(onnx_path=upload)
+    spec = ask(onnx_path=upload, build_timeout=build_timeout)
   parts.spec.store(spec)
   return spec
 
@@ -346,11 +357,14 @@ def open_link(parts, link: Link, should_stop=None):
   # booting; both resolve on their own
   client = connect_patiently(link)
   try:
-    hello = client.hello(timeout=10.0)
+    hello = parts.models.heard(client.hello(timeout=10.0, pick=parts.models.hello_pick()))
     parts.log.warning("jetlink: %s trt %s, engine %s, loaded %s",
                    hello.get('device'), hello.get('trt_version'),
                    hello.get('engine_state'), str(hello.get('loaded'))[:16])
     link.note_server(hello)
+    # a newer pick on the server drives, and is ours from now on
+    parts.models.adopt()
+    selected = parts.models.selected_model() or selected
     sha256, nbytes = identity(parts, selected)
     path = parts.models.shipped_model_path()
     built = parts.spec.ready_spec()
@@ -370,7 +384,7 @@ def open_link(parts, link: Link, should_stop=None):
     # server that restarted reloads from the plan cache, 13 to 25 s; one
     # that has never seen this model builds it, 102 to 294 s
     spec = ensure(parts, client, sha256, nbytes, path, progress=parts.progress.report_with_eta,
-                  should_stop=should_stop)
+                  should_stop=should_stop, ref=selected.get('ref'), fetch=standin is None)
     client.deadline = INFERENCE_TIMEOUT
     return client, spec
   except EngineMissing as e:

jetlink_repo/jetlink/openpilot/models.py

@@ -16,16 +16,25 @@ export, and jetlink's registry follows that to comma's model repo; see
 jetlink.registry.lfs.
 
 Without a model manager (Keys.big_model and Keys.catalog None) there is no
-pick and no catalog, and the large model is jetlink's own default, named by its
-ref: its pointer resolves from the ref as any pick's does.
+pick and no catalog, and the large model is the one picked on the server, else
+jetlink's own default, named by its ref: its pointer resolves from the ref as
+any pick's does.
+
+A fork with a picker of its own but no catalog jetlink reads (Keys.big_model
+without Keys.catalog, StarPilot's) may name its pick by the ONNX's sha256
+instead of a ref, which is all its catalog knows of a model. Its size is looked
+up from comma's LFS servers once (resolve_size). With no catalog no model
+manager owns the slot either, so jetlink writes a newer pick from the server
+into it itself, and the fork's picker shows what drives.
 """
 from __future__ import annotations
 
+import os
 import re
 import time
 from pathlib import Path
 
-from jetlink.registry.catalog import DEFAULT_BIG_MODEL_NAME, DEFAULT_BIG_MODEL_REF
+from jetlink.registry.catalog import DEFAULT_BIG_MODEL_NAME, DEFAULT_BIG_MODEL_REF, is_ref, is_sha256
 
 POINTER_TIMEOUT = 10.0
 _REF = re.compile(r'[0-9a-f]{40}')
@@ -39,13 +48,32 @@ INDEX_TTL = 2.0
 # on from the .part the last left, so a stall costs the wait, not the bytes
 # (lfs.lfs_download)
 DOWNLOAD_RETRY_DELAYS = (5.0, 15.0, 30.0, 60.0, 120.0)
+# server_pick() before this process has heard a hello
+_UNHEARD = object()
+
+
+def _dated(pick) -> dict | None:
+  """A server's pick as its hello carries it, dated by this clock:
+  {ref, sha256, nbytes, name, at}. None for none, or one naming no model."""
+  if not isinstance(pick, dict) or not isinstance(pick.get('age_s'), (int, float)):
+    return None
+  ref = pick['ref'] if is_ref(pick.get('ref')) else None
+  sha256 = pick['sha256'] if is_sha256(pick.get('sha256')) else None
+  if ref is None and sha256 is None:
+    return None
+  return {'ref': ref, 'sha256': sha256, 'nbytes': pick.get('nbytes'), 'name': pick.get('name'),
+          'at': time.time() - float(pick['age_s'])}
 
 
 class Models:
   def __init__(self, op):
     self.op = op
     self._index_cache: tuple[float, list[dict], dict[str, dict]] | None = None
-    self._slot_cache: tuple[float, dict | None] | None = None
+    self._slot_cache: tuple[float, dict | None, float | None] | None = None
+    # the pick of the last hello this process heard, and the owner's record
+    # of the last hello any process heard
+    self._heard: dict | None | object = _UNHEARD
+    self._record_cache: tuple[float, dict | None] | None = None
 
   def catalog(self) -> list[dict]:
     """sunnypilot's big-model bundles as {name, ref}, newest first, as the model
@@ -77,13 +105,28 @@ class Models:
 
   def resolve_pointer(self, ref: str) -> tuple[str, int]:
     """The oid and size behind a catalog model, fetched the first time and kept for good."""
+    return self._resolve(ref, self.fetch_pointer)
+
+  def fetch_size(self, sha256: str) -> tuple[str, int]:
+    """The ONNX with this hash and its byte count, from the LFS servers a
+    download asks."""
+    from jetlink.registry.lfs import fetch_size as registry_fetch_size
+    pointer = registry_fetch_size(sha256, self.lfs_endpoints(), timeout=POINTER_TIMEOUT)
+    return pointer.oid, pointer.size
+
+  def resolve_size(self, sha256: str) -> tuple[str, int]:
+    """A model picked by its hash, sized the first time and kept for good with
+    the catalog's pointers, under the hash."""
+    return self._resolve(sha256, self.fetch_size)
+
+  def _resolve(self, key: str, fetch) -> tuple[str, int]:
     known = self.pointers()
-    if ref in known:
-      return known[ref]['oid'], int(known[ref]['size'])
-    oid, size = self.fetch_pointer(ref)
-    known[ref] = {'oid': oid, 'size': size}
+    if key in known:
+      return known[key]['oid'], int(known[key]['size'])
+    oid, size = fetch(key)
+    known[key] = {'oid': oid, 'size': size}
     self._keep_pointers(known)
-    self.op.log.warning("jetlink: %s is %s, %d MB", ref[:10], oid[:16], size >> 20)
+    self.op.log.warning("jetlink: %s is %s, %d MB", key[:10], oid[:16], size >> 20)
     return oid, size
 
   def _keep_pointers(self, known: dict[str, dict]) -> None:
@@ -92,9 +135,11 @@ class Models:
     self._index_cache = None
 
   @staticmethod
-  def _row(name: str, ref: str, known: dict[str, dict]) -> dict:
-    p = known.get(ref) or {}
-    return {'name': name, 'ref': ref, 'oid': p.get('oid'), 'size': int(p['size']) if p.get('size') else None}
+  def _row(name: str, ref: str | None, known: dict[str, dict], sha256: str | None = None) -> dict:
+    """A model as a catalog row, by its ref's pointer, else by its hash, sized
+    once resolve_size has looked it up."""
+    p = known.get(ref) or known.get(sha256) or {}
+    return {'name': name, 'ref': ref, 'oid': p.get('oid') or sha256, 'size': int(p['size']) if p.get('size') else None}
 
   def _index(self) -> tuple[list[dict], dict[str, dict]]:
     """The catalog's rows and the pointers behind them, read together once per INDEX_TTL."""
@@ -110,18 +155,27 @@ class Models:
     return self._index()[0]
 
   def selected_slot(self) -> dict | None:
-    """The big-model slot's pick as {name, ref}, from the raw param rather than a
-    parsed bundle, and memoised: the UI asks every frame."""
+    """The big-model slot's pick as {name, ref, sha256}, from the raw param
+    rather than a parsed bundle, and memoised with when it was made
+    (picked_at): the UI asks every frame. It names its model by the catalog's
+    ref, by the ONNX's sha256 (a fork whose catalog knows only that), or by
+    both; the one it lacks is None."""
     now = time.monotonic()
     if self._slot_cache is not None and now - self._slot_cache[0] < INDEX_TTL:
       return self._slot_cache[1]
     key = self.op.keys.big_model
     slot = self.op.get(key) if key else None
-    ref = slot.get('ref') if isinstance(slot, dict) else None
-    pick = None
-    if isinstance(ref, str) and ref:
-      pick = {'name': str(slot.get('displayName') or ref[:10]), 'ref': ref}
-    self._slot_cache = (now, pick)
+    slot = slot if isinstance(slot, dict) else {}
+    ref = slot['ref'] if isinstance(slot.get('ref'), str) and slot['ref'] else None
+    sha256 = slot['sha256'] if is_sha256(slot.get('sha256')) else None
+    pick, at = None, None
+    if ref or sha256:
+      pick = {'name': str(slot.get('displayName') or (ref or sha256)[:10]), 'ref': ref, 'sha256': sha256}
+      try:
+        at = os.stat(Path(self.op.params_dir()) / key).st_mtime
+      except OSError:
+        pass
+    self._slot_cache = (now, pick, at)
     return pick
 
   def default_model(self) -> dict | None:
@@ -142,12 +196,129 @@ class Models:
     return _TRAILING_DATE.sub('', model['name']) if model else None
 
   def selected_model(self) -> dict | None:
-    """The slot's pick, listed in the catalog or not: a ref is enough to find its
-    pointer. With no pick, default_model()."""
-    if (pick := self.selected_slot()) is not None:
-      return self._row(pick['name'], pick['ref'], self._index()[1])
+    """The model picked last, here or on the server: the slot's pick, listed
+    in the catalog or not (a ref is enough to find its pointer), unless the
+    server's last hello named a newer one. With neither, default_model()."""
+    if (theirs := self._newer_server_pick()) is not None:
+      return self._server_row(theirs)
+    if (own := self.selected_slot()) is not None:
+      return self._own_row(own)
     return self.default_model()
 
+  def _own_row(self, own: dict) -> dict:
+    return self._row(own['name'], own['ref'], self._index()[1], own['sha256'])
+
+  # -- picks on both ends -----------------------------------------------------
+  # A pick is made on either end: in the comma's list, or on the server (its
+  # web page, an app's Use Model). Each hello carries the comma's own pick and
+  # how long ago it was made, and the server answers with the newer of that
+  # and its own (PickStore in JetlinkServer). The answer is kept with the rest
+  # of the hello (gadget.SERVER, through the owner), dated by this clock, and
+  # selected_model() takes whichever pick is newer; so a model picked on the
+  # server drives without being picked here too, and one picked here goes to
+  # the server at the next hello.
+
+  def picked_at(self) -> float | None:
+    """When the slot was last written, by this clock: when the pick was made.
+    None with no pick of our own, or no date for it."""
+    return self._slot_cache[2] if self.selected_slot() is not None and self._slot_cache else None
+
+  def hello_pick(self) -> dict | None:
+    """Our own pick, for the hello: {ref, sha256, nbytes, name, age_s}, the
+    pointer where it is resolved already (no network here). None with nothing
+    picked here, or no date for it: the server's pick, if any, stands."""
+    own, at = self.selected_slot(), self.picked_at()
+    if own is None or at is None:
+      return None
+    row = self._own_row(own)
+    return {'ref': row['ref'], 'sha256': row['oid'], 'nbytes': row['size'], 'name': row['name'],
+            'age_s': round(max(0.0, time.time() - at), 1)}
+
+  def heard(self, hello: dict) -> dict:
+    """The server's hello with its `pick` dated by this clock (_dated), which
+    is how the owner keeps it (lending.SERVER_FIELDS) and server_pick() reads
+    it. This process goes by it at once, whatever the owner does with it."""
+    self._heard = _dated(hello.get('pick'))
+    return {**hello, 'pick': self._heard} if self._heard is not None else hello
+
+  def server_pick(self) -> dict | None:
+    """The pick the server last answered a hello with, {ref, sha256, nbytes,
+    name, at}, or None: a server too old to say, or one with no pick. What
+    this process heard last, else the owner's record of the last hello: the
+    UI says no hello, and reads it every frame."""
+    if self._heard is not _UNHEARD:
+      return self._heard
+    now = time.monotonic()
+    if self._record_cache is None or now - self._record_cache[0] >= INDEX_TTL:
+      from jetlink.comma import gadget
+      pick = (gadget.read_record(gadget.SERVER) or {}).get('pick')
+      self._record_cache = (now, pick if isinstance(pick, dict) and isinstance(pick.get('at'), (int, float)) else None)
+    return self._record_cache[1]
+
+  def _newer_server_pick(self) -> dict | None:
+    """The server's last pick, when it is another model than ours and was
+    picked after it, or we have none."""
+    theirs, own = self.server_pick(), self.selected_slot()
+    if theirs is None or (own is not None and (self._same(theirs, self._own_row(own)) or
+                                               theirs['at'] <= (self.picked_at() or 0.0))):
+      return None
+    return theirs
+
+  @staticmethod
+  def _same(pick: dict, row: dict) -> bool:
+    """One model: by the catalog ref where both have one, since two refs can
+    share one export, else by the hash. The server's PickStore.sameModel."""
+    if pick['ref'] and row['ref']:
+      return pick['ref'] == row['ref']
+    return bool(pick['sha256']) and pick['sha256'] == row['oid']
+
+  def _server_row(self, pick: dict) -> dict:
+    """The server's pick as a catalog row: ours where we list it, with the
+    server's oid and size, which name the bytes it has."""
+    listed = next((m for m in self.model_index() if pick['ref'] and m['ref'] == pick['ref']), None)
+    row = self._row(listed['name'] if listed else pick.get('name') or (pick['ref'] or pick['sha256'])[:16],
+                    pick['ref'], self._index()[1], pick['sha256'])
+    if pick['sha256'] and pick.get('nbytes'):
+      row['oid'], row['size'] = pick['sha256'], int(pick['nbytes'])
+    return row
+
+  def adopt(self) -> None:
+    """Keep the server's pointer for its pick, by ref and by hash, so naming
+    the model here needs no lookup; and make a newer pick from the server
+    ours. With a catalog, ask the model manager for it (Keys.select), so the
+    comma's own list shows what drives: only a model the catalog lists, which
+    is all the model manager takes; any other drives all the same
+    (selected_model). Without one, no model manager owns the slot, so the
+    pick is written into it, whatever the model. Never raises."""
+    try:
+      if (theirs := self.server_pick()) is None:
+        return
+      known = self.pointers()
+      if theirs['sha256'] and theirs.get('nbytes'):
+        pointer = {'oid': theirs['sha256'], 'size': int(theirs['nbytes'])}
+        missing = {k: pointer for k in (theirs['ref'], theirs['sha256']) if k and k not in known}
+        if missing:
+          self._keep_pointers({**known, **missing})
+      if self._newer_server_pick() is None:
+        return
+      model, keys = self._server_row(theirs), self.op.keys
+      if keys.catalog is None:
+        if keys.big_model:
+          self.op.log.warning("jetlink: %s was picked on the server, picking it here too", model['name'])
+          slot = {k: v for k, v in (('displayName', model['name']), ('ref', model['ref']), ('sha256', model['oid'])) if v}
+          self.op.put(keys.big_model, slot, block=True)
+          self._slot_cache = None
+        return
+      # a download the user asked for that the model manager has not taken
+      # yet is left alone: the next hello asks again
+      key = keys.select
+      if key and model['ref'] and self.op.get(key) is None and any(m['ref'] == model['ref'] for m in self.model_index()):
+        self.op.log.warning("jetlink: %s was picked on the server, picking it here too", model['name'])
+        self.op.put(key, model['ref'])
+        self._slot_cache = None
+    except Exception:
+      self.op.log.exception("jetlink: could not take the server's pick")
+
   def selected_model_name(self) -> str | None:
     selected = self.selected_model()
     return selected['name'] if selected else None
@@ -227,11 +398,8 @@ class Models:
 
   def _fetch_once(self, pointer, dest: Path, progress, should_stop) -> Path:
     from jetlink.registry.catalog import NetworkError
-    from jetlink.registry.lfs import lfs_download, lfs_resolve
-    for endpoint in self.lfs_endpoints():
-      href = lfs_resolve(endpoint, pointer)
-      if href is None:
-        continue
+    from jetlink.registry.lfs import lfs_download, lfs_hrefs
+    for endpoint, href in lfs_hrefs(self.lfs_endpoints(), pointer):
       self.op.log.warning("jetlink: fetching the large model (%d MB) from %s", pointer.size >> 20, endpoint)
       return lfs_download(href, pointer, dest, progress=progress, should_stop=should_stop)
     raise NetworkError(f"no LFS server has {pointer.oid[:16]}")

jetlink_repo/jetlink/openpilot/provision.py

@@ -126,10 +126,8 @@ class ProvisioningRun:
     return path
 
   def needs_download(self) -> bool:
-    """Does the comma have to fetch the picked model before a Jetson can build
-    it? Only while its engine is not known to be built and the file is not here.
-    Asked without the Jetson: a download needs only the internet, and a car
-    whose Jetson goes off with the ignition has no Jetson while parked."""
+    """Could the Jetson need the picked model from the comma? Only while its
+    engine is not known to be built and the file is not here."""
     parts = self.parts
     entry = parts.models.selected_model()
     if entry is None:
@@ -140,12 +138,17 @@ class ProvisioningRun:
     return parts.models.shipped_model_path() is None
 
   def provision(self) -> bool:
-    """Make the Jetson ready for the selected model; a host is attached. run()
-    has fetched the file already unless the spec record said the model was
-    built; a server that lost it since asks for the bytes, and they are
-    fetched then."""
+    """Make the Jetson ready for the picked model; a host is attached. The
+    hello settles which pick that is, the comma's or a newer one made on the
+    server. A server without the model downloads it itself; only one that
+    cannot (no internet, or too old) gets the bytes from the comma, fetched
+    here then."""
     from jetlink.client import EngineMissing
     parts = self.parts
+    parts.progress.report('connect', 0.0, 'connecting', code='connecting')
+    hello = self.hello()
+    self.log.warning("jetlink: server %s trt %s", hello.get('device'), hello.get('trt_version'))
+    parts.models.adopt()
     entry = parts.models.selected_model()
     if entry is None:
       # no catalog yet; not an error
@@ -154,27 +157,24 @@ class ProvisioningRun:
       return False
     sha256, nbytes = link.identity(parts, entry)
 
-    # only needed if the server turns out not to have this model; None is a
-    # legitimate state here, see EngineMissing below
+    # only needed if the server turns out not to have this model and cannot
+    # get it; None is a legitimate state here, see EngineMissing below
     model_path = parts.models.shipped_model_path()
 
     self.log.warning("jetlink: provisioning %s (%d MB, sha %s)",
                      entry.get('name', sha256[:16]), nbytes >> 20, sha256[:16])
-    parts.progress.report('connect', 0.0, 'connecting', code='connecting')
 
     def ensure(path):
       return link.ensure(parts, self.client, sha256, nbytes, path, progress=parts.progress.report_with_eta,
-                         should_stop=lambda: self.stop)
+                         should_stop=lambda: self.stop, ref=entry.get('ref'))
 
-    hello = self.hello()
-    self.log.warning("jetlink: server %s trt %s", hello.get('device'), hello.get('trt_version'))
     try:
       spec = ensure(model_path)
     except EngineMissing:
-      # the server has nothing to build from, and neither have we: fetch the
-      # model and hand it over in this run. The owner lends the link for the
-      # whole run; leaving after the download would put the build a
-      # WORKER_BACKOFF later
+      # the server has nothing to build from and could not download it, and
+      # neither have we: fetch the model and hand it over in this run. The
+      # owner lends the link for the whole run; leaving after the download
+      # would put the build a WORKER_BACKOFF later
       if model_path is not None or (model_path := self.fetch_model()) is None:
         raise
       # a download of minutes can outlast the session; a hello starts a new one
@@ -186,16 +186,35 @@ class ProvisioningRun:
     return True
 
   def hello(self) -> dict:
-    """Say hello, and pass the answer on to the owner, which needs its
-    sleep_after to decide whether letting go of the gadget is worth what it
-    costs and never speaks the protocol to learn it."""
-    hello = self.client.hello(timeout=10.0)
+    """Say hello with our pick, and pass the answer on to the owner, which
+    needs its sleep_after to decide whether letting go of the gadget is worth
+    what it costs, never speaks the protocol to learn it, and keeps the
+    server's pick and whether it downloads for the comma (Models.heard)."""
+    models = self.parts.models
+    hello = models.heard(self.client.hello(timeout=10.0, pick=models.hello_pick()))
     if self.loan is not None:
       self.loan.note_server(hello)
     return hello
 
   # -- the parked car -------------------------------------------------------
 
+  def without_jetson(self) -> None:
+    """No Jetson came to the bind: a car whose Jetson is switched with the
+    ignition has none while parked. Only the Jetson needs the model, and one
+    that can download it gets it itself when it is on; the comma fetches it
+    now only for a Jetson that cannot (no internet when it was last here, or
+    too old to say), so the build can start the moment it is."""
+    if not self.has_work():
+      return
+    if self.needs_download():
+      if server_fetches():
+        self.parts.progress.report('waiting', 0.0, 'the jetson downloads it when it is on', code='waiting_for_host')
+        return
+      if self.fetch_model() is None:
+        return
+    self.parts.progress.report('waiting', 0.0, 'downloaded, builds when the jetson is on',
+                               code='downloaded_waiting_host')
+
   def has_work(self) -> bool:
     """Is there a reason to wake the Jetson? Only things the link can fix count."""
     spec = self.parts.spec.load()
@@ -259,25 +278,21 @@ class ProvisioningRun:
       self.log.warning("jetlink: no warp built for this camera, nothing to provision for")
       return True
 
-    if not self.has_work():
+    # Nothing to build, unless a model was picked on the server since: a
+    # Jetson awake on the bus is asked, which costs a hello and no wake. Not
+    # a phone's cable, which is there only once the app dials in
+    if not self.has_work() and not (gadget.host_attached() and gadget.link_kind(self.parts.settings.mode()) == 'usb'):
       self.log.warning("jetlink: nothing to provision")
       return True
 
     finished = False
     try:
-      # the bytes first while no host is on the cable: a parked car whose
-      # Jetson is switched with the ignition never has one to wait for. A host
-      # that is there is asked first, since one with the model built needs
-      # nothing from the comma; provision() fetches it if the host has not
-      if self.needs_download() and not gadget.host_attached() and self.fetch_model() is None:
-        return False
       if not self.open_link():
         return False
       if not self.wait_for_jetson():
         self.log.warning("jetlink: no jetson within %.0f s, leaving it for the next run", WAKE_TIMEOUT)
-        if self.parts.models.shipped_model_path() is not None:
-          self.parts.progress.report('waiting', 0.0, 'downloaded, builds when the jetson is on',
-                                     code='downloaded_waiting_host')
+        self.close_link()
+        self.without_jetson()
         return False
       finished = self.provision()
     except Exception:
@@ -288,6 +303,12 @@ class ProvisioningRun:
     return finished
 
 
+def server_fetches() -> bool:
+  """Did the server the comma last spoke to say it downloads a model itself
+  (its hello's `fetches`, as the owner keeps it)? No for one too old to say."""
+  return (gadget.read_record(gadget.SERVER) or {}).get('fetches') is True
+
+
 def main(argv: list[str] | None = None) -> None:
   """One provisioning round over the fork's adapter, as the owner starts it.
   Exits 0 when nothing is left to do, and 1 when the owner should try again."""

jetlink_repo/jetlink/openpilot/status.py

@@ -31,14 +31,17 @@ PROGRESS_MIN_INTERVAL = 0.25
 
 # what a progress record's `code` may be, for a fork that words the line
 # itself; `msg` stays the English one. `args`, where a code has them:
-# downloading and upload {got_mb, total_mb}, download_stalled {retry_s},
-# reconnecting {why: lost, behind, load_failed or bad_output}, build {eta_s}.
-# From upload on they are stage names, and the server's stages are its own:
+# downloading, download and upload {got_mb, total_mb}, download_stalled
+# {retry_s}, reconnecting {why: lost, behind, load_failed or bad_output},
+# build {eta_s}. downloading is the comma fetching the model, download the
+# server fetching it itself. From download on they are stage names, and the
+# server's stages are its own:
 # a server can add one, so a fork falls back to `msg` for a code it does not
 # know. A server message with no stage has no code
 PROGRESS_CODES = ('waiting_for_host', 'finding_model', 'model_missing', 'ready_waiting_window', 'reconnecting',
                   'connecting', 'downloading', 'download_stalled', 'download_failed', 'downloaded_waiting_host',
-                  'engine_ready', 'failed', 'upload', 'patch', 'parse', 'convert', 'compile', 'build', 'load', 'warm')
+                  'engine_ready', 'failed', 'download', 'upload', 'patch', 'parse', 'convert', 'compile', 'build',
+                  'load', 'warm')
 
 
 def estimated_build_seconds(size: int) -> int:
@@ -104,12 +107,15 @@ class Progress:
     size. Only the build: the upload reports MB of MB and a connect has nothing
     to predict."""
     args = None
-    size = self._size() if self._size is not None and stage in ('build', 'upload') else None
+    size = self._size() if self._size is not None and stage in ('build', 'upload', 'download') else None
     if size and stage == 'build':
       left = estimated_build_seconds(size) * max(0.0, 1.0 - frac)
       msg, args = _eta(left), {'eta_s': round(left)}
     elif size:
       args = {'got_mb': int(frac * size) >> 20, 'total_mb': size >> 20}
+    if stage == 'download' and args:
+      # the server downloading the model itself: not the comma's own 'downloading'
+      msg = f"jetson downloading {args['got_mb']} of {args['total_mb']} MB"
     self.report(stage, frac, msg, code=stage or None, args=args)
 
 

jetlink_repo/jetlink/registry/lfs.py

@@ -294,6 +294,36 @@ def lfs_resolve(endpoint: str, pointer: Pointer, timeout: float = CONNECT_TIMEOU
   return None
 
 
+def lfs_hrefs(endpoints, pointer: Pointer, timeout: float = CONNECT_TIMEOUT, opener=None):
+  """Each of `endpoints` that has the object, in order, with its download href."""
+  for endpoint in endpoints:
+    href = lfs_resolve(endpoint, pointer, timeout=timeout, opener=opener)
+    if href is not None:
+      yield endpoint, href
+
+
+def fetch_size(oid: str, endpoints=LFS_ENDPOINTS, timeout: float = POINTER_TIMEOUT, opener=None) -> Pointer:
+  """The pointer for an ONNX known by its oid alone, as a fork whose catalog
+  names a model by its hash knows it (StarPilot's). comma's LFS servers hand
+  out a download address for any oid they hold, whatever size the batch asks
+  for, and the first byte of that download says how many there are. No
+  server with it is NotFound; one that would not say, a NetworkError."""
+  opener = opener or urllib.request.urlopen
+  for endpoint, href in lfs_hrefs(endpoints, Pointer(oid, 1), timeout=timeout, opener=opener):
+    request = urllib.request.Request(href, headers={'Range': 'bytes=0-0'})
+    try:
+      with opener(request, timeout=timeout) as response:
+        # a server that ignores the range answers 200 with the whole length
+        total = (response.headers.get('Content-Range') or '').rpartition('/')[2] \
+          if response.status == 206 else response.headers.get('Content-Length')
+    except (OSError, ValueError) as e:
+      raise NetworkError(f"could not size {oid[:16]} at {endpoint}: {e}") from e
+    if not str(total).isdigit() or int(total) <= 0:
+      raise NetworkError(f"{endpoint} did not say how big {oid[:16]} is")
+    return Pointer(oid, int(total))
+  raise NotFound(f"no LFS server has {oid[:16]}")
+
+
 def lfs_download(href: str, pointer: Pointer, dest: Path, progress: ProgressFn | None = None,
                  should_stop: StopFn | None = None, opener=None) -> Path:
   """Stream to a .part file, hashing as we go, and only then take the name.

juggle

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+exec "${ROOT_DIR}/scripts/host_tool_runner.sh" jotpluggler "$@"

mapd_repo/cereal/custom/custom.capnp

@@ -291,6 +291,11 @@ struct MapdOut @0xa4f1eb3323f5f582 {
   computedMonoTime @31 :UInt64; # Computation boot-time nanoseconds, not send time.
   sourceGeneration @32 :UInt64;
   producerSession @33 :UInt64;  # Random nonzero process session.
+  # Data-only preview from the same qualified GPS fix; no controller smoothing.
+  previewSpeedLimit @34 :Float32;
+  previewDistance @35 :Float32;
+  previewBoundaryId @36 :Text;
+  previewWayId @37 :Int64;
 
   enum SampleStatus {
     unknown @0;

mapd_repo/cereal/custom/custom.capnp.go

@@ -2887,12 +2887,12 @@ type MapdOut capnp.Struct
 const MapdOut_TypeID = 0xa4f1eb3323f5f582
 
 func NewMapdOut(s *capnp.Segment) (MapdOut, error) {
-	st, err := capnp.NewStruct(s, capnp.ObjectSize{DataSize: 112, PointerCount: 6})
+	st, err := capnp.NewStruct(s, capnp.ObjectSize{DataSize: 128, PointerCount: 7})
 	return MapdOut(st), err
 }
 
 func NewRootMapdOut(s *capnp.Segment) (MapdOut, error) {
-	st, err := capnp.NewRootStruct(s, capnp.ObjectSize{DataSize: 112, PointerCount: 6})
+	st, err := capnp.NewRootStruct(s, capnp.ObjectSize{DataSize: 128, PointerCount: 7})
 	return MapdOut(st), err
 }
 
@@ -3260,12 +3260,54 @@ func (s MapdOut) SetProducerSession(v uint64) {
 	capnp.Struct(s).SetUint64(104, v)
 }
 
+func (s MapdOut) PreviewSpeedLimit() float32 {
+	return math.Float32frombits(capnp.Struct(s).Uint32(76))
+}
+
+func (s MapdOut) SetPreviewSpeedLimit(v float32) {
+	capnp.Struct(s).SetUint32(76, math.Float32bits(v))
+}
+
+func (s MapdOut) PreviewDistance() float32 {
+	return math.Float32frombits(capnp.Struct(s).Uint32(112))
+}
+
+func (s MapdOut) SetPreviewDistance(v float32) {
+	capnp.Struct(s).SetUint32(112, math.Float32bits(v))
+}
+
+func (s MapdOut) PreviewBoundaryId() (string, error) {
+	p, err := capnp.Struct(s).Ptr(6)
+	return p.Text(), err
+}
+
+func (s MapdOut) HasPreviewBoundaryId() bool {
+	return capnp.Struct(s).HasPtr(6)
+}
+
+func (s MapdOut) PreviewBoundaryIdBytes() ([]byte, error) {
+	p, err := capnp.Struct(s).Ptr(6)
+	return p.TextBytes(), err
+}
+
+func (s MapdOut) SetPreviewBoundaryId(v string) error {
+	return capnp.Struct(s).SetText(6, v)
+}
+
+func (s MapdOut) PreviewWayId() int64 {
+	return int64(capnp.Struct(s).Uint64(120))
+}
+
+func (s MapdOut) SetPreviewWayId(v int64) {
+	capnp.Struct(s).SetUint64(120, uint64(v))
+}
+
 // MapdOut_List is a list of MapdOut.
 type MapdOut_List = capnp.StructList[MapdOut]
 
 // NewMapdOut creates a new list of MapdOut.
 func NewMapdOut_List(s *capnp.Segment, sz int32) (MapdOut_List, error) {
-	l, err := capnp.NewCompositeList(s, capnp.ObjectSize{DataSize: 112, PointerCount: 6}, sz)
+	l, err := capnp.NewCompositeList(s, capnp.ObjectSize{DataSize: 128, PointerCount: 7}, sz)
 	return capnp.StructList[MapdOut](l), err
 }
 
@@ -3395,312 +3437,318 @@ func NewMapdOut_GpsSource_List(s *capnp.Segment, sz int32) (MapdOut_GpsSource_Li
 	return capnp.NewEnumList[MapdOut_GpsSource](s, sz)
 }
 
-const schema_b526ba661d550a59 = "x\xda\x94Z}lT\xd7\x95?\xe7\xbd\xb1\xc7\x9f\x8c" +
-	"\x877\x04\x0c&\x13(\xd0\x98\xc6i\x8c\xf16\xa6I" +
-	"]c\x03\xc1\x1a\x83\xc7\xc3G@A\xea\xf5\xbc\xeb\x99" +
-	"\x07\xcf\xefM\xde{c{\x10\x11\x84\x82\x04YP\x93" +
-	"n\xd2\x92*lC\x02R\xda\x0d-\xed\x86\x15\x1bQ" +
-	"-AD\"Y\x90\x92\xaa\xa9\x9a4\xbbI\xa3JI" +
-	"\xba\x89\xd2v\x13m\xb6\xdb\xe8\xad\xce\xbd\xf3\xf1\xfc\xd1" +
-	"\x10\xff\xc3\xf8\xfd\xcey\xe7\x9e{\xee\xb9\xe7\x9e\xdf}" +
-	"\xdc\xf1\xf5\xfao\x86\xda\x1b3\x0d\xa0$\x1f\xae\xaa\xf6" +
-	"\xa3{v\xbccy?9\x00\xd1E\xe8\xef\xa8\xdb\xba" +
-	"x\xe4\xf9\x15\xe7!\x14\x06\xe8h\xae\xde\x89Z[u" +
-	"\x18T\xff\xa7\x1f'\xbav\xfe\xf1\xf2\x83\x93\xb5\xaa\x84" +
-	"Zm\xf5^\xd4\x16W\x87\x01\xb4\xe6\xeaw\x01\xfd{" +
-	"{/\x7fgx\xc5\x0f\x0fCt\x91RQ\x06\xec\xc0" +
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-	"\xdc\xf7\xdfP\x85\xa4s\xbc\xfe!\xd4\xce\xd4\xd3\x9f\xa7" +
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-	"]?3\x83\xb7\xbcy'j\x85f\xf2\xf6'\xbfM" +
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-	"\xd0\xdfu\xfe\xdd\xf6\xef|\xf6\xd6Of\xb0\x97'{" +
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-	"\x03b\x13|\xfel\x07XN\xdfh\xe5\xf2\xde\x96B" +
-	"\x8e\x03\xd0D/\x92\xebZ\x9b\xd2\x0f\x80s\xb4V\xe5" +
-	"\xe7\x00\x18\xd1Z\x95\xa7\xc8\xb8\xd6\xaa\xfc\x18\x00\xa3Z" +
-	"\xabr\x19\x00\xe7j\xad\xca\x1b\x00X\xaf\xb5)\xc3\x00" +
-	"\xa8i\xad\xca\xcb\x00\x18\xd3\xda\xc4/j\xed\xca^\x00" +
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-	"\xc3]\xda\x0d9\xf4|F\xbf^*\x87\xa5\xd1\xe4r" +
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-	"\xef\xce\xbb*\x85_\xaefP\xab\x12;\x01*^e" +
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-	"\x04\xdd\xb6,!E \x01\xb2\x0a\x7f\xe1>4\xac\xb7" +
-	"\xaf\xbaQ#:\xa5q\xed\xba\x91>\x85\x81\xf61\x9d" +
-	"\x1a\x9b\xd5\xbc'\"PnZ\x1f\x7f\x08 \xf9\x84\x8a" +
-	"\xc9g\x02M\xeb\x19jEO\xab\x98<\x17hZ\xcf" +
-	"\xae\x04H>\xa3b\xf2J\xa0i}\x814/\xa9\x98" +
-	"\xbc\xa6 \x86\xc4N\x8c\xbet\x10 yU\xc5\xe4\xaf" +
-	"h\x1b\xa2\xd8\x86\xd1W\x87\x01\x92\xaf\xa8\x98|S\xc1" +
-	"r'\x83\x83\x8e\x9d\xa1:)\xfa\xd32a(\xf6\xa7" +
-	"n\xe9\x88\xa3~\x0c\x14l\x00\x8c\xe4\x98\x97-\xe5@" +
-	"S\x85\xb1\x01\x8al\xc8\xd9\xae\xa8\xa8\xb2\xdf-\x93\xaf" +
-	"\xa2=\xd3\xb6sC\xcc\xe3\xd8C\x0b\x98\xe1\x95\xdc-" +
-	"I <`Xe\xb4\x14T\xf5o\xe5\x96\x9a\xf7\x92" +
-	"5\x18\xbc\xea\xa8\xdd\x1d`q\xb5C~)\xf5 B" +
-	"\xc9\xe7o\xc8\xb9)\xda\xd7\x80<y\xa4\\\x19\x7f\xa4" +
-	"\xae\xa5\xca\xa2ReQ\x03\x95\xf1\xacJ\x95\xe2\x19\xc2" +
-	"\x9fS\x03\x95\xf1g*U\xc0s\x84_T\x15\xc4b" +
-	"a\xfcW\x95\x0a\xdd\x05\x82\xaf\x90z\x08ea|A" +
-	"\xa5\xc2{\x89\xf0k\x84W)\xb20\xbe\xa4>\x0f\x90" +
-	"\xbaF\xf8o\x08\xafVea|M\x0c\xfb\x0a\xe1o" +
-	"\x12\x1e\x0e\xc9\xc2\xf8\xba\xb0\xff\x1b\xc2\x7fOx\x8d*" +
-	"\x0b\xe3\xefT*\x8c\xbf'\xfc\x8f\x84\xd7\x86da\xfc" +
-	"P\xa5\xc2\xf8\x01\xe1\x9f\x12^W%\x0b\xe3'\xeaw" +
-	"\x01R\x9f\x12\x1e\x0a)\x18\xad\xaf\x96\x85\x11C\xbf\x04" +
-	"H\xd5\x84TL\xc5\x08ox[V\xc6h\x88\xfci" +
-	" |\x01\xe1\x8d\x8bc\xd8\x08\xa0\xcd\x0bQ\xc1o\"" +
-	"\xbc\x85\xf09\xbf\x8b\xe1\x1c\x00\xad9D~. |" +
-	"\x19\xe1\x91\x9a\x18F\x00\xb4%\xa1\x97\x01R\xb7\x12\xbe" +
-	"\x9a\xf0\xa6\xda\x186\x11\x9f\x0fQ|\xee \xfc.\xc2" +
-	"\xa3u1\x8c\x02h]!\x9a\xd7]\x84\xdfC\xf8\xdc" +
-	"H\x0c\xe7\x02h\xebB\xc3\x00\xa9>\xc2\x07\x09\xd7\xea" +
-	"c\xa8\x01h\x03\xa1\x9f\x03\xa4\x06\x09\xbf\x8f\xf0XC" +
-	"\x0cc\x00\xda\x8e\x10\x1d(\xf7\x11\x9e%|^c\x0c" +
-	"\xe7\xd1\xc1\x17\xa2\xf8\xe8\x84\xe7\x08\xbf\xa9%\x867\xd1" +
-	"\xc1'\xf4s\x84\xef#|\xfe;1\x9c\x0f\xa0\x15\x84" +
-	"?\xfb\x08?B\xf8\x82\xc51\\\x00\xa0\x1d\x0e\xed\x06" +
-	"H\x1d\"\xfca\xc2\x9bkb\xd8\x0c\xa0\x1d\x17\xf19" +
-	"B\xf8\xa3\x84/\xac\x8a\xe1B\x00\xed\x11\xe1\xe7\xa3\x84" +
-	"?I\xf8\xa2\x9bc\xb8\x08@;)\xfcy\x82\xf0g" +
-	"\x08o\x89\xc7\xb0\x05@;#\xe2y\x9a\xf0s\x84/" +
-	"^\x16\xc3\xc5\x94\x9e!:\xa0\x9f%\xfc\x02\xe17\xd7" +
-	"\xc5\xf0f:\xf8D|\x9e#\xfc\x12\xe1\xf1\xfa\x18\xc6" +
-	"\x01\xb4_\x88y]\"\xfc\x1a\xe1\xb74\xc4\xf0\x16\xca" +
-	"C\x81_#\xfc7\x84/i\x8c\xe1\x12\xca\xc3\xd0A" +
-	"\x80\xd4\xaf\x08\x7f;\xa4\xe0\xfeqV\xd8\xc4Fy\xa9" +
-	"\x14t\x8f\xb3\xc2\x10\x1f)=\xfa\x8e\xcdt\x92\x07\xaa" +
-	"\x85<v\x12\xc6(\xa8\x86W\xde\xd6V\xb1\x09\x86n" +
-	"\xd9rM\x13\xa0\xc4\xfb\x8cn\xd7\xa3\xf6\xb6\xa4\xd0\x9d" +
-	"e{\x99\xa3\x97\xad\x93\xfe=l/\x03u\x06\x10\x1d" +
-	"\xbd\xcf\xa0\xf7\xd5\x8a\x01\x9f\xe9c\x86k;\x05\x88\xa7" +
-	"&\x9d\xc4\xf4R\x8f>f \x09\xa5\x0b\xd3dJI" +
-	"V\xb4\x9b\xc6\x8ac\xb6\xc5\xb7\xb3B\xe9\xa0\x8c\x9b\xcc" +
-	"\xe2.V\x83\x82\xd5\x80\xbeg\x98<A\xb4Q\xe5z" +
-	"I\xa5\x1c\x19\xc5\xf0R\xf9L\x86\xbb\x1e\xd7\x85\xf1\xc0" +
-	"\x89\xee\x16\x05\xd0\xadOv\x97\xbb\x9e1J\x85T\x1f" +
-	"\xb2\x99\xbe\xdd\xd0U/[\x16\xd2:P\x17\x0ba>" +
-	"\xe1a\xa4r\xc7\x09\x88\x11@_7\x8aQ]\xef\xd8" +
-	"\xa3\xdbY\xa17\xce-j\xfa\xcb=F\x91xb\x89" +
-	"y\x06<\x1a%\xbe\xe4\x8c\xf1\xa9\xf1\x1bg\x85\x147" +
-	"y\x1a\xa9\xf8\xcb\x1b\x0b\x8cT\xae\xaa\x8a#\x97\xe6\x8c" +
-	"\x86\xec\xdc\xbd`@\xb2F&;\xce\x0a\xbd\x101\x99" +
-	"\xebb\xa4rq(\xdf\x8e\x8f\xb3\xc2F\xbd\xd4\x9a\xf8" +
-	"\xe9b\xf3>\x85\xabT2O\x14\xfem\x1c\xe2\x0eM" +
-	"\x07\xc3\xa0`\xb8\x18\x1d\xeaD@\xcd\xd3 \xe5\x93\xa3" +
-	"\xe8b\xa6r@`\xa4r\x94T\xa4\x03\xb6eo\x81" +
-	"p\xb0!L\xdb\xa3\xb9\xbc\xc7u\x142\x83v@Y" +
-	"&\xbb\xc8\x0d\x1c-\xee0y2\x96e9\xc7\xd6\xf3" +
-	"i\xee`\x8a\xbb\xe4cE\xf2\xb9\xbd~\x99\xaaHz" +
-	"+\xa2M-E\x8dh\x12\xa2kDSU\xbb\x16\x80" +
-	"v\x8fg\xa4\xf7\xe7\xb8\x93\xe6\x967\x9b\x9e\xa63\xd8" +
-	"\xd3\xcct\xfcR\xde\x89K8>!\xfa\x99\x061\xf8" +
-	"b\xd9\xd1\xcd[):\xba\xc6\xb5\x00\xfbG\x1c\xce\xc7" +
-	"Y!\x926\xbcB\xa9\x93\x9b\x8d'\xed\xb3\xea\xc6\xc2" +
-	"z\xfb\xeaY\xb6o_\x9b\xed\x00\x9d\xb3}\xa1\xfdF" +
-	"\xc1\x14w}hQ\x1cc\xe5\xbe\xf0\x01\xea\xf6&T" +
-	"L\x1e\x0a\xf4\x85\x0f\xae\xaa\\Qb\xb1-<\xbc\x14" +
-	" y@\xc5\xe41j\x0b\x9bd[x\x94\xde>\xa4" +
-	"b\xf2\xe1J#\x12=N\xbd\xe21\x15\x93'\x14\x8c" +
-	"x\x85\x1c\xa5x\xf9\xfbSq\x97\x8d\x10[-\xed\xeb" +
-	"\xb0\xeb9\xe5\xceo\xd8\xb6\xcd\xf2n\xdd]$\xae\xc1" +
-	"b?\x9b\x98\xdc1\xdb v\xdc\xe8\x85{\x8a\xf5\x83" +
-	"\xaa\x87\xd8\x0fw\x8a\xe8\x9c\x92)\xf9x\xbfH\xc9\xc7" +
-	"v\x0b\x92\xf1\xc8*A2\x8e\x0e\x09\x92q\x98T\xaa" +
-	"\xa3\x0f\x0c\x03`8Z \xb0&\x9awh\xa7F\xef" +
-	"\xa7\xf7\xea\xa2\xa3\xf4^}\xd4\xa0\x9f\x86('\xcd\xc6" +
-	"(\x0b\x90\x13\x7f\xd4\xf6lg\x9c\x15\x00\xa0\xf2w$" +
-	"aX{\xe2\x9e\x93\xb7\xf6\xf8\xe2\xdf\x84a\x01\xee\xd9" +
-	"\x9fs\x8cQ\xe6\x14\xfc\xe2o\x02\xc2\x86\xb5\xc7w9" +
-	"\x155\xe6\x00\x16*\x7f\xc7\x0bd\xc3\xf7\x88\xf81G" +
-	"\x98/\xff-\xcc\xfby+Ms6 2bp\xdd" +
-	"w\xb8k\xe8\x9c\xca\xbf\xc1L\xdf4\xc6\x0c+C\xfd" +
-	"\xaf\xc3\xb9wC\x9aBK:h\x1b\x96'/\x0f\x02" +
-	"W\xeb\xfd3]\xad\x0f\x01$\xb3*&=j\x8eC" +
-	"2\x1d\xef'0\xa7br\x1f\xa5c\x95L\xc7\xc2\xde" +
-	"J2\x7fa\x02\x9d\xce;c\xcc\xcb;P9h}" +
-	"O^`r\xe86m*)\xd3\xb8\xc2\x17\xd8\xf1\x1d" +
-	"_\x84\xb0\x0d\x96\x98\x8c(\xad\xe58\xb4R\x1cnU" +
-	"1\xb9:\x10\x87v\x9a\xf2\x1d*&\xef\x9a\xcd\xecn" +
-	"\xe0\x00\x11gAW\xc4\xd5\x9dX\x0d\x11\xdf\xd6\x95\"" +
-	"\xa1\x97\xc8\x84^\xdc/\x12\xbay)@\xc4\xb2-\xee" +
-	"\x1bt\x96[\xcc\xa4D\xe1\x13\xe5\xbf\xc3i\xe6|\xe1" +
-	"\xaf+\xa9\x88\xc7<\x9e\x0ca\xe0\x9bs\x14\x97\x867" +
-	"\xe4\xdc\xe4\x812k\xba_\xa5\xb67G4b_\x90" +
-	"5\x15\x04\xad\xd9G\xf8\x91 k:\xacR[z\x88" +
-	"\xf0\x87\x09WQ\xd2\xa6\xe3\xeaS\x00\xa9\x87\x09\x7fB" +
-	"\xd0&U\xd2\xa6\xc7\x85\xfd\x13\x84\x9f\x16\xb4)$i" +
-	"\xd3)\x95\xda\xd2'\x09\x7fV\xd0\xa6*I\x9b~$" +
-	"\xec<K\xf8\x05A\x9b\xaa%m:\xaf^\x9eD\xcb" +
-	"j\xc2\x926\xbd X\xdfE\xc2\xaf\x0a\xdaT#i" +
-	"\xd3\x8b\x82f]!\xfc\x15A\x9bj%m\xba.X" +
-	"_\x85\xae\xd5\xd7I\xda\xf4\x9a\xf0\xf3W\x84\xbfMx" +
-	"C\xbd\xa4M\xff!h\xd6\xdb\x84\x7f@xc\x83\xa4" +
-	"M\xef\xab\xd4\xb6\xbfG\xf8\xc7\x84\xcfi\x94\xb4\xe9O" +
-	"\x82\xc6}\xac\xaa8$X\xd3\x1c\xc9\x9a>\x13\xc3\xfe" +
-	"\x95\xd4k\x04k\x8aH\xd6T%\xba\xfc\x10u\xe7M" +
-	"\x8255I\xd6\xd4(XD\x85\xad\xcd\x8dJ\xd64" +
-	"/\xf4\xfc$V\xa6\xa9\x925-\x09\x91\x9b\xcb\x08\xbf" +
-	"C\xb0\xa6\xb9\x925\xb5\x09;\xb7\x11~\xa7`M\x9a" +
-	"dM\x9dB\xffN\xc2\xfb\x04k\x8aI\xd6\xd4#X" +
-	"M\x85\x95\xcd\x9f'Y\xd3\x80\xb0\x93 \xfc^\xc1\x9a" +
-	"n\x92\xaci\xab`\x17[\x08\xff\x96`M\xf3%k" +
-	"\xda%\xd8`\x85\xad-\xfc\xa6dM\\\x8c\x9b%\xdc" +
-	"\x13\xac\xa9G\xb2\xa6\xfb\x85\x9d\x0a[kY+YS" +
-	"A\xe0\x13\x84\x1f\x12\xac\xa9W\xb2\xa6\x07\x05~\x80\xf0" +
-	"c\x825\xf5I\xd6tT\xf8Yfk\x18\x97\xa4\xe9" +
-	"\x91\xd0R\x80\xd41\x82O\x84\x14\x14\xf7\xd9\xe6\xa0\xc3" +
-	"!\xe2\xba\x81\xee\x95\x99\xe3\xac\xe0n\xb6\xb0\xf85h" +
-	"]\xb7\xf8\xc4QQ\x18v\xd8\x1e\x9e02\x10\xcez" +
-	"n\x19\xd5\x99\x9b\x1d\xb6\x99\x83z\xe0f\xbb\\\xd3t" +
-	">\xe3X\xe5\x06^\xdcps\x1d\xa6K\x12\xb6\x95!" +
-	"ix\xa6\xf7\x94m\xdc)\x944\x82\xef\xef\xe7i{" +
-	"\x03gN\xf9\x8d\x11\xdbI\xf3^\x9b\x81\xeaze\xd0" +
-	"p\x07\x99\xb3\x87hAe\xe0\x1c\xcb\xbb<\xc1<\x88" +
-	"\xd0\xe4\xa7\xc0\xb6\x85\xa2\xfa\x19\x16C3@\x80l\xc7" +
-	"\xdb\xc0\x19`e<\xcfa##Fz\x00m]~" +
-	"#\x0a\x12\x84\x0csS\x1eK\xef\x09\x8e;j\xeb\x9c" +
-	"f\x01\x93&*\x0b\xdb\xa0\x03q\xfe\xb9\x8b\xd4\xd3m" +
-	"\x9a\xf6x0B\x95\xe5\xf0\xec\\\xca\xc8\xa0Ufq" +
-	"\xf2C\xcbt\xa3\x12O\xd8X\x8a'N\x95m\xe3X" +
-	"\x8a\xf7\x94ws\\g\xe6\x00\x9b\x80\xf8\x10\xcfpk" +
-	"2.\xe2\xd6\x93\xf6\x8c1^\x99\xb0\xc7]\x93\xf5\xf6" +
-	"\xae\x83n+\xc32\x01SEA\x1f\x1a.\x17\"\x9c" +
-	"&\xdb\x84\xb6\xd7\xe3\x8c\x06\x13Fd\xf3=4\xe1^" +
-	"'o\xb8\x81\x81D\xee\xcd(\xc9\xe5M\x97\xf7X:" +
-	"\xc47\x98\x86\xceKx8\x93sg\xf9\x8d{\xca\xb9" +
-	"|\xe7,;\xf7\xbf\xbb\x91\xfe\xf6\"+\x15\xa44\\" +
-	"\xc8\x89STv)\x9d\xb2-l\x1b\x12\xa7h\xab<" +
-	"E\x97\xf7\x8b\xb6p\xc9J\x80\xfd\xe9\xbc\xe3\x10i\xca" +
-	"9\\7\xd2\x1e\x07\xd4\xfd\x9c\xed\xba\xc6\xb0\xc9Kg" +
-	"\xab\xa5\x8b]\x10\x19a\x86y\xc3\x8b\xf0\xbe\xe2\x95k" +
-	"\xf9\xc6u\xca5\xf0\x1a\x80\xe4\xa3*&\x9f\x0c4\x16" +
-	"'\x87\x02w\xc3\x0aJ\xd7\xcf\xec\x0c\xdc\x0d\xab\x8al" +
-	"\xb0\xce\x1e\x04H>\xabb\xf2B\xe5\x1a\xf8<\xbd\xfd" +
-	"\x9c\x8a\xc9W\x02\xd7\xc0\xd7I\xf1\x9a\x8a\xc9\xf7\x14\xec" +
-	"f\"\xbb\xa6\xa4\xabIs\xad\xe4\x8e\xed1s\xbda" +
-	"\x82\xca]\xac\x01\x05k p}\xcc\xf5\xf5\x86\xc9]" +
-	"(K\xcc\xe2w+@\xb7tK\xdcP\xfcRP\x12" +
-	"a\x1f\xf7\x98a\xbaP\xb9F.\xff\xa7\x92\xe25\xf2" +
-	"l\x88\xc1\xa4,\xb8Q\xf0K\x9f\xd5\xfa\xba\xa5\x0f\x82" +
-	"\xba\x96\xd7`\x1d5w}*&\x07\x15,-\xc1\x00" +
-	"E;\xa1b\xf2\xde\xc0\x12l\xa5 nQ1\xf9-" +
-	"%0\xe5\x00\x15\x9a]\xd4\xfe?\x00\x00\xff\xff\xd6\xbd" +
-	"\x94\xef"
+const schema_b526ba661d550a59 = "x\xda\x94zkp\x1c\xd5\x95\xff9\xdd3\x1a==" +
+	"\x1a\xdf1\xd8\x92\xc5\xd8\xc6\xc2\xc8A\xc4F\xf8\x1f\xe4" +
+	"\xe0\x08Y2\xb6U#\xacV\xdb\x16v\xe1\xaa\\M" +
+	"_\xcd\xb4\xdd\xea\x1ew\xf7H\x1a\x17.\x1b\xc7T\x01" +
+	"\x7f\xa8@6\x0f'\x156<LU\x92\x85\x84\xcd\xc2" +
+	"\x96\x97\"\xb5\x84\"U\x86\xc5U\x90\x0a\xa9<\xc8\xe2" +
+	"\xe4\x0bI\x96\x14\x9b,\xa9\xcdfC\xf5\xd6\xb9=\x8f" +
+	"\xd6#\x18}\xf1\xa8\x7f\xe7\xf4\xb9\xe7\x9e{\xee\xb9\xe7" +
+	"w\xdb[N\xb6\xdc\x16\xdb\xda\x96o\x05E{8\xde" +
+	"\x10\xa4\x8e\x1d\xfa\xb5\xed\x7f\xe74\xa4:18\xd4|" +
+	"\xa0k\xea\x85\xeb\x9e\x87X\x02\xa0oM\xc3ad\xbd" +
+	"\x0d\x09P\x83\xef~\x90\xed?\xfc\x9f/\xdf3_+" +
+	".\xd5\x9a\x1aN \xebjH\x00\xb05\x0d\xef\x02\x06" +
+	"w\x0e\xbd\xfc\xf9\xc9\xeb\xbeq/\xa4:\x95\xba2`" +
+	"\x1f&F\x90\xadJ\xd0K\xa9\x84\x13\x03\x0cz_-" +
+	"\xdd\xf9\xed5\x0f=\x02Z/6\x05/\xdb\xff\xdar" +
+	"\xf0\x95\xbb\xfe\x0b\xe2H:\x0f\xb5<\x80\xec\xa9\x16\xfa" +
+	"\xf3\xf1\x96w\x14\xc0\xe0\xef?\xf1~\xc9<q\xf8\xcb" +
+	"\x90\xbaV\x09\xce\xfc\xe9O\xd7\xf6\xfd\xc7\x1f\xce\x93\xe5" +
+	"\x9f\xad8\x83\xec\xf7+\xc8\x87\xdf\xae\xf8\x0a`\xb0\xf2" +
+	"9\xcc\xe7/^\xfa\xfa\x12\xd3\xeaON\"\x1bM\xd2" +
+	"\xb4z\x7f\x91Q\x87\x13\x85\xc7\x97\xd0\xeaI\x1eF\xb6" +
+	"CjYj\xdfm\x7f\x9elx\x12\xb4N\\4\xfb" +
+	"5\xa4\xd7\x9b\x0c_\x99@\xc0\xba_Z'\xb6G\xd4" +
+	"\xe5\xbc\x1fm\xef@\xf6L\xfb&\x80\xbeW\xdb'\x1a" +
+	"\x01\x83\xe1\xa1\x97^{\xe6\x9d'\x9fZ\x14\xadC\x1d" +
+	"g\x90Mw\xd0\x9c\xcc\x8eO\x01\x06\x07\xcek?\xbb" +
+	"a\xe6\xd2SKx;\xddq\x18\xd9=\x1d\xe4\xedw" +
+	"~\x91\xfb\xd2\xff\xff\xe6\xfb\xff\xb0\xc8\xde\x91\x8e\xedu" +
+	"{\xfb\x00\x83#\xcf\xbf\xbb\xf5\xf3\x1f\xbe\xf3\x9d%\xec" +
+	"\x9d${\x8fH{\x03\xef\xfc\xee\xe4\xe8\xba\x89g\x97" +
+	"\x1cu\xb2:\xeaE\xcc\xae7s\xf6\x85%\xb4\x8e\x90" +
+	"\xad\xe3R\xab\xf0\xe2\xdf}Q\xff\xf4\xf0\xf7\x97\xd0\x1a" +
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+	"E!\xbd\xde\x8e\x95\xc8vt\xc8\xe5\xee\xc8\xd0\xaal" +
+	"?4Q\xb4\xde\xfa\xc6\xbf-5t'\x0d\xddIF" +
+	"\xdf8\xf3X\xfe\x7f\x7f\xfe\xe5KK\x0dMZ\x9a\xd4" +
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+	"\x18\xd9\xd6.\x1a\xbd\xffs\xaf}\xed+\xf1\xaf\xfc;" +
+	"\x99T\x16\xa8\xb5u\xedD\xd6\xd5%\xf7b\xd7,`" +
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+	"}to\xd3{W}\xb0\x84\xaf\xbf\xec>\x8c\xec\x0f" +
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+	"\x88i$\xd0\xfc\x02\x80f\xa9\xa8\xcd)\x98R\x944" +
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+	"\x07\xc4v\xf8\xe8\xd9\x8e\xf2\xa2\xb1\xd7.\x96\xfc\xfd\xe5" +
+	"\xa2\x00\xa0\x89\xbeH\xae\xb3^e\x04\x00W\xb0\x1e\xe5" +
+	"{\x00\x98d=\xca\x13d\x9c\xf5(\xdf\x06\xc0\x14\xeb" +
+	"Q^\x06\xc0\x95\xacG\xf99\x00\xb6\xb0^e\x12\x00" +
+	"\x19\xebQ^\x03\xc04\xeb\x95\xbf\xc8\xb6*'\x00P" +
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+	"\xf2\xb9\x83mS\xbe\x06\x80\x9dl\x9b\x1cw-\xdb&" +
+	"\xedu\xb1~\xf9|\x0d\xeb\x97~\xa9\x95\xe7\x18\xeb\x97" +
+	"\xfedX\xbf\xb4\xbb\x8e\xed\x90\xf6\xd6\xf7\x0d*\xdb\x11" +
+	"\x00\xe3l\xaf\xf2\x02\x006\xb0\xbd\xd2\x816\xb6K9" +
+	"\x0c\x80\xadlP:\xb6\x81\xed\x90/^\xcb\x06\xa5\xe1" +
+	"\x8d\x95\xdf\xee\xbeAe%\x19hf{\x95\x07\x00\xf0" +
+	":\xb6W\xf9#\x00n\xea\x1bU6\x90\xe0zv@" +
+	"\x86\xa0\xa7\xef\x90\xa2\x10\xb0\xb9\xefH\xf8\xc7'\x18W" +
+	"\xbe\x00\x8070._\xede\\\x06/Qynd" +
+	"\\9\x03\x80M\xec\x88\xfc\xbd\x91\x1d\"\x1f\x02\xc3\x99" +
+	"\xb5-\x87\x1b\x00\x10x\xc2\xdf\xcf\xdd\xbc@?\xcb}" +
+	"\xe1r+3\x98\xcb\x09\x8bp\xbd(\x84\x11\xa6\xc8\xbe" +
+	"\xa9\xa9\x84'\xfc\x05\xe8\x90c'){\x09\x1e\xe5\xc5" +
+	"\xa1R\xdc\x9d\x11R>\x14\xa65x\xc2?hz\xa6" +
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+	"IM%T\x95>\x91K\x83\xa1\x8fQ\xd9\xa8i\x87" +
+	"\xe2\x83\x00\x81+h&\xba\x80\x01\xdf7\xed\xbc\x17x" +
+	"|F\xe8\xc2\xf7!\x19>\x0a\x7f\x97\xcd'-\x18\x08" +
+	"\x87_h\xec\x80'\xa4\\\xe8\xc9\xaaXNE\x99'" +
+	"+\x0a\x81Fm\xf6\x8a\x9c}D\x9a\xa8\xbc\xb9\xc7\xb1" +
+	"\x8c\xac\xc2=_\x17\xc2\x96\xaa\xa4\x89~$\xca\x12\x1d" +
+	"\x11\xaa{l!8\x98KT\x02/Q%D\xf7\x9b" +
+	"\xd3b\xdf\xd4\x94'\xfc0\x10\xc3b\x8a\x97\xd0\xf2\xb3" +
+	"\xdc\x16\x13f\xc2\xf0\x0b5\x97\xb1\x1a\xb7\x8c\x0c\\@" +
+	"\x81!u,Y>E\xc4LP@\x08\x1d\x179'" +
+	">=-lC\x18Rb\xe7=Z+\xddrf\x87" +
+	"\x9dY\xfbv\xc7\xbdC\xcc\x85\x0ed\x934\xd9\xfa\xdc" +
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+	"\xc0@\x98\x9b\x95\xf4\x18\xf1\xa8\x0eU\x1et\x07\x92%" +
+	"7'\xe4\xa2\xce\xf9\xc2Uln\xd5\xc2</\x1d\xa5" +
+	"\x18\xab\xe2Lv\xde\x1c\xc2\xec\x1ds\xcd\x8c\xe3\x9a~" +
+	"\xb9\x86\xab\xa1\x19rZ\x8c\x8b\xe3%\xd3\x15\x1e\xed\x86" +
+	"\"\xfa\x01\xa7__/bu\xb4p9\xc6\\\xe1y" +
+	"\xcan\xee\xedw\x06+\x1a\xf3\xc6\x1b4\x8e\x96<\x95" +
+	"\xc2\x1f\xaefT\xab\x1e;\x09*~}*\xb4\xea\x8e" +
+	"Z\xf2kC4\xc9!\xf6\xcd\x08\xd75\x0dQW\xa4" +
+	"U\x1brl\xc3\xf4Mga0\xaa;P/p\xc3" +
+	"\x99\x1d\xe2\xae\xees\x1fe\xf4$\x84\xb3\xa3\x8e!\xac" +
+	"\x837\x85S\xa9`\xbb\x8b^\xd6\xc9\xf1$\x19$x" +
+	"\xc4s\xec1\xe4~\xe1v\xcb\xe1\x95YK\xac\x81\xfb" +
+	"\x85\xfdbN\xba \x01\xee\x17v:\xd1!+\xa6\xc8" +
+	"\x12\xadG\xd2\xb5\xb9U;,\xe2W8\x1a\xc9Yq" +
+	"\xa3<s\xe8\xd0\xb8\xb9z:\xb2#x\x02@\xbf\x0b" +
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+	"\x92M\xe38\x80n\x11>\x87\xf5c\x92\x95\xa4\xbeO" +
+	"\xf8i\xc2c\x8di\x8c\x01\xb0\x93x\x13\x80>G\xf8" +
+	"Y\xc2\xe3Mi\x8c\x03\xb0{\xf00\x80~\x9a\xf0\x07" +
+	"\x09ohNc\x03\x00\xbb\x1f\xbf\x06\xa0?H\xf89" +
+	"\xc2\x13-ij\"\xd8\x97\xf0\x01\x00\xfd\x1c\xe1\xe7\x09" +
+	"olMc#u\x14R\xff<\xe1\xcf\x12\xde\xd4\x96" +
+	"\xc6&\x00\xf6\x0c\xba\x00\xfa\xd3\x84_ \xbc9\x91\xc6" +
+	"f\x00\xf6<>\x01\xa0_ \xfc\x15Tp}\x8b\x92" +
+	"\xc6\x16\x00\xf6\x03\xdc\x0e\xa0\xbfH\xf8ET\x10[\xd3" +
+	"\xd8\x0a\xc0~\x88\x9b\x01\xf4\x97\x08~\x1b\x15\x0c<\x87" +
+	"\xb6\xcc\xa8\x03\x03\xb6Ci\x85M\xa0`\x13``q" +
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+	"\x14\x9c\xba\x89aPE\xbe\x06\x16\x1c\xd7<\xe1\xd8>" +
+	"rk0\x97+\xb9\\\xcd\x95k\xc2\x19\xe1\xfaf\x8e" +
+	"[\x18\x8are:\x00\xe7[\x1b\xc4\x8ah8j\xd5" +
+	"\x0b+e\x0e2RV\xc3K\xb69'g\xe7\xf9|" +
+	"\xba8jZ\x09\xcb\xf40\x0e\x0a\xc6\x01\x07\x0a\xdc\xbb" +
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+	"\xa24\xb0\"\xd2\xc3\xc4\xffF\x0f\xb3\xaf\xe4\xdf\xa8\xf3" +
+	"\xe9\xa2%(1K\x9eL\xca\xd5\xb2\x09\x1b\xdcI\x8d" +
+	"H\xaa\xff&\xeaCR[\xe9\xd4WS\xbd\x04\xc6R" +
+	"\xdd\xd4\x0b\xc4S\xeb\x8f\x02\x9c*\xd9\xc7lg\xd6\xce" +
+	"\xd8\xce\xee\xa2\x17\xd8\xce\x903#\\\x0ej^\x9c\xb2" +
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+	"\x05\xc8BX\x85?v\x1f\x9a0\xb6\xdet\xa5Ft" +
+	"A\xe3\xda\x7f%}\x0a\x03\xedc:5\xf6\xa9%_" +
+	"F\xa0\xd6\xb4~\xf5\x01\x00\xed\xeb*j\xdf\x8c4\xad" +
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+	"\xb9\x13S\xaf\x9e\x01\xd0.\xaa\xa8\xfd\x98\xb6!\xcam" +
+	"\x98zs\x12@{CE\xedm\x05k\x9d\x0c\x8e\xb9" +
+	"N\x9e\xea\xa4\xecOk\x84\xa1\xd2\x9fz\xd5#\x8e\xfa" +
+	"1P\xb0\x150Y\xe4~\xa1\x9a\x03\xedu\xc6\x06(" +
+	"\xb3\xa1\xe8x\xb2\xa2\x86\xfdn\x8d|U\xecY\x8eS" +
+	"\x1c\xe7\xbe\xc0AZ\xc0\xbc\xa8\xe7nU\x02\x89Q\xd3" +
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+	"\x8a\xfa\xbaX\xa42v\xc5\xa8R\xac&|c,R" +
+	"\x19\xd7\xc7\xa8\x02\xae#\xfc\x86\x98\x82X)\x8c=1" +
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+	"\x10~+\xe1q%,\x8c\xfd\xb1\x17\x00\xf4[\x09\xdf" +
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+	"\x85q\xaf\xb4\xbf\x87\xf0\xfd\x847\xaaaa\xd4bT" +
+	"\x18\xf7\x13\xfeY\xc2\x9bbaa<\x12\xa3\xc2x\x17" +
+	"\xe1\x05\xc2\x9b\xe3aa\x14\xb1/\x00\xe8\x05\xc2}\xc2" +
+	"[\x1a\xc2\xc2x<\xf6#*\xe0\x84\x9f%\xbc\xf5r" +
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+	"\xdd\x1b\xa3\x82\x7f\x9a\xf0\x07\x09_\xf1\xab4\xae\xa0\xc2" +
+	".\xfd\xbc\x8f\xf0/\x12\x9elLc\x12\x80=\x12{" +
+	"\x8d\x0a;\xe1\xe7\x09ooJc;\x15v\x19\x9f\xc7" +
+	"\x08\x7f\x9a\xf0Ts\x1aS\x00\xec[r^O\x13~" +
+	"\x81\xf0\x95\xc94\xae\xa4\xc2\x1e\x9b\x04\xd0\x9f#\xfc%" +
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+	"\xaf\x06`\xbf\x95\xfe\xbcG\xf8\x9f\x09_\xdd\x95\xc6\xd5" +
+	"\x00\xecO\xb1\xa3\x00\xfa\x071\x15\xc7\xe3\x0a\xa6\xd64" +
+	"\xa6q\x0d\x00\xfbP\x86\xe7\xcf\xa4\x1e#\xbc#\x9e\xc6" +
+	"\x0e\x00\x86qr3\x16WQo'\xbc\xf3\x9a4v" +
+	"\x02\xb0\xb68\xb9\xd3J\xf8j\xc2\xd7f\xd2\xb8\x16\x80" +
+	"\xad\x8aS8\xd3\x84\xaf#\xbckc\x1a\xbb(;\xe3" +
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+	"\xe1\xd9H\xf8\x16\xc23-i\xcc\x10q\x8c\xd3\xb4\xb6" +
+	"\x10~+\xe1\xebZ\xd3\xb8\x8e\xd2P\xe2\xb7\x12\xbe\x87" +
+	"\xf0\xf5mi\\Oi\x18?\x03\xa0\x0f\x13>F\xf8" +
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+	"#\x00\xe3R\xdf \xbcHxw2\x8d\xdd\xd4_\xc4" +
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+	"\xc2\xc3\x06P\xb0\x010\xf0MKd\x89\x95\xaa\xc2\xa8" +
+	"\xaa\xd4\"\xa3\x98\xbe^\xca\xe7\x85\xe7\x0bC\x1a\x8f4" +
+	"\x0c^E\x00\x03\xc6|w\x85\xe7\x9b\xd3T\xa7\x8dq" +
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+	"\x1f\x93\xf5+T@L\x02\x06\x86Y\x89\xea\xed\xae3" +
+	"=\xc1\xcbC\x19a\x13\xa7\xa8\xb50\x15^\x8bUb" +
+	"\x1b\xf1h\x9a\xe8\x98;#\x16\xc6o\x96\x97ua\x89" +
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+	"\x0f\x93\xf5{\xc9\xf0\xed\xcc,/\xef5\xaa\x9dO\x90" +
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+	"0\x01\x0a&*\xd1\xa1F\x07\xd4\x12\x0dR;\x98*" +
+	".\xe6\xeb\xe7\x0f&\xeb'U]:\xea\xd8\xce~H" +
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+	"Z\xa8+\xb2a\xac,#,\x94\xecD\xa7d\x1b\xdc" +
+	"-\xef\xc5\xfa\xae\xa8\xc8& 9?\x8a\x1f\xc5Yj" +
+	"\x94+\xa4\xe9rY\xa95j\x94\xcdNj\xbbl\x0e" +
+	"\x9bv\x02\xd06\xf5\xcd\xdc\xa9\xa2ps\xc2\xf6\x97\xd3" +
+	"\x9bm\x8b\xf6fK\xb5\x11\x94\xe0\xf22Q\xcc\xc9\xbe" +
+	"\xacU\x0e\xde\x15v\xa6\xab6\xcb\xce\xb4m'\xc0\xa9" +
+	")W\x88Y^N\xe6L\xbf\\\xedH\x97\xe3\xc9\xd6" +
+	"eu\x95\x09c\xeb\xcd\xcblC?\xb5\xdc\x01\xb6-" +
+	"\xf7\x85\xadW\x0a\xa6\xbc\xb3D\x9b\xe2\x98\xae\xf5\xb7'" +
+	"\xa9k\x9dSQ;\x1b\xe9o\xef\xb9\xa9~\xd5\x8a\x95" +
+	"\xf6\xf6\xde\x0d\x00\xdai\x15\xb5\x07\xa9\xbdm\x0f\xdb\xdb" +
+	"\xfb\xe9\xed\xb3*j\x0f\xd7\x1b\xaa\xd4C\xd4\xf3>\xa8" +
+	"\xa2vN\xc1\xa4_.\xd2^\xaa}G\xabl\xe7)" +
+	"b\xdd\xd5\xdcMx\xbe[\xeb`'\x1d\xc7\xaa\x95\x85" +
+	"\xa3\x15\x02\x1e=U\x96\x13\x93-\xcb\x0db\xdf\x95^" +
+	"\xd8S)TT\xa6\xe4~\xb8EF\xe7\xf10%\xbf" +
+	":\"S\xf2KG%Yz\xe4&I\x96\xee\x1f\x97" +
+	"d\xe9^RiH\x9d\x9c\x04\xc0D\xaaL`c\xaa" +
+	"\xe4RIH\x1d\xa7\xf7\x9aS\xd3\xf4^K\xca\xa4\x9f" +
+	"\xd6\x94 \xcd\xb6\x14\x8f\x90\xac`\xda\xf1\x1dw\x96\x97" +
+	"\x01\xa0\xfew2k\xda\xc72\xbe[\xb2\x8f\x05\xf2\xdf" +
+	"\xaci\x03\x1e;Ut\xcdi\xee\x96\x83\xcao\x16\x12" +
+	"\xa6},\xf0\x04UO\xee\x02\x96\xeb\x7fg\xcad#" +
+	"\xf0\x89\xc0rW\x9a\xaf\xfd-\xcd\x07%;Gs6" +
+	"!9e\x0a#p\x85g\x1a\x82\xce\x19\x93[\x81e" +
+	"\xce\x98v\x9e\xfaxW\x08\xff\x8at\x8b\x96t\xcc1" +
+	"m?\xbc\x04\x89|\"\x18Y\xea\x13\xc18\x80VP" +
+	"Q\xf3\xa9\xc9\x8f\x85\xe9x\x9c\xc0\xa2\x8a\xda\xdd\x94\x8e" +
+	"\xf10\x1d\xcb'\xea\xc9\xfc\xb1/\x02r%w\x86\xfb" +
+	"%\x17\xea'z\xe0\x87\x17\xb1\x02\x06,\x87J\xca\"" +
+	"\xce\xf31v|\xdf\xc7!\x9ecUF&Kk-" +
+	"\x0e=\x14\x87\xebU\xd4n\x8e\xc4a+My\x8b\x8a" +
+	"\xda\xad\xcb\x99\xdd\x15\x1c\xd8W\xf2o\x94\xb4K^A" +
+	"\xca\xd5\x90\xf1\xed\xd9,\x13z}\x98\xd0]#2\xa1" +
+	"\xd7l\x00H\xda\x8e-\x02\x93\x9a\x06\x9b[\x94(b" +
+	"\xae\xf6w\"\xc7\xdd\x8f\xfd\x95HO\xfa\xdc\x17Z\x0c" +
+	"#\xdf\xceS\xb8!\xb1\xbb\xe8i\xa7k\xec\xef\xb8J" +
+	"}hQUQ\xbf[\x8d\xb0\xbf\xb2J\xf4\xecn\xc2" +
+	"\xefS#\xec\xef^\x95\xfa\xeb\xb3\x84?L\xb8\x8a!" +
+	"\xfd{H}\x02@\x7f\x98\xf0\xaf\x13\x1eSC\xfa\xf7" +
+	"Ui\xff\x1c\xe1\xe7\x09\x8f\xc7B\xfa\xf7\xb8J\xfd\xf2" +
+	"c\x84?MxC<\xa4\x7f\xdf\x92v\x9e&\xfc\x02" +
+	"\xe1\x89\x86\x90\xfe=\xaf\xbe\x0c\xa0_ \xfc\x15\xc2\x1b" +
+	"\x13!\xfd\xfb\x81J\xec\xf5E\xc2/\x12\xde\xd4\x18\xd2" +
+	"\xbf\x1f\xaa\xc4\x1b^!\xfc\x0d\xc2\x9b\x9bB\xfawI" +
+	"%\xf6\xfa:\xe1?%\xbc\xa59\xa4\x7foI?\x7f" +
+	"L\xf8e\xc2[[B\xfa\xf7K\x95\xfa\xf7\xcb\x84\xbf" +
+	"Gx[kH\xff~\xab\x12\xff\xf8\x0d\xe1\x1f\x10\xbe" +
+	"\xa2-\xa4\x7f\x7fP\x89&}\xa0\xaa8.\xd9\xdf\x8a" +
+	"\x90\xfd}(\x87\xfd+\xa97J\xf6\x97\x0c\xd9_\\" +
+	"\xb2\xb9\x18\xd1\xa4v\xc9\xfe\xdaC\xf6\xd7&\xd9Y+" +
+	"\xe1\xab%\xfbK\x85\xeco\x95d\xcduR\xce\xd4\x90" +
+	"\xfd\xad\x97\xacv#\xe1[$\xfb[\x19\xb2\xbf^i" +
+	"\xe7\x06\xc2o\x91\xec\x8f\x85\xeco\x9b\xd4\xbf\x85\xf0a" +
+	"\xc9\xfe\xd2!\xfb\x1b\x94,r\x98\xf01\xc9\xfeV\x85" +
+	"\xecoT\xda\xc9\x12~\xa7d\x7fW\x85\xec\xef@\xec" +
+	"\xcc<\xf6\xbd\xe6\xea\x90\xfe\x1d\x91\xac\xb6\xce\xbe;n" +
+	"\x0b\xe9\xdfB\xf6\xdd9\x18\xd2\xbf\xe3\xd2N\x91\xf0\xbb" +
+	"\x09_\xbb3\xa4\x7fe\x89\xd7Yy\xd7PH\xff\xee" +
+	"\x91x\x9d}_3\x1c\xd2\xbf\xfb\xa5\x9f5\xf6\x8d\x99" +
+	"\x90\xfd=\x12\xdb\x00\xa0?H\xf0\xb9\x98\x82\xf2^\xde" +
+	"\x1as\x05$=/\xd2&sk\x96\x97\xbd}6V" +
+	"\xbej\xed\x1a\x90\x9fj\xea\x0a\x93.?&\xb2f\x1e" +
+	"\x12\x05\xdf\xab\xa1\x06\xf7\x0a\x93\x0ew\xd1\x88\xdc\xd0\xd7" +
+	"j\x9a!\x96\x1c\xab\xc6\x14\xe4M\xbd0`\xb1$\xeb" +
+	"\xd8y\x92&\x96zO9(\xdcrU#\xfa\xfe)" +
+	"\x91sv\x0b\xee\xd6\xde\x98r\xdc\x9c\x18r8\xa8\x9e" +
+	"_\x03Mo\x8c\xbb\xc7\x88\x7f\xd4\x07.\xf2\x92'\xb2" +
+	"\xdc\x87$M~\x01\xec\xd8(\xab\x9fis\xb4\"L" +
+	"\xcbq\xfd\xdd\x82\x03\xd6\xc7\xf3]>5e\xe6F\xd1" +
+	"1\xc2o]Q&\x92\xe7\x9e\xee\xf3\xdc\xb1\xe8\xb8\xd3" +
+	"\x8e!h\x160o\xa2aa\x1bs!#>r\x91" +
+	"\x06\x07,\xcb\x99\x8dF\xa8\xbe\x1c\xbeS\xd4\xcd<\xda" +
+	"5\xba\x18~0Zl4\xc4\xb3\x0eV\xe3\x89\x0be" +
+	"\x07\x05V\xe3\xbd\xe0\xdd\xa20\xb85\xca\xe7 3." +
+	"\xf2\xc2\x9e\x8f\xcb\xb8\x0d\xe6|sF\xd4'\xec\x0b\xcf" +
+	"\xe2CC\xbb`\xc0\xce\xf3|\xc4TE@\xfcCH" +
+	"\x11.\x92\xdd\x81\x8e?\xe8NG\x13Ff\xf3\x1e\x9a" +
+	"\xf0\x90[2\xbd\xc8@2\xf7\x96\x94\x14K\x96'\x06" +
+	"m\x032\xbb-\xd3\x10U<\x91/z\xcb\xfcV\xbf" +
+	"\xe0\\\xbee\x99\x9d\xfb\xff\xbb\x92\xfeD\x85\xfeJ\xf6" +
+	"\x9b(\x17\xe5)\x1av)\xdb\xc2\xb6\xb0w\\\x9e\xa2" +
+	"=\xe1)\xda=\"\xdb\xc2\xf5\x9b\x01N\xe5J\xaeK" +
+	"\xa4\xa9\xe8\x0a\xc3\xcc\xf9\x02\xd0\x08\x8a\x8e\xe7\x99\x93\x96" +
+	"\xa8\x9e\xad\xb6!wAr\x8a\x9b\xd6\x15/\xf4\x87+" +
+	"W\xc7\xb5\x9b\xe3\x05\xd7\xd9\xdb\x01\xb4/\xaa\xa8=\x16" +
+	"i,\x1e\x1d\x8f\xdcq+\x18\xba\xfe\xd4\xe1\xc8\x1d\xb7" +
+	"\xaa\x84\x0d\xd63g\x00\xb4\xa7U\xd4.\xd4\xaf\xb3\x9f" +
+	"\xa7\xb7\x9fSQ{#r\x9d}\x89\x14_WQ\xfb" +
+	"\x8d\x82\x03\\f\xd7\x82t\xb5h\xae\xf5\xdcq|n" +
+	"\xddnZ\xa0\x0a\x0f\x1bA\xc1F\x88\\\x83\x0b\xe3v" +
+	"\xd3\x12\x1e\xd4$V\xe5\xfb\x1b\xa0W\xbd\xedn\xad|" +
+	"\xf1\xa8\x8apX\xf8\xdc\xb4<\xa8_\x87\xd7\xfesL" +
+	"\xe5:|9\xc4`^\x16\\)\xf8\xd5\xcf\x83\xc3\x03" +
+	"\xa1\x0f\x92\xba\xd6\xd6`\x175w\xc3*jc\x0aV" +
+	"\x97`\x94\xa2\x9dUQ\xbb3\xb2\x04\x07(\x88\xfbU" +
+	"\xd4>\xabD\xa6\x1c\xa1B\xcb\x8b\xda\xff\x05\x00\x00\xff" +
+	"\xff1<\xb37"
 
 func RegisterSchema(reg *schemas.Registry) {
 	reg.Register(&schemas.Schema{

mapd_repo/cereal/testdata/mapd_preview_wire.json

@@ -0,0 +1 @@
+{"description":"Synthetic Go-produced v2 current-road and data-only preview fixture; no real road data.","event_base64":"AAAAACQAAAAAAAAAAgABAADyBSoBAAAAjwAAAAAAAAAAAAAAEAAHAAAAoEEAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIABQABAAAAAAAAAAIAAAAAAHBBgAELJwEAAAAA8gUqAQAAAAEAAAAAAAAAKQAAAAAAAAAAAHBCAAAAAAIAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAQAAAAoCAABhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhAAAAAAAAAAA="}

mapd_repo/cereal/wire_compatibility_test.go

@@ -1,7 +1,6 @@
 package cereal
 
 import (
-	"bytes"
 	"capnproto.org/go/capnp/v3"
 	"encoding/base64"
 	"encoding/json"
@@ -61,7 +60,58 @@ func TestMapdV1HostWireFixture(t *testing.T) {
 	if err != nil {
 		t.Fatal(err)
 	}
-	if !bytes.Equal(raw, expected) {
+	actualMessage, err := capnp.Unmarshal(raw)
+	if err != nil {
+		t.Fatal(err)
+	}
+	oldMessage, err := capnp.Unmarshal(expected)
+	if err != nil {
+		t.Fatal(err)
+	}
+	actualRoot, err := actualMessage.Root()
+	if err != nil {
+		t.Fatal(err)
+	}
+	oldRoot, err := oldMessage.Root()
+	if err != nil {
+		t.Fatal(err)
+	}
+	// Appended default fields can enlarge storage without changing old values.
+	equal, err := capnp.Equal(actualRoot, oldRoot)
+	if err != nil || !equal {
 		t.Fatal("provider wire differs from shared host fixture; review both schemas")
 	}
 }
+
+func TestPreviewHostWireFixture(t *testing.T) {
+	data, err := os.ReadFile("testdata/mapd_preview_wire.json")
+	if err != nil {
+		t.Fatal(err)
+	}
+	var fixture struct {
+		EventBase64 string `json:"event_base64"`
+	}
+	if err := json.Unmarshal(data, &fixture); err != nil {
+		t.Fatal(err)
+	}
+	raw, err := base64.StdEncoding.DecodeString(fixture.EventBase64)
+	if err != nil {
+		t.Fatal(err)
+	}
+	msg, err := capnp.Unmarshal(raw)
+	if err != nil {
+		t.Fatal(err)
+	}
+	event, err := log.ReadRootEvent(msg)
+	if err != nil {
+		t.Fatal(err)
+	}
+	out, err := event.MapdOut()
+	if err != nil {
+		t.Fatal(err)
+	}
+	boundary, err := out.PreviewBoundaryId()
+	if err != nil || !event.Valid() || out.SampleVersion() != 2 || out.SpeedLimit() != 20 || out.PreviewSpeedLimit() != 15 || out.PreviewDistance() != 60 || len(boundary) != 64 || out.PreviewWayId() != 2 {
+		t.Fatal("provider preview differs from shared host fixture")
+	}
+}

mapd_repo/limit_preview.go

@@ -0,0 +1,82 @@
+package main
+
+import (
+	"crypto/sha256"
+	"fmt"
+	"math"
+
+	"pfeifer.dev/mapd/cereal/custom"
+	"pfeifer.dev/mapd/maps"
+)
+
+const previewHorizonM = 500
+const previewMaxWays = 64
+
+type LimitPreview struct {
+	Speed      float32
+	Distance   float32
+	BoundaryID string
+	WayID      int64
+}
+
+// A preview follows only a unique legal continuation, never a guessed turn.
+func (s *State) previewLimit() LimitPreview {
+	if !s.ShadowOnly || s.SnapshotID == "" || s.CurrentWay.SelectionType != custom.WaySelectionType_current || s.MatchedLimitMps <= 0 {
+		return LimitPreview{}
+	}
+	way, forward, position := s.CurrentWay.Way, s.CurrentWay.OnWay.IsForward, s.Position
+	distance := float32(0)
+	seen := map[int64]bool{way.Id(): true}
+	for range previewMaxWays {
+		_, end := way.GetStartEnd(forward)
+		if distance+position.DistanceTo(end) > previewHorizonM {
+			return LimitPreview{}
+		}
+		segment, found, err := way.DistanceToNode(position, forward, end)
+		if err != nil || !found || segment < 0 || math.IsNaN(float64(segment)) || math.IsInf(float64(segment), 0) {
+			return LimitPreview{}
+		}
+		distance += segment
+		box := s.Data.OverlapBox()
+		if distance <= 0 || distance > previewHorizonM || !box.PosInside(end) {
+			return LimitPreview{}
+		}
+		matches, err := way.MatchingWays(&s.Data, end)
+		if err != nil {
+			return LimitPreview{}
+		}
+		legal := map[int64]maps.Way{}
+		for _, next := range matches {
+			first, last := next.GetStartEnd(true)
+			if first.Equals(last) && !next.OneWay() {
+				return LimitPreview{} // A two-way loop has two possible entry directions.
+			}
+			if next.Id() > 0 && (next.IsForwardFrom(end) || !next.OneWay()) {
+				legal[next.Id()] = next
+			}
+		}
+		if len(legal) != 1 {
+			return LimitPreview{}
+		}
+		var next maps.Way
+		for _, candidate := range legal {
+			next = candidate
+		}
+		if seen[next.Id()] {
+			return LimitPreview{}
+		}
+		nextForward := next.IsForwardFrom(end)
+		road := CurrentWay{Way: next, OnWay: maps.OnWayResult{IsForward: nextForward}}
+		speed := road.EffectiveMaxSpeed()
+		if speed <= 0 || math.IsNaN(speed) || math.IsInf(speed, 0) || speed > math.MaxFloat32 {
+			return LimitPreview{}
+		}
+		if math.Abs(speed-float64(s.MatchedLimitMps)) > .02 {
+			key := fmt.Sprintf("%s:%d:%d:%t:%.7f:%.7f", s.SnapshotID, way.Id(), next.Id(), nextForward, end.Lat(), end.Lon())
+			return LimitPreview{float32(speed), distance, fmt.Sprintf("%x", sha256.Sum256([]byte(key))), next.Id()}
+		}
+		seen[next.Id()] = true
+		way, forward, position = next, nextForward, end
+	}
+	return LimitPreview{}
+}

mapd_repo/limit_preview_test.go

@@ -0,0 +1,200 @@
+package main
+
+import (
+	"crypto/sha256"
+	"fmt"
+	"math"
+	"os"
+	"path/filepath"
+	"strings"
+	"testing"
+	"time"
+
+	"capnproto.org/go/capnp/v3"
+	"pfeifer.dev/mapd/cereal"
+	"pfeifer.dev/mapd/cereal/custom"
+	"pfeifer.dev/mapd/cereal/offline"
+	"pfeifer.dev/mapd/maps"
+	m "pfeifer.dev/mapd/math"
+)
+
+func previewState(t *testing.T, specs []syntheticWay, index int, forward bool, latitude float64) State {
+	t.Helper()
+	tile := packedRoadTile(t, specs)
+	return State{ShadowOnly: true, SnapshotID: "verified-snapshot", Data: tile,
+		Position: m.NewPosition(latitude, -97.9), MatchedLimitMps: float32(specs[index].speed),
+		CurrentWay: CurrentWay{Way: tile.Ways.At(index), OnWay: maps.OnWayResult{IsForward: forward}, SelectionType: custom.WaySelectionType_current}}
+}
+
+func previewRoads() []syntheticWay {
+	return []syntheticWay{
+		{1, 20, 35.1, -97.9, 35.101, -97.9, false, 2},
+		{2, 20, 35.101, -97.9, 35.102, -97.9, false, 2},
+		{3, 10, 35.102, -97.9, 35.103, -97.9, false, 2},
+	}
+}
+
+func TestPreviewRawDistanceAndStableBoundaryAcrossApproachWays(t *testing.T) {
+	s := previewState(t, previewRoads(), 0, true, 35.1005)
+	a := s.previewLimit()
+	s = previewState(t, previewRoads(), 1, true, 35.1015)
+	b := s.previewLimit()
+	if a.Speed != 10 || a.WayID != 3 || a.BoundaryID == "" || a.BoundaryID != b.BoundaryID || math.Abs(float64(a.Distance-b.Distance)-111.2) > 1 {
+		t.Fatalf("unexpected road preview: %+v %+v", a, b)
+	}
+	s.Position = m.NewPosition(35.1014, -97.9)
+	if s.previewLimit().Distance <= b.Distance {
+		t.Fatal("raw distance was held at a previous minimum")
+	}
+	s.SnapshotID = "changed-snapshot"
+	if s.previewLimit().BoundaryID == b.BoundaryID {
+		t.Fatal("boundary identity survived a different snapshot")
+	}
+}
+
+func TestPreviewDirectionUnknownLimitsBranchesAndHorizon(t *testing.T) {
+	s := previewState(t, previewRoads(), 2, false, 35.1025)
+	if p := s.previewLimit(); p.Speed != 20 || p.WayID != 2 || p.Distance <= 0 {
+		t.Fatalf("reverse traversal failed: %+v", p)
+	}
+	for _, mode := range []string{"branch", "unknown", "oneway", "horizon", "unqualified", "unverified"} {
+		t.Run(mode, func(t *testing.T) {
+			roads := previewRoads()
+			index, forward, latitude := 0, true, 35.1005
+			switch mode {
+			case "branch":
+				roads = append(roads, syntheticWay{4, 30, 35.101, -97.9, 35.102, -97.899, false, 2})
+			case "unknown":
+				roads[1].speed = 0
+			case "oneway":
+				roads[1].oneWay = true
+				index, forward, latitude = 2, false, 35.1025
+			case "horizon":
+				roads[0].lat1 = 35.09
+				latitude = 35.091
+			}
+			s := previewState(t, roads, index, forward, latitude)
+			if mode == "unqualified" {
+				s.CurrentWay.SelectionType = custom.WaySelectionType_possible
+			}
+			if mode == "unverified" {
+				s.SnapshotID = ""
+			}
+			if p := s.previewLimit(); p != (LimitPreview{}) {
+				t.Fatalf("uncertain preview escaped: %+v", p)
+			}
+		})
+	}
+}
+
+func TestPreviewClosedWayRequiresOneLegalDirection(t *testing.T) {
+	for _, tc := range []struct {
+		name                        string
+		oneWay, branch, wantPreview bool
+	}{
+		{"one-way loop", true, false, true},
+		{"two-way loop", false, false, false},
+		{"two-way loop plus continuation", false, true, false},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			roads := []syntheticWay{
+				{1, 20, 35.1, -97.9, 35.101, -97.9, true, 2},
+				{2, 10, 35.101, -97.9, 35.102, -97.9, tc.oneWay, 2},
+			}
+			if tc.branch {
+				roads = append(roads, syntheticWay{3, 15, 35.101, -97.9, 35.102, -97.899, false, 2})
+			}
+			decoded, err := capnp.UnmarshalPacked(packedRoadTileBytes(t, roads))
+			if err != nil {
+				t.Fatal(err)
+			}
+			root, err := decoded.Root()
+			if err != nil {
+				t.Fatal(err)
+			}
+			msg, _, err := capnp.NewMessage(capnp.SingleSegment(nil))
+			if err != nil {
+				t.Fatal(err)
+			}
+			if err := msg.SetRoot(root); err != nil {
+				t.Fatal(err)
+			}
+			raw, err := offline.ReadRootOffline(msg)
+			if err != nil {
+				t.Fatal(err)
+			}
+			ways, err := raw.Ways()
+			if err != nil {
+				t.Fatal(err)
+			}
+			loop := ways.At(1)
+			loop.SetMaxLon(-97.898)
+			nodes, err := loop.NewNodes(4)
+			if err != nil {
+				t.Fatal(err)
+			}
+			for i, p := range [][2]float64{{35.101, -97.9}, {35.102, -97.9}, {35.102, -97.899}, {35.101, -97.9}} {
+				nodes.At(i).SetLatitude(p[0])
+				nodes.At(i).SetLongitude(p[1])
+			}
+			data, err := msg.MarshalPacked()
+			if err != nil {
+				t.Fatal(err)
+			}
+			tile := maps.ReadOffline(data)
+			if !tile.Loaded {
+				t.Fatal("closed road tile rejected")
+			}
+			s := State{ShadowOnly: true, SnapshotID: "verified-snapshot", Data: tile,
+				Position: m.NewPosition(35.1005, -97.9), MatchedLimitMps: 20,
+				CurrentWay: CurrentWay{Way: tile.Ways.At(0), OnWay: maps.OnWayResult{IsForward: true}, SelectionType: custom.WaySelectionType_current}}
+			p := s.previewLimit()
+			if tc.wantPreview {
+				if p.Speed != 10 || p.WayID != 2 || p.Distance <= 0 || p.BoundaryID == "" {
+					t.Fatalf("legal loop preview missing: %+v", p)
+				}
+			} else if p != (LimitPreview{}) {
+				t.Fatalf("ambiguous loop produced a preview: %+v", p)
+			}
+		})
+	}
+}
+
+func TestShadowPreviewSharesFixFreshnessWithoutControlOutputs(t *testing.T) {
+	roads := []syntheticWay{{1, 20, 35.149, -97.9, 35.151, -97.9, false, 2}, {2, 10, 35.151, -97.9, 35.153, -97.9, false, 2}}
+	data := packedRoadTileBytes(t, roads)
+	id := strings.Repeat("a", 64)
+	dir := filepath.Join(t.TempDir(), id)
+	area := maps.Area{Box: m.Box{MinPos: m.NewPosition(35, -98), MaxPos: m.NewPosition(35.25, -97.75)}}
+	path := maps.GenerateBoundsFileName(area, maps.OfflineSettings{OutputDirectory: dir})
+	if err := os.MkdirAll(filepath.Dir(path), 0755); err != nil {
+		t.Fatal(err)
+	}
+	if err := os.WriteFile(path, data, 0644); err != nil {
+		t.Fatal(err)
+	}
+	rel, err := filepath.Rel(dir, path)
+	if err != nil {
+		t.Fatal(err)
+	}
+	load := maps.SnapshotLoader(dir, maps.SnapshotReceipt{Tiles: []maps.SnapshotTile{{Path: rel, Size: int64(len(data)), SHA256: fmt.Sprintf("%x", sha256.Sum256(data))}}})
+	s := State{ShadowOnly: true, SnapshotID: id}
+	s.Init()
+	boot := uint64(10_100_000_000)
+	s.bootNow = func() uint64 { return boot }
+	sample := syntheticSample(t, cereal.GpsSourceExternal, 10_000_000_000, 1, true, true)
+	s.ProcessGps(sample, true, load, time.Unix(0, 0))
+	sample.SourceChanged, sample.FixMonoTime = false, 10_050_000_000
+	s.ProcessGps(sample, true, load, time.Unix(0, 1))
+	event, output := decodedOutput(t, &s)
+	boundary, _ := output.PreviewBoundaryId()
+	if !event.Valid() || output.SpeedLimit() != 20 || output.PreviewSpeedLimit() != 10 || boundary == "" || output.PreviewDistance() <= 0 || output.NextSpeedLimit() != 0 || output.SuggestedSpeed() != 0 {
+		t.Fatalf("shadow preview: valid=%v status=%v way=%v limit=%v preview=%+v", event.Valid(), output.RoadStatus(), output.WaySelectionType(), output.SpeedLimit(), s.LimitPreview)
+	}
+	boot = 10_600_000_000
+	event, output = decodedOutput(t, &s)
+	boundary, _ = output.PreviewBoundaryId()
+	if event.Valid() || output.PreviewSpeedLimit() != 0 || boundary != "" {
+		t.Fatal("expired GPS retained an upcoming limit")
+	}
+}

mapd_repo/maps/generate_offline.go

@@ -11,6 +11,7 @@ import (
 	"os"
 	"reflect"
 	"runtime"
+	"slices"
 	"strconv"
 	"strings"
 	"syscall"
@@ -162,7 +163,6 @@ func GenerateOffline(s OfflineSettings) error {
 				MaxSpeedBackward: ParseMaxSpeed(tags["maxspeed:backward"]),
 				MaxSpeedAdvisory: ParseMaxSpeed(tags["maxspeed:advisory"]),
 				Lanes:            uint8(lanes),
-				OneWay:           tags["oneway"] == "yes",
 				Id:               int64(way.ID),
 				HighwayClass:     HighwayClassFromTag(tags["highway"]),
 
@@ -191,6 +191,17 @@ func GenerateOffline(s OfflineSettings) error {
 				tmpWay.Nodes[i].Latitude = n.Lat
 				tmpWay.Nodes[i].Longitude = n.Lon
 			}
+			switch tags["oneway"] {
+			case "yes", "1":
+				tmpWay.OneWay = true
+			case "-1":
+				tmpWay.OneWay = true
+				slices.Reverse(tmpWay.Nodes)
+				tmpWay.MaxSpeedForward, tmpWay.MaxSpeedBackward = tmpWay.MaxSpeedBackward, tmpWay.MaxSpeedForward
+				tmpWay.MaxSpeedForwardConditional, tmpWay.MaxSpeedBackwardConditional = tmpWay.MaxSpeedBackwardConditional, tmpWay.MaxSpeedForwardConditional
+			case "":
+				tmpWay.OneWay = tags["junction"] == "roundabout" || tags["highway"] == "motorway"
+			}
 			tmpWay.Box.MinPos = m.NewPosition(minLat, minLon)
 			tmpWay.Box.MaxPos = m.NewPosition(maxLat, maxLon)
 			scannedWays = append(scannedWays, tmpWay)

mapd_repo/maps/generate_offline_test.go

@@ -0,0 +1,78 @@
+package maps
+
+import (
+	"math"
+	"os"
+	"path/filepath"
+	"testing"
+
+	m "pfeifer.dev/mapd/math"
+)
+
+func TestGeneratorPreservesFixedOneWayDirectionAndSpeedTags(t *testing.T) {
+	for _, tc := range []struct {
+		name, oneWay, highway, junction string
+		wantOneWay, reverse             bool
+	}{
+		{"ordinary", "", "residential", "", false, false},
+		{"yes", "yes", "residential", "", true, false},
+		{"numeric", "1", "residential", "", true, false},
+		{"reverse", "-1", "residential", "", true, true},
+		{"roundabout", "", "residential", "roundabout", true, false},
+		{"motorway", "", "motorway", "", true, false},
+		{"roundabout explicit no", "no", "residential", "roundabout", false, false},
+		{"roundabout explicit zero", "0", "residential", "roundabout", false, false},
+		{"motorway explicit no", "no", "motorway", "", false, false},
+		{"motorway explicit zero", "0", "motorway", "", false, false},
+		{"motorway link", "", "motorway_link", "", false, false},
+		{"reversible", "reversible", "residential", "roundabout", false, false},
+		{"alternating", "alternating", "motorway", "", false, false},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			forwardRule, backwardRule := "15 @ (Mo-Fr 08:00-09:00)", "25 @ (Sa 10:00-11:00)"
+			tags := []string{"highway", tc.highway, "maxspeed", "30 mph",
+				"maxspeed:forward", "10", "maxspeed:backward", "20",
+				"maxspeed:forward:conditional", forwardRule, "maxspeed:backward:conditional", backwardRule}
+			if tc.oneWay != "" {
+				tags = append(tags, "oneway", tc.oneWay)
+			}
+			if tc.junction != "" {
+				tags = append(tags, "junction", tc.junction)
+			}
+			root := t.TempDir()
+			pbf := filepath.Join(root, "road.osm.pbf")
+			if err := os.WriteFile(pbf, syntheticPBF(tags...), 0600); err != nil {
+				t.Fatal(err)
+			}
+			output := filepath.Join(root, "tiles")
+			if err := GenerateOffline(OfflineSettings{InputFile: pbf, OutputDirectory: output, Overlap: .001,
+				Box: m.Box{MinPos: m.NewPosition(35, -98), MaxPos: m.NewPosition(35.25, -97.75)}}); err != nil {
+				t.Fatal(err)
+			}
+			tile, err := FindWaysAroundPositionIn(m.NewPosition(35.15, -97.9), output)
+			if err != nil || !tile.Loaded || tile.Ways.Len() != 1 {
+				t.Fatalf("generated road not loaded: %v", err)
+			}
+			way := tile.Ways.At(0)
+			if way.Nodes.Len() != 2 {
+				t.Fatalf("generated road has %d nodes", way.Nodes.Len())
+			}
+			first, last := 35.1, 35.2
+			forwardSpeed, backwardSpeed := 10./3.6, 20./3.6
+			if tc.reverse {
+				first, last = last, first
+				forwardSpeed, backwardSpeed = backwardSpeed, forwardSpeed
+				forwardRule, backwardRule = backwardRule, forwardRule
+			}
+			firstNode, lastNode := way.Nodes.At(0), way.Nodes.At(1)
+			if way.Id() != 42 || way.OneWay() != tc.wantOneWay ||
+				math.Abs(firstNode.Lat()-first) > 1e-9 || math.Abs(lastNode.Lat()-last) > 1e-9 ||
+				math.Abs(way.MaxSpeed()-13.4112) > 1e-6 ||
+				math.Abs(way.MaxSpeedForward()-forwardSpeed) > 1e-5 || math.Abs(way.MaxSpeedBackward()-backwardSpeed) > 1e-5 ||
+				way.ConditionalMaxSpeedRaw(true) != forwardRule || way.ConditionalMaxSpeedRaw(false) != backwardRule {
+				t.Fatalf("generated road lost direction or speed metadata: oneWay=%v forward=%v backward=%v",
+					way.OneWay(), way.MaxSpeedForward(), way.MaxSpeedBackward())
+			}
+		})
+	}
+}

mapd_repo/maps/snapshot_test.go

@@ -309,17 +309,25 @@ func pbfBlock(kind string, raw []byte) []byte {
 	data = append(data, header...)
 	return append(data, blob...)
 }
-func syntheticPBF() []byte {
+func syntheticPBF(tags ...string) []byte {
 	header := pbfBytesField(nil, 4, []byte("OsmSchema-V0.6"))
 	header = pbfBytesField(header, 5, []byte("LocationsOnWays"))
+	if len(tags) == 0 {
+		tags = []string{"highway", "residential", "maxspeed", "30 mph"}
+	}
 	var table []byte
-	for _, value := range []string{"", "highway", "residential", "maxspeed", "30 mph"} {
+	for _, value := range append([]string{""}, tags...) {
 		table = pbfBytesField(table, 1, []byte(value))
 	}
+	var keys, values []uint64
+	for i := 0; i < len(tags); i += 2 {
+		keys = append(keys, uint64(i+1))
+		values = append(values, uint64(i+2))
+	}
 	var way []byte
 	way = pbfVarintField(way, 1, 42)
-	way = pbfBytesField(way, 2, pbfPacked(1, 3))
-	way = pbfBytesField(way, 3, pbfPacked(2, 4))
+	way = pbfBytesField(way, 2, pbfPacked(keys...))
+	way = pbfBytesField(way, 3, pbfPacked(values...))
 	way = pbfBytesField(way, 8, pbfPacked(protowire.EncodeZigZag(1), protowire.EncodeZigZag(1)))
 	way = pbfBytesField(way, 9, pbfPacked(protowire.EncodeZigZag(351000000), protowire.EncodeZigZag(1000000)))
 	way = pbfBytesField(way, 10, pbfPacked(protowire.EncodeZigZag(-979000000), protowire.EncodeZigZag(0)))

mapd_repo/maps/way.go

@@ -149,8 +149,12 @@ func (w *Way) IsForwardFrom(matchNode m.Position) bool {
 		return true
 	}
 
-	lastNode := w.Nodes.At(w.Nodes.Len()-1)
-	return !lastNode.Equals(matchNode)
+	lastNode := w.Nodes.At(w.Nodes.Len() - 1)
+	if lastNode.Equals(matchNode) {
+		// A closed one-way can be entered at its repeated endpoint in stored order.
+		return w.OneWay() && matchNode.Equals(w.Nodes.At(0))
+	}
+	return true
 }
 
 func IsForward(lineStart m.Position, lineEnd m.Position, bearing float64) bool {
@@ -431,7 +435,7 @@ func (w *Way) DistanceFrom(pos m.Position) (DistanceResult, error) {
 	minIdx := 0
 	for i := 0; i < w.Nodes.Len()-1; i++ {
 		nodeStart := w.Nodes.At(i)
-		nodeEnd := w.Nodes.At(i+1)
+		nodeEnd := w.Nodes.At(i + 1)
 		line := m.Line{Start: nodeStart, End: nodeEnd}
 		linePosition := line.NearestPosition(pos)
 		distance := pos.DistanceTo(linePosition.Pos)
@@ -447,7 +451,7 @@ func (w *Way) DistanceFrom(pos m.Position) (DistanceResult, error) {
 	onWayDistance := minNodeStart.DistanceTo(minLinePosition.Pos)
 	for i := range minIdx {
 		nodeStart := w.Nodes.At(i)
-		nodeEnd := w.Nodes.At(i+1)
+		nodeEnd := w.Nodes.At(i + 1)
 		onWayDistance += nodeStart.DistanceTo(nodeEnd)
 	}
 
@@ -491,8 +495,7 @@ func (w *Way) MatchingWays(offlineMaps *Offline, matchNode m.Position) ([]Way, e
 			continue
 		}
 
-		box := way.Box()
-		if box.Equals(w.Box()) {
+		if way.Id() == w.Id() {
 			continue
 		}
 

mapd_repo/maps/way_geometry_test.go

@@ -55,3 +55,48 @@ func TestBearingAlignmentIsAnUndirectedNonnegativePenalty(t *testing.T) {
 		}
 	}
 }
+
+func TestWayEntryDirectionForOpenAndClosedWays(t *testing.T) {
+	start, end := m.NewPosition(35.15, -97.9), m.NewPosition(35.151, -97.9)
+	for _, tc := range []struct {
+		name                                 string
+		closed, oneWay, fromEnd, wantForward bool
+	}{
+		{"open start", false, true, false, true},
+		{"open end", false, true, true, false},
+		{"closed one-way", true, true, false, true},
+		{"closed two-way", true, false, false, false},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			_, seg, err := capnp.NewMessage(capnp.SingleSegment(nil))
+			if err != nil {
+				t.Fatal(err)
+			}
+			raw, err := offline.NewRootWay(seg)
+			if err != nil {
+				t.Fatal(err)
+			}
+			raw.SetOneWay(tc.oneWay)
+			positions := []m.Position{start, end}
+			if tc.closed {
+				positions = append(positions, start)
+			}
+			nodes, err := raw.NewNodes(int32(len(positions)))
+			if err != nil {
+				t.Fatal(err)
+			}
+			for i, p := range positions {
+				nodes.At(i).SetLatitude(p.Lat())
+				nodes.At(i).SetLongitude(p.Lon())
+			}
+			from := start
+			if tc.fromEnd {
+				from = end
+			}
+			way := NewWay(raw)
+			if got := way.IsForwardFrom(from); got != tc.wantForward {
+				t.Fatalf("entry direction: got %v want %v", got, tc.wantForward)
+			}
+		})
+	}
+}

mapd_repo/road_ambiguity_test.go

@@ -24,7 +24,7 @@ type syntheticWay struct {
 
 // The actual offline Capnp representation is packed, decoded, and passed to
 // State; tests do not mock GetCurrentWay or BuildMessage.
-func packedRoadTile(tb testing.TB, specs []syntheticWay) maps.Offline {
+func packedRoadTileBytes(tb testing.TB, specs []syntheticWay) []byte {
 	tb.Helper()
 	msg, seg, err := capnp.NewMessage(capnp.SingleSegment(nil))
 	if err != nil {
@@ -65,6 +65,12 @@ func packedRoadTile(tb testing.TB, specs []syntheticWay) maps.Offline {
 	if err != nil {
 		tb.Fatal(err)
 	}
+	return data
+}
+
+func packedRoadTile(tb testing.TB, specs []syntheticWay) maps.Offline {
+	tb.Helper()
+	data := packedRoadTileBytes(tb, specs)
 	parsed := maps.ReadOffline(data)
 	if !parsed.Loaded {
 		tb.Fatal("packed tile rejected")

mapd_repo/state.go

@@ -46,6 +46,7 @@ type State struct {
 	SourceGeneration          uint64
 	ProducerSession           uint64
 	MatchedLimitMps           float32
+	LimitPreview              LimitPreview
 	lastMapLoadAttempt        time.Time
 	bootNow                   func() uint64
 	// The fix the current road result was computed from. The loop runs at
@@ -90,6 +91,7 @@ func (s *State) clearRoadDerived() {
 	s.TargetVelocities = nil
 	s.MapCurveSpeed = 0
 	s.MatchedLimitMps = 0
+	s.LimitPreview = LimitPreview{}
 	s.NextHazard.Reset()
 	s.NextAdvisorySpeed.Reset()
 	s.clearSpeedLimitEvidence()
@@ -255,6 +257,7 @@ func (s *State) ProcessGps(sample cereal.GpsSample, success bool, load MapLoader
 		s.MatchedLimitMps = float32(limit)
 		s.RoadStatus = custom.MapdOut_SampleStatus_matchedLimit
 	}
+	s.LimitPreview = s.previewLimit()
 }
 
 func (s *State) SuggestedSpeed() float32 {
@@ -361,6 +364,12 @@ func (s *State) buildMessageAt(now uint64) (*capnp.Message, error) {
 	output.SetRoadName(s.CurrentWay.Way.Name())
 
 	output.SetSpeedLimit(s.MatchedLimitMps)
+	if s.LimitPreview.BoundaryID != "" {
+		output.SetPreviewSpeedLimit(s.LimitPreview.Speed)
+		output.SetPreviewDistance(s.LimitPreview.Distance)
+		output.SetPreviewBoundaryId(s.LimitPreview.BoundaryID)
+		output.SetPreviewWayId(s.LimitPreview.WayID)
+	}
 
 	output.SetConditionalSpeedLimit(s.CurrentWay.ConditionalMaxSpeedRaw())
 

opendbc_repo/opendbc/bluepilot_lateral/.gitattributes

@@ -0,0 +1 @@
+.github export-ignore

opendbc_repo/opendbc/bluepilot_lateral/.gitignore

@@ -0,0 +1 @@
+__pycache__/

opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md

@@ -1,35 +1,53 @@
-# BluePilot angle source
+# Credits
 
-Adapted from BluePilotDev/bluepilot bp-7.0 at
-[e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a),
-principally Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham,
-Praeuner, tonesto7, Haibin Wen and other BluePilot, sunnypilot and comma contributors.
-Source paths: opendbc/sunnypilot/car/ford/lateral_angle_ext.py,
-fordcan_ext.py, human_turn.py and opendbc/safety/modes/ford.h.
-The simultaneous upstream LICENSE and LICENSE.md notices are retained.
-This software is licensed under a custom license requiring permission for use.
-This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
+The BluePilot Ford lateral library: Ford's four-signal lateral control in curvature and angle
+modes, the CAN messages that carry it, and the panda safety that checks it. Everything here is
+under the MIT terms in [LICENSE](LICENSE).
 
-This is a StarPilot adapter to the September 2026 proposed library shape.
-It is not a released BluePilot library, tag, or claim of BluePilot validation.
-The existing curvature controller remains StarPilot-owned. Pinion curvature,
-curvature-primary settings and the unsafe native reset bypass are not imported.
+## Contributors
 
-The exact upstream root notices are additionally retained as upstream-root-LICENSE
-and upstream-root-LICENSE.md; LICENSE/ LICENSE.md retain the opendbc notices.
-ORIGIN_HISTORY.tsv records the inspected path history with commit IDs/authors/dates.
-The private compact upstream root clone preserves its reachable root history.
-Pre-conversion opendbc submodule objects are not included in that root history.
+- **Alan Polk (`alan-polk`)**: principal author of the curvature and angle controllers, the
+  human-turn behavior, the angle-mode side channel and its panda safety, and the lane centering
+  trim.
+- **tonesto7**: the CAN message builders and BluePilot's early releases.
+- **John Christman**: lateral integration, platform data, and the angle-mode anti-stall work.
+- **Jacob Neulight**: the steering-pinion curvature measurement and its panda safety, and the
+  shadow-curvature measurement.
+- **Blue Genie (`blue-genie`)**: the split of BluePilot's lateral control into opendbc that this
+  library grew from.
+- **ghbarker**: the lane centering trim's confidence blend, fallback, filter and rate limit.
+- **Nathan Ingraham**: the angle-mode high-speed damping adjustment.
+- **Praeuner**: the angle-mode damping range.
+- **OneFast440**: the early Ford safety declarations.
+- **nitrobass24**: the library's structure, its inputs and settings plumbing, and the safety tests
+  and CI.
 
-Angle lane-centering trim is separately adapted from BluePilot bp-dev
-[e22afa6be9b881fa784c92ebb316db47728a3d81](https://github.com/BluePilotDev/bluepilot/commit/e22afa6be9b881fa784c92ebb316db47728a3d81),
-`opendbc/sunnypilot/car/ford/lane_center_trim.py` (blob
-`5eedebd79e99493624f9d6af0750d1dd5713306c`). Alan Polk authored the initial
-trim, model-position fallback, correction slew and default-strength changes;
-ghbarker contributed reference/NaN guards and tests. The source explicitly credits
-StarPilot/u/jc01rho for curvature-domain placement/geometry. The core adaptation
-adds immutable host projection and conservative stale/driver-pressure suppression.
-The pinned bp-7.0 controller baseline and default-disabled policy are unchanged.
-Both simultaneous root/opendbc MIT and Custom MIT notices also exist unchanged at
-this trim revision; all retained notices and permission acknowledgments apply
-without assigning an exclusive license or claiming a new permission grant.
+## Third-party code
+
+### comma.ai's opendbc
+
+MIT, Copyright (c) 2020, Comma.ai, Inc.
+
+- `can/fordcan_ext.py`: `create_lat_ctl_msg` and `create_lat_ctl2_msg`, comma's Ford lateral
+  message builders from `opendbc/car/ford/fordcan.py`, with ramp-type and precision parameters
+  added.
+- `safety/lateral.h`: the measured-table rate check, curvature-error band and lateral-accel cap,
+  from comma's earlier checks in `opendbc/safety/lateral.h`, and `ford_bp_curvature_cmd_checks`,
+  adapted from comma's `steer_curvature_cmd_checks`.
+- `safety/ford.h`: the rate-of-change shape of the path angle and path offset checks, the
+  curvature-error band in the shadow-curvature check, and the message-rate formula.
+- `core/lateral_curv_ext.py`: `apply_ford_curvature_limits_ext`, adapted from comma's
+  `apply_ford_curvature_limits`, with its road-roll and lateral-accel constants.
+- Small pieces: the message packing and the yaw-rate curvature measurement in
+  `core/carcontroller_ext.py`, and the model time-index formula in `core/values_ext.py`.
+- The BluePilot safety tests start from comma's Ford safety test skeletons.
+
+### StarPilot
+
+MIT, Copyright (c) 2026, firestar5683 and StarPilot contributors
+
+- `core/lane_center_trim.py`: the lane-centering core (the correction formula, lookahead clip,
+  lane-line probability, std and width gates, the 0.004 correction limit and the lane-line
+  handling), ported from StarPilot's `selfdrive/controls/lib/lane_centering.py`
+  (`LaneCenteringController`, originally by jc01rho). The confidence blend, fallback, filter and
+  rate limit are BluePilot's.

opendbc_repo/opendbc/bluepilot_lateral/FORKS.md

@@ -0,0 +1,83 @@
+# Bringing BluePilot lateral to a fork
+
+How an openpilot fork takes BluePilot's Ford lateral control. There are two ways to do it:
+
+1. **Use a release on your own** (preferred). Pin a release of this library and write your own hooks and settings against [HOSTS.md](HOSTS.md). BluePilot isn't in the loop and nothing waits on BluePilot: you consume lateral code that has been driven on Fords.
+2. **Work with BluePilot.** BluePilot helps develop your hooks, keeps them in this repo, and tests the library on your fork in its CI, every PR and every night.
+
+Either way the library is the same, and the same rules apply to it (below).
+
+**This is a modified Ford safety model.** The panda safety allows signals and ranges that upstream's Ford safety blocks. Your fork decides whether to ship it, and whether BluePilot lateral is on or off by default for your users.
+
+## The rules for either way
+
+- **Pin a release, unmodified.** The library sits at `<pkg>/bluepilot_lateral/` in your opendbc (`<pkg>` is its package name) as one of:
+  - a **git submodule** pointing at a release tag, if your fork uses submodules; updating is moving the pointer;
+  - a **stamped copy** made with `tools/vendor.sh`, if it doesn't (see "The stamp tools").
+- **Don't edit inside the library folder**, carry it as a git subtree with its history, or copy parts of it elsewhere. A fix to the library is a PR to this repo; once it's released, every fork gets it.
+- **Everything else is yours:** the hooks in your opendbc, the code in your openpilot that fills the library's inputs every frame, and your settings UI.
+
+## Option 1: use a release on your own
+
+1. Pick a release from this repo's releases. Each one says what changed in the lateral control, the CAN messages and the panda safety, and what was validated on a car.
+2. Mount it (submodule or stamped copy, above).
+3. Write the hooks in your opendbc. [HOSTS.md](HOSTS.md) has the contract: the hook sites, the per-frame inputs and settings, the startup safety bits, and the host bindings to define if your safety function names differ from upstream opendbc's. Each release attaches the hook patch for sunnypilot/opendbc as a worked example.
+4. Write your adapter: the small module that hands the library your fork's types (`hosts/sunnypilot/` is the example to copy). It lives in your fork, outside the library folder.
+5. Run the library's tests in your tree ([HOSTS.md](HOSTS.md), "Running the tests") and drive it before you ship it.
+6. To update, move to a newer release and rerun your tests.
+
+BluePilot doesn't review or approve any of it. Questions and bugs in the library are welcome as issues in this repo.
+
+## Option 2: work with BluePilot
+
+For a fork that wants BluePilot to help with the hooks and keep them working. Open an issue in this repo, "Host: <fork>": where the fork's source and integration branch are, how it carries its opendbc, and how it takes outside changes. From there, this repo keeps for that fork:
+
+- **its adapter**, `hosts/<fork>/`, plus host bindings if its safety names differ from upstream's;
+- **its hooks**, `hosts/<fork>/hooks.patch`, until the fork carries them;
+- **`hosts/<fork>/host.sh`**: `tree <dir>` builds the fork's opendbc at a pinned commit with the hooks and the library, placed by `vendor.sh`; `test <dir>` runs the library tests, the fork's safety suite with the BluePilot safety tests, and coverage; `make <dir>` writes `hooks.patch` back after a hook is edited in `<dir>/host`;
+- **a CI job** that runs `host.sh tree` and `test` on every PR to this repo, so a library change that would break the fork fails here first;
+- **a nightly check** that tries the fork's latest integration branch: a pass moves the pinned commit, a failure opens one issue saying which step broke. Once the fork carries the hooks it tests the fork's tree as it is, and runs `check_vendored.sh` on its copy.
+
+The steps:
+1. Develop and test the hooks and the fork's side in the fork, together.
+2. Add the adapter, `hooks.patch`, `host.sh`, the CI job and the nightly check here, in one PR.
+3. Release the library with them.
+4. BluePilot opens the PR to the fork: the hooks, its settings UI and the library at that release. Later releases arrive the same way, as PRs the fork takes when it chooses.
+
+An adapter lives in this repo only if this repo's CI tests the library on that fork.
+
+## The stamp tools
+
+For a fork that takes no submodules. Both run from a clone of this repo that has the release tag (`git fetch --tags`).
+
+**`tools/vendor.sh <tag> <folder>`** makes `<folder>` exactly the library at `<tag>`:
+- it empties the folder first, so files a release removed don't linger;
+- it copies the release's files, without the library's own CI (`.github/`);
+- it writes `<folder>/VERSION`: the tag and the commit, e.g. `v1.2.3 0a1b2c3d...`.
+
+```bash
+git clone https://github.com/BluePilotDev/bluepilot-lateral.git
+cd bluepilot-lateral
+tools/vendor.sh <tag> <fork checkout>/<path to its opendbc package>/bluepilot_lateral
+```
+
+Commit the folder in the fork. To update, run it again with the new tag: the diff shows exactly what changed between the two releases.
+
+**`tools/check_vendored.sh <folder>`** reads `<folder>/VERSION` and compares the folder with that release, file by file (Python caches ignored). It lists every added, removed or changed file, and exits non-zero if there is one:
+
+```bash
+tools/check_vendored.sh <fork checkout>/<path to its opendbc package>/bluepilot_lateral
+```
+
+Run it in your CI to catch an edit to the copy. For a fork working with BluePilot, this repo's nightly check runs it too.
+
+## Installer note: nested submodule
+
+A fork that embeds the library as a *nested* submodule (Option 2 — e.g. `fork → opendbc → opendbc/bluepilot_lateral`) can end up with the library missing after an end-user install. Some installers run a non-recursive `git submodule update --init`, which checks out the first-level submodule but not the library nested inside it, and the build then fails to import it. Installs that use `git submodule update --init --recursive` are unaffected.
+
+If your fork is installed that way, self-heal on launch: before the build imports the library, when its directory is empty, run a recursive submodule update scoped to the embedding submodule — guard on the library's `__init__.py`, retry, and fail soft so an offline boot is no worse than before.
+
+## How BluePilot releases
+
+- Lateral changes and changes to the library's safety headers are driven on a car before they're released.
+- Every release says what changed in the lateral control, the CAN messages and the panda safety, and what was validated.

opendbc_repo/opendbc/bluepilot_lateral/HOSTS.md

@@ -0,0 +1,129 @@
+# Hosting the BluePilot lateral
+
+A host is an opendbc fork with this library at `<pkg>/bluepilot_lateral/` and the hook patch applied, plus the openpilot on top of it that fills the library's inputs each frame. `<pkg>` is the fork's opendbc package: `opendbc` on sunnypilot/opendbc (ford-op/opendbc, under bp-sunnypilot), `iqdbc` on IQ.Pilot, `opendbc` on StarPilot. This page is what a host provides and what it gets back.
+
+## Mounting the library
+
+A host mounts this repo at `<pkg>/bluepilot_lateral/`, directly inside its opendbc package, as a git submodule (ford-op/opendbc) or, in a host that takes no submodules (IQPilot, at `artifacts/package_sources/iqdbc/iqdbc/bluepilot_lateral/`), as a stamped copy of a release. Updating is a bump of the submodule's commit, or vendoring the new release (below). The hook patch below carries every file ford-op/opendbc adds or changes outside the library, so since it mounts the library it also carries the mount's `.gitmodules` entry.
+
+The library never names its host's package. Python imports are relative: the library's own modules by `.`/`..`, the host's opendbc by one more level (`from ...car.ford.values import CarControllerParams` in `core/`), and `tests/test_core_imports.py` fails on any absolute `opendbc`/`iqdbc`/`openpilot` import. Safety headers include each other as `../safety/<file>.h` and the host's declarations as `../../safety/declarations.h`, relative to the including file. The host includes the library's safety as `"<pkg>/bluepilot_lateral/safety/ford.h"`.
+
+### Without submodules: a stamped copy
+
+From a clone of this repo, `tools/vendor.sh <release tag> <host>/<pkg>/bluepilot_lateral` makes the folder exactly the library at that tag (files it no longer has are removed), without `.github/` (`.gitattributes`), plus a `VERSION` file: the tag and the commit. Nothing inside the folder is ever edited: a change goes into this repo, gets released, and the host vendors the new tag. `tools/check_vendored.sh <folder>` lists anything in the folder that differs from the release in its `VERSION` and fails if there is something; a host can run it in its CI, and this repo's IQPilot checks run it on IQPilot's copy.
+
+### Host bindings
+
+The safety headers are written against upstream opendbc's names. A host whose names differ defines these before it includes `safety/ford.h` (`safety/lateral_declarations.h` has the defaults):
+
+| macro | default (upstream, sunnypilot) | IQ.Pilot |
+|---|---|---|
+| `BP_HOST_CURVATURE_LIMITS` | `CurvatureSteeringLimits` | `NativeCurvatureSteeringLimits` |
+| `BP_HOST_CURVATURE_STATE` | `curvature_state` | `native_curvature_state` |
+| `BP_HOST_RT_CURVATURE_RATE_CHECK` | `rt_curvature_rate_limit_check` | `rt_native_curvature_rate_limit_check` |
+| `BP_HOST_LAT_ALLOWED()` | `(controls_allowed \|\| controls_allowed_lateral)` | `is_lat_active()` |
+| `BP_HOST_SPEED_MISMATCH_CHECK()` | `speed_mismatch_check(vehicle_speed_2 ...)` | `((void)0)`: IQ's `ford_rx_hook` runs it |
+
+The limits struct needs only `max_curvature`, `curvature_to_can`, `frequency`, `max_curvature_error` and `curvature_error_min_speed`.
+
+## The hook patch
+
+`tools/make_hook_patch.sh` prints it: every file outside the library that ford-op/opendbc changes from `master`, minus its own `.github/` (its CI). It fails unless the edited files are exactly the non-`.github` entries of `.github/bluepilot-hooks.txt`.
+
+| file | what the hook does |
+|---|---|
+| `opendbc/car/ford/carcontroller.py` | Builds one `BluePilotLateral(CP, CP_SP, packer, CAN)`, the sunnypilot adapter (`hosts/sunnypilot/lateral.py`, below). Each frame `bp.update(CC_SP, frame)` says whether BluePilot lateral is active; if it is, `bp.step_lateral` sends the steering message at `STEER_STEP` (and returns the curvature to pass back next time) and `bp.step_lka` sends Lane_Assist_Data1 at `LKA_STEP`. Otherwise the stock path runs. |
+| `opendbc/car/structs.py` | Imports `LateralInputs` from `host_types.py` and adds `CarControlSP.lateralInputs` and `CarParamsSP.lateralInputsRequired`. |
+| `opendbc/sunnypilot/car/interfaces.py` | Calls `init_ford_safety_param_sp(CP, CP_SP, params_dict)` (`hosts/sunnypilot/safety_param.py`) at car init: the startup safety bits below, and `lateralInputsRequired` for every Ford. |
+| `opendbc/safety/modes/ford.h` | Includes `safety/ford.h` and makes one call per hook site: counter and quality checks for the pinion message, the yaw measurement skipped while the pinion source is on, `ford_bp_rx_hook` (pinion measurement), `ford_bp_lka_tx` (angle-mode state from Lane_Assist_Data1), `ford_bp_lmc_tx` in place of the stock steering check when `BP_LATERAL` is set (the stock check runs unchanged when it isn't), and the pinion RX check list from `ford_bp_init`. |
+| `opendbc/safety/tests/test_bluepilot_lateral.py` | New: hands the library's `safety/tests/` to upstream's test discovery, so upstream's `test.sh` and `mutation.py` run the BluePilot safety tests. |
+
+## Every frame: inputs
+
+A host fills these and the settings below for a car whose `CarParamsSP.lateralInputsRequired` is set: every Ford, BluePilot lateral on or off (`init_ford_safety_param_sp`).
+
+`CarControlSP.lateralInputs` (`host_types.LateralInputs`):
+
+| fields | from |
+|---|---|
+| `pathYawRate`, `pathX`, `pathY` | `modelV2.orientationRate.z`, `modelV2.position.x`, `.y` (33 points) |
+| `laneLineLeftX/Y`, `laneLineRightX/Y` | `modelV2.laneLines[1]`, `[2]` |
+| `laneLineProbs`, `laneLineStds` | `modelV2.laneLineProbs`, `.laneLineStds` |
+| `laneChangeState`, `laneChangeDirection` | `modelV2.meta` |
+| `steerRatio`, `stiffnessFactor`, `roll`, `angleOffsetDeg` | the learned vehicle parameters (`vehicleParameters`, paramsd) |
+| `lateralDelay` | `lateralDelay.lateralDelay` |
+| `valid` | true only when both the model and the vehicle parameters have been seen and every field above is filled |
+
+Each path array has `host_types.MODEL_PATH_POINTS` (33) entries at the times in `host_types.MODEL_T_IDXS` (openpilot's `ModelConstants.T_IDXS`): the core interpolates over that grid. On a frame that isn't valid, or whose arrays aren't the full shape or contain a non-finite value, the library keeps the previous inputs.
+
+## Every frame: settings
+
+Every key in `opendbc.bluepilot_lateral.core.values_ext.BP_LATERAL_PARAMS` (the per-frame settings in `params/manifest.py`; hosts import the list from there), every frame, as (key, value) with the value as bytes (sunnypilot: `CarControlSP.params` entries): bools `"1"`/`"0"`, numbers as text. A missing, empty or unparsable value gives the manifest default. A host publishes its own registry default for a key nobody has set, so a host can carry its own defaults (BP7 uses 3.0 for `LC_PID_gain_UI_curv`). `python -m <pkg>.bluepilot_lateral.params.manifest` prints the keys as `params_keys.h` lines (IQ.Pilot drops `BACKUP`, which its params don't have).
+
+## At startup: the safety bits
+
+`values_ext.ford_safety_param(CP, params_dict)` reads the startup settings (`disable_BP_lat_UI`, `FordPrefSteerAngleCurvature`) and returns the bits. The host sends them to the panda in its second safety param (sunnypilot: the adapter ORs them into `CP_SP.safetyParam`). StarPilot has no second param: its adapter shifts them into bits 9-14 of its Ford `safetyParam` (`hosts/starpilot/safety_param.py`, clear of the bits StarPilot's Ford safety reads), and its `ford_init` hands `(param >> 9) & 0x3F` to `ford_bp_init`:
+
+| bit | |
+|---|---|
+| 5 `BP_LATERAL` | the panda runs the BluePilot steering checks; the car controller sends the 4-signal messages only when it's set |
+| 0 `STEER_ANGLE_CURVATURE`, 1-4 geometry index | the pinion angle replaces the yaw rate as the curvature measurement, on platforms with a row in the pinion table |
+
+The panda keeps what it was given at init: changing `disable_BP_lat_UI` while driving takes full effect at the next init.
+
+## Reading status
+
+`BluePilotLateral.status()` returns `host_types.LateralStatus`, this frame's values for a BluePilot UI, under the names BP7's `controllerStateBP` publisher reads off its car controller:
+
+| field | |
+|---|---|
+| `lateralUncertainty` | from whichever strategy ran |
+| `angleRateLimited` | angle mode: the path angle soft rate limit bit this frame |
+| `curvatureRateLimited` | angle mode: the equivalent curvature would have been rate-limited |
+| `curvatureDeviationLimited` | either mode: the current-curvature error clip constrained the command |
+| `humanTurnLateralPaused` | angle mode: lateral sent inactive during a manual turn |
+| `stallBlipActive` | angle mode: the brief mode-0 pulse after a post-override stall |
+| `disable_BP_lat_UI` | BluePilot lateral off: the setting, or the panda bit not set at init |
+| `primary_lateral_control` | 0 = curvature, 1 = angle |
+
+The four angle-mode values read false outside angle mode. bp-sunnypilot doesn't read status; it has no BluePilot UI.
+
+## What the library uses from the host's opendbc
+
+Every host is an opendbc fork, so the library uses these directly:
+
+- `<pkg>.car`: `structs`, `DT_CTRL`, `ACCELERATION_DUE_TO_GRAVITY`, `scale_rot_inertia_per_mass` and `scale_tire_stiffness_per_mass` (or, on an opendbc from before the per-mass vehicle model, `scale_rot_inertia` and `scale_tire_stiffness`, at unit mass), `common.pid.PIDController`, `vehicle_model.VehicleModel` (either signature), `lateral` (`AngleSteeringLimits`, `apply_std_steer_angle_limits`, `ISO_LATERAL_ACCEL`), `ford.fordcan.CanBus`, `ford.values` (`CarControllerParams`, `FordFlags`).
+- `can/fordcan_ext.py` sets LateralMotionControl2's checksum itself: upstream's packer fills Ford checksums (and overwrites it with the same value), IQ.Pilot's doesn't.
+- The safety headers use `modes/ford.h`'s Ford constants and upstream's safety helpers, through the bindings above. `safety/lateral.h` and `can/fordcan_ext.py` copy four upstream functions, pinned per host package by `tests/test_bluepilot_upstream_copies.py`, so a host where one changed fails that test (a host with no pins skips it).
+- The safety tests use the host's test harness: `<pkg>.safety.tests.test_ford`, `common` and `libsafety.libsafety_py`. `tests/host.py` names the host's own structs, adapter and libsafety setters for the tests that touch them.
+
+## The core's API, and the host adapters
+
+The core takes only the library's types:
+
+- `core.carcontroller_ext.BluePilotLateral(CP, safety_param, packer, CAN)`: `safety_param` is the startup bits (`ford_safety_param`).
+- `update(inputs, params, frame)`: `inputs` is a `host_types.LateralInputs`, `params` a `params.param_store.ParamStore` built from the frame's (key, value) settings. Then `step_lateral`, `step_lka` and `status()` as above.
+
+Nothing under `core/`, `can/`, `params/` or `safety/` imports a host (`tests/test_core_imports.py`). `hosts/sunnypilot/`:
+
+- `lateral.py`: a `BluePilotLateral` subclass with sunnypilot's types, `(CP, CP_SP, packer, CAN)` and `update(CC_SP, frame)`. It passes `CP_SP.safetyParam`, `CC_SP.lateralInputs` and the `CC_SP.params` entries as (key, value) pairs.
+- `safety_param.py`: `init_ford_safety_param_sp(CP, CP_SP, params_dict)` ORs `ford_safety_param` into `CP_SP.safetyParam`. Its own module, so car init imports only `values_ext`.
+
+`hosts/iqpilot/`, the same for IQ.Pilot's types:
+
+- `lateral.py`: `BluePilotLateral(CP, CP_IQ, packer, CAN)` and `update(CC_IQ, frame)`, passing `CP_IQ.iqSafetyFlags`, `CC_IQ.lateralInputs` and the `CC_IQ.params` entries.
+- `safety_param.py`: `init_ford_safety_param_iq(CP, CP_IQ, params_dict)` ORs `ford_safety_param` into `CP_IQ.iqSafetyFlags` (the panda's `current_safety_param_iq`) and sets `CP_IQ.lateralInputsRequired`.
+
+`hosts/starpilot/`, for StarPilot, which has neither a second safety param nor CarControl / CarParams extension structs:
+
+- `lateral.py`: `BluePilotLateral(CP, packer, CAN)`, reading the startup bits back out of the Ford `safetyParam`, and `update(frame_inputs, frame)`. `FrameInputs` carries `lateralInputs` and the `params` entries; StarPilot's openpilot side fills one each frame and hands it to the Ford CarController, in place of a CarControl extension.
+- `safety_param.py`: `init_ford_safety_param_starpilot(CP, params_dict)` ORs `ford_safety_param << 9` into `CP.safetyConfigs[-1].safetyParam`; `bp_safety_param(CP)` reads them back; `lateral_inputs_required(CP)` says whether to fill `FrameInputs`. StarPilot's Transit (`FordFlags.LKA_STEERING`, steering through Lane_Assist_Data1 alone) gets neither.
+
+Another host writes its own adapter against the same API.
+
+## Running the tests
+
+- Python tests: `python -m unittest discover -s <pkg>/bluepilot_lateral/tests -t .`, from the directory that holds `<pkg>`.
+- Safety tests: the host's `<pkg>/safety/tests/test.sh` runs them, through a loader (ford-op/opendbc's `test_bluepilot_lateral.py`) or by naming `../../bluepilot_lateral/safety/tests` (IQ.Pilot: its cross-mode TX sweep reads `TX_MSGS` off every `Test*` class in its directory, so a loader there breaks it). Coverage of the BluePilot headers and `modes/ford.h`: `safety/tests/bluepilot_coverage.sh`, which runs the library's tests itself where the host has no loader; mutation: `safety/tests/bluepilot_mutation.py` (needs the host's `mutation.py`, which IQ.Pilot doesn't have).
+- On a clean sunnypilot/opendbc checkout: `tools/test_on_host.sh <checkout>`, from a ford-op/opendbc checkout. It copies the library as committed and applies the hook patch to a temporary clone, then runs both.
+- On IQPilot: `hosts/iqpilot/host.sh tree <dir>` builds iqdbc from IQ.Lvbs's repo at the pinned commit with `hosts/iqpilot/hooks.patch` (IQPilot's hooks, kept here until IQPilot carries them) and the library, vendored; `host.sh test <dir>` runs the library tests, IQPilot's safety suite with the BluePilot ones (minus `known_failures.txt`, IQPilot's own) and coverage; `host.sh make <dir>` writes the hook patch back after editing the hooks in `<dir>/host`. CI's `iqpilot` job runs tree and test. Every night `iqpilot pin check` tries IQ.Lvbs's latest `beta`: green moves the pin in a PR it merges itself (dropping `hooks.patch` once IQPilot carries the hooks), red keeps one issue open saying which step failed.

opendbc_repo/opendbc/bluepilot_lateral/LICENSE

@@ -1,4 +1,6 @@
 Copyright (c) 2020, Comma.ai, Inc.
+Copyright (c) 2026, firestar5683 and StarPilot contributors
+Copyright (c) 2024-2026, BluePilot contributors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 

opendbc_repo/opendbc/bluepilot_lateral/LICENSE.md

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
----
-
-Haibin Wen, SUNNYPILOT LLC

opendbc_repo/opendbc/bluepilot_lateral/ORIGIN_HISTORY.tsv

@@ -1,38 +0,0 @@
-9d190417bf74563abfa6f36996f1e673e9ee0a1b	Praeuner	2026-08-13T22:26:15-05:00	Update dampening factor to .25
-a881646ea5edc21c0db4c4e74076e0dc14671a4e	alan-polk	2026-08-10T09:04:52-05:00	Merge pull request #176 from BluePilotDev/bp-no-stall
-9012f76666a5c90764fcaec40832b9a607488c27	John Christman	2026-08-05T17:49:59-04:00	anti-stall
-3610e3f18a0ad37d793d7ada61dbc739ab1077a3	Nathan Ingraham	2026-07-23T22:26:29-05:00	self.path_angle_gain_lowC_highV remains the platform-specific base gain. The toggle now controls separate self.user_dampening_factor. l ow_gain_calc uses: self.path_angle_gain_lowC_highV * self.user_dampening_factor UI placement, description, default, and 0.75–1.25 range remain unchanged.
-1db52bc79e607ddb00214254dd4d732615e27fe4	Nathan Ingraham	2026-07-23T00:00:51-05:00	-Added “High Speed Dampening” directly below “High Speed Adjustment Factor”, range 0.75–1.25, step 0.01, and default 1.0.
-5d994c24edf63f3b9004b2963f18ef4199e5d368	Jacob Neulight	2026-07-18T20:17:04-06:00	Ford safety: optional pinion-sourced angle_meas behind STEER_ANGLE_CURVATURE SP flag
-699c17d9fde62c690eed9d68eed7d731744d5137	Jacob Neulight	2026-07-18T19:53:46-06:00	Ford: publish angle-mode shadow curvature from measured curvature during overrides
-b7428fee4b116d4832f91c850d54cac2730de2ef	alan-polk	2026-07-18T08:52:24-05:00	restore curvature safety checks to bp-6.0 logic.
-97867c1eb57b7472f6fc3de62f0fef576e5a5497	alan-polk	2026-07-16T19:18:05-05:00	Human Turn Reset for Angle (#118)
-7efee67e3e643d52b973895d6c6765c5cc12e314	alan-polk	2026-07-16T08:19:43-05:00	angle mode: rescale exit-detection threshold for 20Hz cadence
-1958a3501ead10ae1f496f0d11e1e8cda6e2dbcc	alan-polk	2026-07-14T15:22:38-05:00	Bp 7.0 variable cleanup (#111)
-8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d	alan-polk	2026-07-14T08:53:28-05:00	Bp 7.0 panda2 (#109)
-11ac3b760671b489ca449d522f1edf240a232884	alan-polk	2026-07-09T07:53:21-05:00	angle mode: fix ROC values tuned for 100Hz cadence running at actual 20Hz
-dbdcea747e65f574d326a55c9bf1a9d6c9485e22	alan-polk	2026-07-08T09:21:32-05:00	Revert "ford: add current-curvature deviation check to angle mode (panda-side)"
-69a9714563622729ba304ac75354ba3fd37b0b39	alan-polk	2026-07-08T09:17:09-05:00	ford: add current-curvature deviation check to angle mode (panda-side)
-be7f86a5d0dc1ea3b3f0052d4b54ff0b8a70f843	John Christman	2026-07-06T21:53:55-04:00	cast on debug
-5c1fbb07dd4d7d950a01cb2cd1faddd90d41e632	alan-polk	2026-07-06T14:20:49-05:00	controllerStateBP: add angleRateLimited + curvatureRateLimited diagnostics
-06d654e5f48ea8fcffce6e98e48e3a30450b5097	alan-polk	2026-06-25T23:28:51-05:00	Revert "temp blend ratio change" — restore predicted-curvature blend to 0.50
-540e69fcf4861a2ce5d7ca41467effc231638e27	alan-polk	2026-06-22T08:35:44-05:00	temp blend ratio change
-e3819c7e630d85cfb44858840124fe7f72f1762d	alan-polk	2026-06-13T20:47:09-05:00	ford.h: don't block angle mode on the inactive curvature signal
-5d343738e30267688d0ffa6eebe2ec3ca57b10ee	alan-polk	2026-06-13T18:28:30-05:00	ford.h: widen path_angle ROC to 2% looser than lateral_angle_ext _soft_roc
-d0aac605f99d37e9da205e419f7989c1e9eaa386	alan-polk	2026-06-13T11:15:50-05:00	BluePilot: add angle-primary lateral control mode
-51d5de8991508c862e7c51333e5055425b2b8d23	alan-polk	2026-04-11T12:00:10-05:00	fixing missing punctation in ford.h
-8194ceb7e0bbc112c73d393a8f0add3261f6592d	alan-polk	2026-04-11T11:51:49-05:00	make safety limits symetrical but control limits asymetrical.  Add 1.5s duration to detect human turn
-db2bdff05df103d71df62f45c2a3cb5211aba6e6	alan-polk	2026-04-09T23:47:30-05:00	move all external logic to lateral_curv_ext.py. Apply some order of operations fixes to try and eleminate panda blocking messages.
-1a8ac23b5bd5d7952c15eb913c2b1e39f14ad92e	Blue Genie	2026-04-08T15:10:24-05:00	Adjust panda limits
-892be076daf898d806983f847c72357accff7312	Blue Genie	2026-04-08T11:45:28-05:00	Add logging functionality
-ce7d27230657159332f64a253a0faea6cf8dcc95	alan-polk	2026-04-08T11:40:02-05:00	fix rate of change limits
-021b5146e80ac58fe2e81dbd848bc7cd409ef08e	alan-polk	2026-04-07T16:24:38-05:00	align ford.h limits with dbc and carcontroller
-7f9212f7f8dc22c4a0a22443158554f4d3652a3c	tonesto7	2026-04-05T21:28:37-04:00	Merge bp-6.1 upstream changes into bp-6.0-dev (#124)
-dd1a9d3fd8f60462d3d8ac6de3e7860e70e1f667	alan-polk	2025-12-12T12:22:31-06:00	convert opendbc from a submodule to a subfolder
-10101012d8a4cc37951a557023824cdd995443a6	alan-polk	2026-08-10T17:23:04Z	BluePilot: angle-mode lane centering trim (advanced lane positioning)
-560e80e9d593badca08aa60e8ddb692e58033425	alan-polk	2026-08-11T12:50:00Z	BluePilot: angle-mode lane centering falls back to model position, not zero
-94bf8144d4a683e9f3408f3babf892878f3b81f4	ghbarker	2026-08-12T01:31:33Z	ford ALP: restore StarPilot guards (narrow lane, laneline std, NaN params) and cap applied correction at 0.0015
-80825b81568ad684fe4ec37a797d3cbaa004fdcf	ghbarker	2026-08-13T01:04:02Z	split applied-correction ceiling into its own PR per review
-e5b92cc48b34ea43ac756a96a96687c9851a188d	ghbarker	2026-08-13T01:05:07Z	add tests for the restored guards
-af4bc410c9ef417ba723212ceaa2a77758dd8ecb	alan-polk	2026-08-14T03:24:28Z	BluePilot: rate-limit the lane centering correction, not just filter it
-8eea9eb68e0c4126ee1c52f251e274d5865b6743	alan-polk	2026-08-19T13:33:00Z	BluePilot: lower angle-mode lane centering default strength to 0.25

opendbc_repo/opendbc/bluepilot_lateral/README.md

@@ -1,81 +1,14 @@
-# BluePilot Ford angle control
+# BluePilot lateral
 
-StarPilot adaptation of BluePilotDev/bluepilot `bp-7.0`, pinned to
-[e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a).
-The layout follows Alan Polk's September 2026 library proposal. This is an
-adaptation, not an upstream library release.
+BluePilot's Ford lateral control as a library an opendbc fork mounts at `opendbc/bluepilot_lateral/`: both modes (curvature and angle), the CAN messages that carry them, the panda safety that checks them, and a settings manifest.
 
-Existing curvature control remains the default. Explicit `FordLateralMode=1`
-selects angle control next drive; the saved choice persists when unavailable.
-Only this selector is exposed. Fixed defaults and bounds live in
-`params/manifest.json`; pinion-yaw correction and curvature-primary tuning are
-outside this library. Angle lane-centering trim is available as a default-disabled
-core capability, separately sourced from BluePilot bp-dev
-`e22afa6be9b881fa784c92ebb316db47728a3d81`; it adds no public settings.
+**This is a modified Ford safety model.** The panda safety allows signals and ranges that upstream's Ford safety blocks. A fork chooses whether to ship it.
 
-`core/` accepts scalar/model inputs without openpilot, Params or messaging
-imports. `can/` owns encoding, `safety/ford_bp.h` owns native enforcement, and
-`hosts/starpilot.py` connects the host. `params/protocol.json` generates the wire
-constants. The folder is vendored without submodules, LFS or an external runtime.
+**Status:** `v0.2.0`. It runs on bp-sunnypilot, a sunnypilot fork, through ford-op/opendbc (sunnypilot's opendbc plus the hooks).
 
-## Admission
+- [FORKS.md](FORKS.md): how a fork takes BluePilot lateral and works with BluePilot: carrying the library (a submodule or a stamped copy), the stamp tools, and adding a fork.
+- [HOSTS.md](HOSTS.md): what a host provides, the hook patch, and how to run the tests.
+- [can/LANE_ASSIST_DATA1.md](can/LANE_ASSIST_DATA1.md): the Lane_Assist_Data1 bits angle mode uses.
+- [CREDITS.md](CREDITS.md) and [LICENSE](LICENSE) (MIT).
 
-Classic: Bronco Sport Mk1, Escape Mk4, Focus Mk4, Maverick Mk1, Explorer Mk6.
-CAN FD: Escape Mk4.5, Expedition Mk4, F150 Mk14, F150 Lightning Mk1, Ranger Mk2,
-Mustang Mach-E Mk1.
-
-Exact classic safety parameters 32/33 map to angle 128/129; CAN FD 18/19 and
-66/67 map to 130/131. Parameter 131 requires DEBUG; RELEASE retains stock 130.
-Longitudinal, radar, fingerprint and parser policy remain host-owned. Admission
-uses the final CarParams contract, not brand or steering-control enum alone.
-
-AOL, alternative experiences, Transit, Edge, Mondeo, SecOC, passive, dashcam,
-notCar and unsupported static flags are excluded. Auxiliary noOutput requires
-parameter zero; production deployments with two Pandas remain unqualified until
-actual startup, bus routing and public acknowledgments are verified.
-
-## Safety design
-
-The extension uses small Ford hooks without changing shared safety headers or
-existing curvature namespaces. Active steering requires ordinary controls
-permission, healthy physical RX and a fresh matching public Panda acknowledgment
-of safety parameter, alternative experience, controls, RX validity, heartbeat and
-faults. Cruise, gas/brake, checksum, counter, quality and freshness checks apply.
-Neutral mode cannot grant permission.
-
-The BluePilot reset-bypass latch is omitted. Rejected frames preserve accepted
-actuator history and withdraw the shadow lease; accepted neutral commands or
-permission withdrawal reset history. Lost counters recover through neutral
-resynchronization. Version or checksum failure cannot fall through to curvature
-control.
-
-Active frames carry neutral curvature, offset and curvature rate, with checked
-mode, ramp, precision, path angle, counter, checksum and cadence. Native enforcement
-checks the shadow against the actual path across gains 0.95–1.3, bounds both by
-`min(0.02, 2.4114/v²)`, and bounds the full actual-curvature interval against
-measured curvature above 10 m/s. Actual path also obeys the 3.5886 m/s³ equivalent
-jerk limit and rolling message-rate limit. Core quantization and timing margins
-keep packed commands inside these bounds; an impossible intersection is neutral.
-
-The versioned 0x3CA announcement preserves StarPilot's existing byte 4 bit 1
-curvature flag and requires it clear in angle mode. It carries a counter, signed
-shadow curvature, protocol version and checksum; its lease expires after 60 ms.
-The shadow derives from the final path after rate limiting and saturation.
-
-Control computes at 20 Hz, announces through 33 Hz LKA, then sends the latest
-announced result at 20 Hz, adding at most one steering tick. Permission withdrawal
-sends neutral immediately. Human-turn recovery uses bounded neutral blips without
-a native bypass. The retained Dom factory steering delay is 0.22 s; pinned
-BluePilot uses 0.20 s.
-
-These stricter native limits and versioned metadata intentionally differ from
-BluePilot 7.0. Identical bytes or safety decisions are not claimed for affected
-commands. Runtime and physical ECU qualification remain pending.
-
-## Attribution and notices
-
-See `CREDITS.md`, `ORIGIN_HISTORY.tsv` and the project `THIRD_PARTY_NOTICES.md`.
-Both upstream MIT and Custom MIT notices are retained verbatim in `LICENSE`,
-`LICENSE.md`, `upstream-root-LICENSE` and `upstream-root-LICENSE.md`. The maintainer
-reports author permission to use this adaptation under MIT. Both published notices
-remain intact.
+History before 2026-09-15 lives in [BluePilotDev/bluepilot](https://github.com/BluePilotDev/bluepilot).

opendbc_repo/opendbc/bluepilot_lateral/VERSION

@@ -0,0 +1 @@
+v0.2.1 2b9dc6cc784faac47a1885d0bda0561f7b76f74d

opendbc_repo/opendbc/bluepilot_lateral/__init__.py

@@ -1,109 +0,0 @@
-"""Adapter to the proposed BluePilot library; angle only, exact source pinned."""
-from opendbc.bluepilot_lateral.can.ford import lateral, lka
-from opendbc.bluepilot_lateral.core.angle import Command
-from opendbc.bluepilot_lateral.hosts.starpilot import Host, qualified
-
-
-class BluePilotLateral:
-  def __init__(self, CP, *, host=None):
-    if not qualified(CP):
-      raise ValueError("Angle mode is not configured")
-    self.host = host or Host(CP)
-    self.canfd = bool(CP.flags & 1)
-    self.pending = Command()
-    self.announced = Command()
-    self.announced_ns = 0
-    self.lka_counter = 0
-    self.control_counter = 0
-    self.control_sent_ns = 0
-    self.shadow_sent_ns = 0
-    self.control_echo_ns = 0
-    self.shadow_echo_ns = 0
-    self.control_returned_ns = 0
-    self.shadow_returned_ns = 0
-    self.control_echo_pending = False
-    self.shadow_echo_pending = False
-    self.control_return_payload = None
-    self.shadow_return_payload = None
-    self.pending_generation = 0
-    self.announced_generation = -1
-    self.sent_generation = -2
-    self.steering_rejection_ns = 0
-    self.apply_curvature_last = 0.0
-
-  def observe_can(self, can_packets, main_bus):
-    # Forwarded stock traffic also returns with src|0x80. Consume one matching
-    # return for our actual emitted payload; unrelated stock echoes cannot pace us.
-    # Preserve return ordering here;
-    # start the delay when consumed, in the controller's own clock domain.
-    control_address = 0x3D6 if self.canfd else 0x3D3
-    for timestamp, frames in can_packets:
-      if timestamp <= 0:
-        continue
-      for address, data, source in frames:
-        if len(data) != 8:
-          continue
-        if source == (main_bus | 0xC0) and address in (control_address, 0x3CA):
-          if timestamp > self.steering_rejection_ns:
-            self.steering_rejection_ns = timestamp
-            self.host.steering_rejected = True
-          continue
-        if source != (main_bus | 0x80):
-          continue
-        if address == control_address and data == self.control_return_payload and timestamp > self.control_returned_ns:
-          self.control_return_payload = None
-          self.control_returned_ns = timestamp
-          self.control_echo_pending = True
-        elif address == 0x3CA and data == self.shadow_return_payload and timestamp > self.shadow_returned_ns:
-          self.shadow_return_payload = None
-          self.shadow_returned_ns = timestamp
-          self.shadow_echo_pending = True
-
-  def step_lateral(self, CC, CS, packer, CAN, frame, now_ns):
-    if now_ns <= 0:
-      return []
-    if self.control_echo_pending:
-      self.control_echo_ns = now_ns
-      self.control_echo_pending = False
-    if ((self.control_sent_ns and now_ns - self.control_sent_ns < 50_000_000) or
-        (self.control_echo_ns and now_ns - self.control_echo_ns < 45_000_000) or
-        self.announced_generation <= self.sent_generation):
-      return []
-    self.pending = self.host.update(CC, CS)
-    self.pending_generation += 1
-    command = self.announced
-    # A pending permission withdrawal is immediate; an increase waits until
-    # the 33Hz side channel has announced the matching final actuator.
-    fresh = 0 < self.announced_ns <= now_ns <= self.announced_ns + 60_000_000
-    if not self.pending.active or not fresh:
-      command = Command()
-      self.announced = command
-      if not fresh:
-        # Native records the neutral actuator as zero. Do not resume an old
-        # nonzero path after a new announcement; restart through the normal limits.
-        self.host.controller.reset_actuator()
-        self.pending = Command()
-    self.control_sent_ns = now_ns
-    self.sent_generation = self.announced_generation
-    message = lateral(packer, CAN.main, command, canfd=self.canfd, counter=self.control_counter)
-    self.control_return_payload = message[1]
-    self.control_counter = (self.control_counter + 1) % 16
-    return [message]
-
-  def step_lka(self, packer, CAN, now_ns):
-    if now_ns <= 0:
-      return []
-    if self.shadow_echo_pending:
-      self.shadow_echo_ns = now_ns
-      self.shadow_echo_pending = False
-    if ((self.shadow_sent_ns and now_ns - self.shadow_sent_ns < 30_000_000) or
-        (self.shadow_echo_ns and now_ns - self.shadow_echo_ns < 25_000_000)):
-      return []
-    self.announced = self.pending
-    self.announced_generation = self.pending_generation
-    self.announced_ns = now_ns
-    self.shadow_sent_ns = now_ns
-    message = lka(packer, CAN.main, self.announced.shadow_curvature, self.lka_counter)
-    self.shadow_return_payload = message[1]
-    self.lka_counter = (self.lka_counter + 1) % 8
-    return [message]

opendbc_repo/opendbc/bluepilot_lateral/can/LANE_ASSIST_DATA1.md

@@ -0,0 +1,60 @@
+# Lane_Assist_Data1: BluePilot's angle-mode side channel
+
+In angle mode the curvature signal in `LateralMotionControl2` is held at 0 and path angle does the
+steering, so the panda has no commanded curvature to check against the car's measured curvature.
+BluePilot sends that curvature, the *shadow curvature*, plus an "angle mode engaged" flag, in bits of
+`Lane_Assist_Data1` (0x3CA) that carry no DBC signal. openpilot sends this message itself at 33 Hz,
+and the panda reads it in the TX hook as it goes out. A separate message was tried first: the panda
+never receives its own TX, and an RX check for it blocked controls car-wide (2026-07-09).
+
+Packed by `create_lka_msg` in `fordcan_ext.py`; read by `ford_bp_lka_tx` in `../safety/ford.h`. The
+byte positions, mask and scale are named once on each side (`BP_LKA_*` in `fordcan_ext.py`,
+`FORD_BP_LKA_*` in `../safety/ford_declarations.h`), and `../tests/test_lane_assist_data1.py` checks
+that they agree with each other and with the DBC.
+
+## Layout
+
+Bit numbers are within the byte, 7 = most significant. Stock signals are from `ford_lincoln_base_pt.dbc`.
+
+| byte | bits | stock Ford signal | BluePilot |
+|---|---|---|---|
+| 0 | 7-5 | `LkaActvStats_D2_Req` | |
+| 0 | 4-2 | `LdwActvStats_D_Req` | |
+| 0 | 1-0 | `LdwActvIntns_D_Req` | |
+| 1-2 | 12 bits | `LaCurvature_No_Calc` | |
+| 2-3 | 12 bits | `LaRefAng_No_Req` | |
+| 4 | 7 | `LaRampType_B_Req` | |
+| 4 | 6-5 | `LkaDrvOvrrd_D_Rq` | |
+| 4 | 4-1 | none | free |
+| 4 | 0 | none | **angle mode engaged** |
+| 5-6 | all | none | **shadow curvature** |
+| 7 | all | none | free |
+
+## Fields
+
+- **Angle mode engaged** (byte 4 bit 0): 1 while angle mode is the selected lateral mode and
+  BluePilot lateral is on.
+- **Shadow curvature** (bytes 5-6): int16, big-endian, 1e-6 1/m per unit, clamped to
+  -32768..32767 (about ±0.0328 1/m). It is the curvature angle mode's path angle was derived from,
+  after the same error clip curvature mode applies; while the driver is pressing, inactive, or
+  during a human-turn or stall-blip pulse, it is the car's measured curvature instead. It is sent
+  negated, in Ford's sign convention, like the curvature and path angle in `LateralMotionControl2`.
+
+## What the panda does
+
+- It latches both fields from every `Lane_Assist_Data1` frame that goes through its TX hook,
+  including one it blocks for another reason.
+- **Angle mode engaged widens the path-angle range.** While the flag is set, the lateral command's
+  path angle may use the DBC's full range (-0.5 to 0.5235 rad); otherwise it is held to ±0.25 rad
+  (`ford_lmc_checks`). The flag alone does it: curvature 0 without the flag keeps the tight range.
+- **The shadow curvature check.** For a lateral command (`LateralMotionControl` on CAN or
+  `LateralMotionControl2` on CAN FD) with curvature 0, steering enabled and the flag set, the
+  panda scales the shadow curvature by 0.05 to curvature CAN units (2e-5 1/m, truncated toward
+  zero) and, above 10 m/s, blocks the frame if it is outside the measured curvature ± the curvature
+  error band + 1 (`ford_shadow_curvature_error_check`). It has no rate limit: path angle has its own.
+- `ford_bp_init` clears the flag.
+
+## Not here yet
+
+A protocol-version byte and a shared bit allocation for other forks (StarPilot) are Phase 3 (the StarPilot host issue, #16):
+they change bytes on the wire.

opendbc_repo/opendbc/bluepilot_lateral/can/ford.py

@@ -1,37 +0,0 @@
-"""Ford angle codecs, adapted from BluePilot fordcan_ext.py at e1d051d7.
-
-Core commands use planner signs; path and shadow are negated on the wire.
-The v1 side channel retains byte4 bit1 for StarPilot's curvature announcement.
-"""
-from opendbc.bluepilot_lateral.params import protocol as p
-
-
-def checksum4(dat):
-  return (15 - (sum(dat[:7]) & 15)) & 15
-
-
-def lka(packer, bus, shadow, counter):
-  addr, original, _ = packer.make_can_msg("Lane_Assist_Data1", bus, {"LaRefAng_No_Req": 0., "LaCurvature_No_Calc": 0.})
-  dat = bytearray(original)
-  raw = max(-20000, min(20000, round(-shadow / p.SHADOW_SCALE))) & 0xFFFF
-  dat[4] |= p.ANGLE_MASK | ((counter % p.COUNTER_MODULUS) << p.COUNTER_SHIFT)
-  dat[5], dat[6] = raw >> 8, raw & 255
-  dat[7] = p.VERSION | (checksum4(dat) << p.CHECKSUM_SHIFT)
-  return addr, bytes(dat), bus
-
-
-def lateral(packer, bus, command, *, canfd, counter):
-  values = {"HandsOffCnfm_B_Rq": 0, "LatCtlRampType_D_Rq": 2 if command.active else 0,
-            "LatCtlPrecision_D_Rq": command.precision, "LatCtlPathOffst_L_Actl": 0.0,
-            "LatCtlPath_An_Actl": -command.path_angle, "LatCtlCurv_No_Actl": 0.0}
-  if canfd:
-    values.update({"LatCtl_D2_Rq": int(command.active), "LatCtlCrv_NoRate2_Actl": 0.0,
-                   "LatCtlPath_No_Cnt": counter % 16, "LatCtlPath_No_Cs": 0})
-    dat = packer.make_can_msg("LateralMotionControl2", bus, values)[1]
-    fields = ((dat[2] << 3) | (dat[3] >> 5), (dat[6] << 3) | (dat[7] >> 5),
-              ((dat[3] & 31) << 6) | (dat[4] >> 2), ((dat[4] & 3) << 8) | dat[5])
-    total = int(command.active) + counter % 16 + sum(v + (v >> 8) for v in fields)
-    values["LatCtlPath_No_Cs"] = 255 - (total & 255)
-    return packer.make_can_msg("LateralMotionControl2", bus, values)
-  values.update({"LatCtl_D_Rq": int(command.active), "LatCtlRng_L_Max": 0, "LatCtlCurv_NoRate_Actl": 0.0})
-  return packer.make_can_msg("LateralMotionControl", bus, values)

opendbc_repo/opendbc/bluepilot_lateral/can/fordcan_ext.py

@@ -0,0 +1,128 @@
+"""
+BluePilot Ford CAN message builder extensions (lateral only).
+
+Extended versions of the stock fordcan.py lateral builders:
+  - Dynamic ramp_type and precision_type for the 4-signal lateral commands
+  - Lane_Assist_Data1 carries the angle-mode side channel read by bluepilot_lateral/safety/ford.h
+
+Trimmed for the lateral proof-of-concept: the longitudinal, HUD and ICBM builders from
+BluePilot's fordcan_ext.py are out of scope here.
+"""
+
+from ...car.ford.fordcan import CanBus
+
+
+# BluePilot: the Lane_Assist_Data1 side channel, see LANE_ASSIST_DATA1.md. ford_declarations.h has the
+# same values (tests/test_lane_assist_data1.py).
+BP_LKA_ANGLE_MODE_BYTE = 4
+BP_LKA_ANGLE_MODE_MASK = 0x1
+BP_LKA_SHADOW_MSB_BYTE = 5  # shadow curvature: int16, big-endian, bytes 5-6
+BP_LKA_SHADOW_LSB_BYTE = 6
+BP_LKA_SHADOW_CURVATURE_SCALE = 1e-6  # 1/meter per raw unit
+
+
+def create_lka_msg(packer, CAN: CanBus, lat_active: bool, hud_control,
+                    angle_mode_engaged: bool = False, shadow_curvature: float = 0.0):
+  """
+  Creates a CAN message for the Ford LKA Command.
+
+  BluePilot extension: accepts lat_active and hud_control parameters for future
+  lane departure warning integration (unused so far).
+
+  Also carries angle_mode_engaged + shadow_curvature (Ford sign) in bits with no DBC signal: the
+  layout and what the panda does with them are in LANE_ASSIST_DATA1.md.
+
+  Frequency is 33Hz.
+  """
+  addr, dat, bus = packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
+  dat = bytearray(dat)
+
+  shadow_curvature_raw = int(round(shadow_curvature / BP_LKA_SHADOW_CURVATURE_SCALE))
+  shadow_curvature_raw = max(-32768, min(32767, shadow_curvature_raw)) & 0xFFFF
+
+  dat[BP_LKA_ANGLE_MODE_BYTE] |= BP_LKA_ANGLE_MODE_MASK if angle_mode_engaged else 0
+  dat[BP_LKA_SHADOW_MSB_BYTE] = (shadow_curvature_raw >> 8) & 0xFF
+  dat[BP_LKA_SHADOW_LSB_BYTE] = shadow_curvature_raw & 0xFF
+
+  return addr, bytes(dat), bus
+
+
+def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, ramp_type: int, precision_type: int,
+                       path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
+  """
+  Creates a CAN message for the Ford TJA/LCA Command (non-CAN FD).
+
+  BluePilot extension: dynamic ramp_type and precision_type parameters.
+  Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise).
+
+  Ford lane centering uses a third-order polynomial to describe the road centerline:
+    c0 (path_offset): lateral offset between vehicle and centerline (positive is right)
+    c1 (path_angle): heading angle between vehicle and centerline (positive is right)
+    c2 (curvature): curvature of the centerline (positive is left)
+    c3 (curvature_rate): rate of change of curvature
+
+  Frequency is 20Hz.
+  """
+  values = {
+    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
+    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
+    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
+                                                 #       3=InterventionRight, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": ramp_type,           # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": precision_type,     # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
+    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
+    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
+  }
+  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
+
+
+def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, ramp_type: int, precision_type: int,
+                        path_offset: float, path_angle: float, curvature: float,
+                        curvature_rate: float, counter: int):
+  """
+  Creates a CAN message for the Ford Lane Centering command (CAN FD).
+
+  BluePilot extension: dynamic ramp_type and precision_type parameters.
+  Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise).
+
+  This message replaces LateralMotionControl on CAN FD platforms and includes
+  counter and checksum fields.
+
+  Frequency is 20Hz.
+  """
+  values = {
+    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
+                                                 #       3=SafeRampOut, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": ramp_type,           # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": precision_type,     # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
+    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
+    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
+    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
+    "LatCtlPath_No_Cnt": counter,               # [0|15]
+    "LatCtlPath_No_Cs": 0,                      # [0|255]
+  }
+
+  # Computed here, not left to the packer: upstream's packer fills Ford checksums itself (and overwrites
+  # this with the same value), but a host's packer may not (IQ.Pilot's doesn't), and the PSCM drops a
+  # frame whose checksum is wrong.
+  dat = packer.make_can_msg("LateralMotionControl2", CAN.main, values)[1]
+  values["LatCtlPath_No_Cs"] = lat_ctl2_checksum(mode, counter, dat)
+  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
+
+
+def lat_ctl2_checksum(mode: int, counter: int, dat: bytes) -> int:
+  """LatCtlPath_No_Cs of a packed LateralMotionControl2: upstream's ford_checksum over the message's
+  checksum fields (mode, counter, curvature, curvature rate, path angle, path offset)."""
+  curvature = (dat[2] << 3) | (dat[3] >> 5)
+  curvature_rate = (dat[6] << 3) | (dat[7] >> 5)
+  path_angle = ((dat[3] & 0x1F) << 6) | (dat[4] >> 2)
+  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
+
+  checksum = mode + counter
+  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
+    checksum += sig_val + (sig_val >> 8)
+  return 0xFF - (checksum & 0xFF)

opendbc_repo/opendbc/bluepilot_lateral/core/angle.py

@@ -1,212 +0,0 @@
-"""Angle-primary Ford steering adapted from Alan Polk's BluePilot bp-7.0.
-
-Source e1d051d7ba270261b4455068bd68f1a58db15a4a lateral_angle_ext.py.
-See ../LICENSE, ../LICENSE.md and ../CREDITS.md. This core has no vehicle,
-openpilot, Params, messaging or model-constant imports.
-"""
-from dataclasses import dataclass
-import math
-from ..params import limits as bounds
-from .trim import LaneCenterTrim, LaneGeometry, TrimConfig
-
-
-def clip(value, low, high):
-  return max(low, min(high, value))
-
-
-def interp(value, xs, ys):
-  if value <= xs[0]:
-    return ys[0]
-  for i in range(1, len(xs)):
-    if value < xs[i]:
-      return ys[i - 1] + (ys[i] - ys[i - 1]) * (value - xs[i - 1]) / (xs[i] - xs[i - 1])
-  return ys[-1]
-
-
-@dataclass(frozen=True)
-class Inputs:
-  active: bool
-  speed: float
-  measured_curvature: float
-  desired_curvature: float
-  steering_pressed: bool = False
-  steering_angle: float = 0.0
-  yaw_predictions: tuple = ()
-  time_indices: tuple = ()
-  lateral_delay: float = 0.15
-  lane_change: bool = False
-  lane_direction: int = 0
-  limit_status: int = 0
-  geometry: LaneGeometry | None = None
-  speed_min: float | None = None
-  speed_max: float | None = None
-
-
-@dataclass(frozen=True)
-class Command:
-  active: bool = False
-  path_angle: float = 0.0
-  shadow_curvature: float = 0.0
-  precision: int = 1
-
-
-class AngleController:
-  def __init__(self, *, low_gain=1.0, high_gain=1.15, trim_config=None, recovery_blips=True):
-    self.trim_config = TrimConfig() if trim_config is None else trim_config
-    self.recovery_blips = recovery_blips
-    self.trim = LaneCenterTrim()
-    self.low_gain = low_gain
-    self.high_gain = high_gain
-    self.path_last = 0.0
-    self.speed_last = 0.1
-    self.desired_last = 0.0
-    self.human_timer = 0.0
-    self.press_last = False
-    self.preturned = False
-    self.press_timer = 0.0
-    self.blip_frames = 0
-    self.blip_cooldown = 0.0
-    self.blip_hold = 0.0
-    self.blip_count = 0
-
-  def reset_actuator(self):
-    self.trim.reset()
-    self.path_last = 0.0
-    self.speed_last = 0.1
-
-  def reset(self):
-    self.reset_actuator()
-    self.desired_last = 0.0
-    self.human_timer = 0.0
-    self.press_last = False
-    self.preturned = False
-    self.press_timer = 0.0
-    self.blip_frames = 0
-    self.blip_cooldown = 0.0
-    self.blip_hold = 0.0
-    self.blip_count = 0
-
-  def step(self, i: Inputs) -> Command:
-    values = (i.speed, i.measured_curvature, i.desired_curvature, i.steering_angle, i.lateral_delay)
-    if not i.active or not all(math.isfinite(v) for v in values) or i.speed < 0.0:
-      self.reset()
-      return Command()
-    speed_min = max(i.speed, 0.1) if i.speed_min is None else i.speed_min
-    speed_max = max(i.speed, 0.1) if i.speed_max is None else i.speed_max
-    if (not all(math.isfinite(v) for v in (speed_min, speed_max)) or
-        not 0 < speed_min <= max(i.speed, 0.1) <= speed_max):
-      self.reset()
-      return Command()
-    if i.steering_pressed and not self.press_last:
-      self.preturned = abs(i.steering_angle) > 45.0
-    self.press_last = i.steering_pressed
-    self.human_timer = self.human_timer + 0.05 if i.steering_pressed and abs(i.steering_angle) > 45.0 else 0.0
-    if self.human_timer + 1e-9 >= (3.0 if self.preturned else 1.5):
-      self.trim.reset()
-      self.path_last = 0.0
-      self.desired_last = i.desired_curvature
-      self.blip_frames = self.blip_count = 0
-      self.blip_hold = self.blip_cooldown = self.press_timer = 0.0
-      return Command()
-    if i.steering_pressed:
-      self.press_timer += 0.05
-    else:
-      if self.recovery_blips and self.press_timer >= 0.5 and self.blip_cooldown <= 0.0 and self.blip_frames <= 0 and abs(self.path_last) < 0.1:
-        self.blip_frames = 6
-      self.press_timer = 0.0
-    if self.blip_frames > 0:
-      self.blip_frames -= 1
-      self.trim.reset()
-      self.path_last = 0.0
-      self.desired_last = i.desired_curvature
-      if self.blip_frames == 0:
-        self.blip_cooldown = 2.0
-      return Command()
-
-    base = clip(i.lateral_delay, 0.1, 0.15) + 0.05
-    predictions_valid = (len(i.yaw_predictions) == len(i.time_indices) and len(i.time_indices) >= 17 and
-                         all(math.isfinite(v) for v in (*i.yaw_predictions, *i.time_indices)) and
-                         all(b > a for a, b in zip(i.time_indices, i.time_indices[1:], strict=False)))
-    curves = tuple(y / max(0.01, i.speed) for y in i.yaw_predictions) if predictions_valid else ()
-    entering = bool(curves) and abs(interp(base, i.time_indices, curves)) > abs(i.desired_curvature)
-    factor = 1.0 if entering else interp(abs(i.desired_curvature), (0.005, 0.020), (1.0, 0.0))
-    lookup = base + bounds.VLT_EXTRA * interp(i.speed, (11.176, 24.5872), (1.0, 0.0)) * factor
-    predicted = interp(lookup, i.time_indices, curves) if curves else 0.0
-    saturated = i.limit_status >= 2 or self.path_last >= 0.5235 * 0.9 or self.path_last <= -0.5 * 0.9
-    falling = abs(i.desired_curvature) < abs(self.desired_last) - 0.010
-    blend = bounds.BLEND * 0.25 if not entering and (i.limit_status >= 1 or saturated or falling) else bounds.BLEND
-    requested = predicted * blend + i.desired_curvature * (1.0 - blend)
-    self.desired_last = i.desired_curvature
-    precision = 0 if i.lane_change and ((i.lane_direction == 1 and requested < 0) or
-                                      (i.lane_direction == 2 and requested > 0)) else 1
-    # BluePilot's default lane-change factors are both 1.0.
-    # Trim requested curvature before every existing actuator/safety limiter.
-    requested = self.trim.update(requested, i.speed, i.geometry, self.trim_config,
-                                 active=i.active, lane_change=i.lane_change, steering_pressed=i.steering_pressed)
-    kappa = clip(requested, i.measured_curvature - 0.002, i.measured_curvature + 0.002) if i.speed > 9.0 else requested
-    low = interp(i.speed, (13.5, 26.82), (1.0, self.low_gain))
-    high = interp(i.speed, (13.5, 26.82), (1.3, self.high_gain))
-    gain = interp(abs(kappa), (0.0007, 0.001), (low, high))
-    path = kappa * i.speed * gain
-    if saturated:
-      last_mag, magnitude = abs(self.path_last), abs(path)
-      if magnitude > last_mag:
-        path = self.path_last
-      elif last_mag - magnitude > 0.02:
-        path = math.copysign(last_mag - 0.02, self.path_last)
-    elif i.limit_status >= 1:
-      path = clip(path, -abs(self.path_last), abs(self.path_last))
-    roc = interp(i.speed, (10.0, 15.0, 25.0), (0.055, 0.0425, 0.009))
-    path = clip(clip(path, -0.5235, 0.5), self.path_last - roc, self.path_last + roc)
-
-    # Tightening relative to bp-7.0: the shadow describes the final actuator,
-    # including ROC/saturation. A truthful derived curvature must fit both the
-    # measured-curvature interval and the modern ISO envelope. If those bands
-    # cannot meet the previous actuator ROC, send a neutral mode-0 frame.
-    effective_speed = max(i.speed, 0.1)
-    cap = min(bounds.CURVATURE_MAX, bounds.LATERAL_ACCEL / max(speed_max, 1.0) ** 2)
-    low_kappa, high_kappa = -cap, cap
-    if i.speed > 9.0:
-      low_kappa = max(low_kappa, i.measured_curvature - 0.0018)
-      high_kappa = min(high_kappa, i.measured_curvature + 0.0018)
-    # Native cannot trust a host-selected feel gain. Intersect every admitted
-    # gain (0.95..1.3), so the worst equivalent curvature remains bounded.
-    lower_gain = bounds.GAIN_MAX if low_kappa >= 0.0 else bounds.GAIN_MIN
-    upper_gain = bounds.GAIN_MIN if high_kappa >= 0.0 else bounds.GAIN_MAX
-    lower_speed = speed_max if low_kappa >= 0.0 else speed_min
-    upper_speed = speed_min if high_kappa >= 0.0 else speed_max
-    lower = max(-bounds.PATH_MAX, low_kappa * lower_speed * lower_gain, self.path_last - roc)
-    upper = min(-bounds.PATH_MIN, high_kappa * upper_speed * upper_gain, self.path_last + roc)
-    # Bound the actual-angle equivalent derivative at the worst admitted gain.
-    # 45ms core margin remains inside the native elapsed-time/50ms cap.
-    jerk_delta = bounds.LATERAL_JERK / max(i.speed - 1.0, 1.0) ** 2 * bounds.CORE_STEER_PERIOD_S * bounds.GAIN_MIN * effective_speed
-    jerk_center = self.path_last / self.speed_last * effective_speed
-    lower = max(lower, jerk_center - jerk_delta)
-    upper = min(upper, jerk_center + jerk_delta)
-    lower += bounds.PATH_ROUNDING_MARGIN
-    upper -= bounds.PATH_ROUNDING_MARGIN
-    if lower > upper:
-      self.trim.reset()
-      self.path_last = 0.0
-      return Command()
-    path = clip(path, lower, upper)
-    self.path_last = path
-    self.speed_last = effective_speed
-    shadow = path / (effective_speed * gain)
-
-    self.blip_cooldown = max(0.0, self.blip_cooldown - 0.05)
-    gap = i.desired_curvature - i.measured_curvature
-    stalled = (not i.steering_pressed and not i.lane_change and i.speed > 9.0 and abs(gap) > 0.004 and
-               abs(i.desired_curvature) > abs(i.measured_curvature))
-    if self.recovery_blips and stalled:
-      if abs(kappa - requested) > 1e-9 and self.blip_cooldown <= 0.0:
-        self.blip_hold += 0.05
-      if self.blip_hold >= 0.5 and self.blip_count < 3 and abs(path) < 0.1:
-        self.blip_frames = 6
-        self.blip_hold = 0.0
-        self.blip_count += 1
-    else:
-      self.blip_hold = 0.0
-      if i.steering_pressed or abs(gap) < 0.002:
-        self.blip_count = 0
-    return Command(True, path, shadow, precision)

opendbc_repo/opendbc/bluepilot_lateral/core/carcontroller_ext.py

@@ -0,0 +1,234 @@
+"""
+BluePilot Ford lateral: the one object the Ford CarController calls.
+
+Holds the two strategies, LateralCurvExt and LateralAngleExt, with the inputs and state they
+share, and does the strategy dispatch and message assembly. Lives above both strategy modules
+(rather than inside either) so it can call into both without the circular import that would
+result from one depending on the other.
+
+The CarController owns apply_curvature_last, which the stock and BluePilot paths share: it is
+passed into step_lateral and the result returned, so switching BluePilot lateral off mid-drive
+continues from the last command, as before.
+"""
+
+import math
+from types import SimpleNamespace
+
+try:
+  from ...car import scale_rot_inertia_per_mass, scale_tire_stiffness_per_mass
+except ImportError:
+  # a host on opendbc from before the per-mass vehicle model (IQ.Pilot): its mass-scaled helpers at unit
+  # mass are the per-mass values
+  from ...car import scale_rot_inertia, scale_tire_stiffness
+
+  def scale_rot_inertia_per_mass(wheelbase):
+    return scale_rot_inertia(1.0, wheelbase)
+
+  def scale_tire_stiffness_per_mass(wheelbase, center_to_front, tire_stiffness_factor):
+    return scale_tire_stiffness(1.0, wheelbase, center_to_front, tire_stiffness_factor)
+from ...car.ford.values import CarControllerParams, FordFlags
+from ...car.vehicle_model import VehicleModel
+from ..can import fordcan_ext
+from .lateral_angle_ext import LateralAngleExt
+from .lateral_curv_ext import LateralCurvExt, PrimaryLateralControl
+from ..params.manifest import value
+from ..params.param_store import ParamStore
+from .values_ext import FORD_PINION_WHEELBASE, FordSafetyFlagsSP
+from .human_turn import HumanTurnDetector
+from ..host_types import LateralInputs, LateralStatus
+from .lateral_inputs import ModelView, VehicleParamsView, lateral_inputs_complete
+
+
+def pinion_vehicle_model(CP):
+  """Vehicle model for the pinion-angle curvature measurement: CarSpecs, except where BluePilot's
+  pinion geometry uses another wheelbase (FORD_PINION_WHEELBASE, the same value as the C table),
+  keeping the platform's weight split and tire model."""
+  wheelbase = FORD_PINION_WHEELBASE.get(CP.carFingerprint)
+  if wheelbase is None:
+    return VehicleModel(CP)
+  center_to_front = wheelbase * CP.centerToFront / CP.wheelbase
+  front, rear = scale_tire_stiffness_per_mass(wheelbase, center_to_front, CP.tireStiffnessFactor)
+  inertia = scale_rot_inertia_per_mass(wheelbase)
+  # Both VehicleModel signatures: upstream's per-mass fields, and the mass-scaled ones an older host's
+  # model reads, at unit mass (mass cancels out of the model, so the two are the same model).
+  return VehicleModel(SimpleNamespace(
+    rotationalInertiaPerMass=inertia, wheelbase=wheelbase,
+    centerToFront=center_to_front, steerRatio=CP.steerRatio,
+    tireStiffnessFrontPerMass=front, tireStiffnessRearPerMass=rear,
+    mass=1.0, rotationalInertia=inertia, tireStiffnessFront=front, tireStiffnessRear=rear, steerRatioRear=0.))
+
+
+class InputTracker:
+  """The model / vehicle-parameter inputs both strategies read, and the car's measured curvature.
+  Owned by BluePilotLateral and updated once per frame from the host's LateralInputs, before either
+  strategy runs."""
+
+  def __init__(self, CP, safety_param: int):
+    # Model / vehicle-parameter inputs arrive per frame from the host (see update)
+    self.VM = pinion_vehicle_model(CP)  # used only for the pinion-angle curvature measurement
+    self.model = None
+    self.lp = None
+    self.lateral_delay = 0.0
+
+    # BluePilot: steering-angle curvature measurement (bad-yaw-sensor workaround).
+    # Mirrors the STEER_ANGLE_CURVATURE flag the safety firmware reads from
+    # current_safety_param_sp -- both layers must always agree, so this is init-time
+    # state from the startup safety bits (values_ext.ford_safety_param), never a live settings read:
+    # a live flip against stale firmware would fight the panda.
+    self.bp_pinion_curvature_enabled = bool(safety_param & FordSafetyFlagsSP.STEER_ANGLE_CURVATURE)
+
+  def get_current_curvature(self, CS):
+    """Measured curvature of the car right now (OP sign convention).
+
+    The single measurement source for every BluePilot lateral consumer: the deviation
+    clip, the stall detector, and the shadow curvature published to ford.h's angle-mode
+    deviation check. The default source is the RCM yaw rate -- the same family stock
+    ford.h derives its angle_meas from. The shadow value judged against that check must
+    always come from the same measurement as the check's own reference, so route all
+    reads through here.
+
+    With the steering-angle curvature measurement enabled (FordPrefSteerAngleCurvature
+    toggle -> FordSafetyFlagsSP.STEER_ANGLE_CURVATURE), the pinion angle via the vehicle
+    model is used instead: some vehicles (e.g. a 2021 Explorer with a faulty RCM)
+    broadcast implausible VehYaw_W_Actl (sign-inverted vs IMU and steering geometry)
+    while its CAN quality flag still reads OK. The pinion angle (SteeringPinion_Data,
+    PSCM) is an equivalent measurement, independently validated against the comma IMU
+    (corr +0.99), and the panda safety angle_meas switches to the same source (see
+    bluepilot_lateral/safety/ford.h) -- the layers always agree. angleOffsetDeg/roll come from
+    liveParameters (paramsd, IMU-derived, not the car yaw sensor).
+    """
+    if self.bp_pinion_curvature_enabled:
+      angle_offset_deg = self.lp.angleOffsetDeg if self.lp is not None else 0.0
+      roll = self.lp.roll if self.lp is not None else 0.0
+      return -self.VM.calc_curvature(math.radians(CS.out.steeringAngleDeg - angle_offset_deg),
+                                     CS.out.vEgoRaw, roll)
+    return -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+
+  def update(self, li: LateralInputs):
+    """Take this frame's model / vehicle-parameter inputs from the host and update the vehicle model.
+
+    A frame is used only if it has the full modelV2 shape this code indexes into (33 path points,
+    both inner lane lines, 3+ probs/stds); anything else is ignored and the previous inputs are
+    kept, exactly as a stale SubMaster message was. That also makes fuzzed or partial inputs
+    safe: the producer's valid flag is necessary but not trusted on its own."""
+    if li.valid and lateral_inputs_complete(li):
+      self.model = ModelView(li)
+      self.lp = VehicleParamsView(li)
+      self.lateral_delay = li.lateralDelay
+
+    if self.lp is not None:
+      x = max(self.lp.stiffnessFactor, 0.1)
+      sr = max(self.lp.steerRatio, 0.1)
+      self.VM.update_params(x, sr)
+
+
+class SharedLateralState:
+  """The values both strategies read and write, so either mode sees what the other left, as when
+  the strategies were mixins on one object. bp_curvature_deviation_limited is the BluePilot UI's
+  deviation flag, from whichever mode ran."""
+
+  def __init__(self):
+    self.path_angle_last = 0.0
+    self.precision_type = 1  # 1=Precise, 0=Comfortable
+    self.bp_curvature_deviation_limited = False
+    self.human_turn_detector = HumanTurnDetector()
+
+
+class BluePilotLateral:
+  def __init__(self, CP, safety_param: int, packer, CAN):
+    """safety_param: the startup safety bits the panda was given (values_ext.ford_safety_param)."""
+    self.CP = CP
+    self.frame = 0
+    self.inputs = InputTracker(CP, safety_param)
+    self.shared = SharedLateralState()
+    self.curv = LateralCurvExt(self.inputs, self.shared)
+    self.angle = LateralAngleExt(CP, self.inputs, self.shared)
+    self.packer = packer
+    self.CAN = CAN
+
+    self.disable_BP_lat_UI = False
+    self.lateral_uncertainty = 0.0  # from whichever strategy ran last, for status()
+    # the panda only accepts 4-signal messages when this bit was set at init
+    self.bp_lateral_allowed = bool(safety_param & FordSafetyFlagsSP.BP_LATERAL)
+
+  def update(self, inputs: LateralInputs, params: ParamStore, frame):
+    """Every frame: take this frame's model / vehicle-parameter inputs and settings, both from the host
+    (HOSTS.md). Returns whether BluePilot lateral is active."""
+    self.frame = frame
+    self.inputs.update(inputs)
+    self.curv.update_lateral_params(params)
+    self.angle.update_angle_params(params)
+    # One flag for every BP consumer (LatCtl dispatch, LKA angle-mode bits, mode reporting): the UI
+    # toggle, and the panda bit that was set at init. No 4-signal traffic to a stock-configured panda.
+    self.disable_BP_lat_UI = value(params, "disable_BP_lat_UI") or not self.bp_lateral_allowed
+    return not self.disable_BP_lat_UI
+
+  def step_lateral(self, CC, CS, actuators, apply_curvature_last):
+    """At STEER_STEP: the steer message(s). Returns (can_sends, apply_curvature): the CarController
+    keeps it and passes it back next time as apply_curvature_last."""
+    # BluePilot: select the BP lateral strategy by primary control variable.
+    #   angle     -> LateralAngleExt: kappa -> path_angle (c1), apply_curvature held at 0.
+    #   curvature -> LateralCurvExt: full 4-signal curvature-primary (default).
+    # Both return a LateralResult packed identically below.
+    # Do not run the stock curvature limits here or overwrite apply_curvature_last before the
+    # strategy runs. Panda rate-checks desired_curvature vs the last TX on the bus; that must match
+    # the prior frame's lat.apply_curvature only (not an intermediate stock-limited value).
+    angle_mode = self.curv.primary_lateral_control == PrimaryLateralControl.angle
+    if angle_mode:
+      lat = self.angle.update_angle_strategy(CC, CS, actuators)
+    else:
+      lat = self.curv.update(CC, CS, actuators, apply_curvature_last, self.CP)
+    apply_curvature = float(lat.apply_curvature)
+    self.lateral_uncertainty = float(lat.lateralUncertainty)
+
+    # BluePilot: angle-mode human-turn override -- send lateral inactive (mode 0) while the
+    # driver manually turns, so the PSCM releases cleanly instead of stalling 2-3 s on
+    # re-engage (observed on Mach-E). Panda-clean: every ford.h check has a legitimate
+    # !steer_control_enabled branch for the zeroed frames; on release, path_angle ramps back
+    # from 0 through the soft ROC. Curvature mode keeps its own reset_steering path (zeroed
+    # signals with mode still active) in LateralCurvExt.
+    # The stall blip (lateral_angle_ext.py) rides the same mode-0 path: a short pulse that
+    # resets the PSCM's post-override attenuation when the deviation clip deadlocks hands-free.
+    lat_active = CC.latActive and not (angle_mode and (self.angle.angle_human_turn_active or self.angle.angle_stall_blip_active))
+
+    can_sends = []
+    if self.CP.flags & FordFlags.CANFD:
+      mode = 1 if lat_active else 0
+      counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
+      can_sends.append(fordcan_ext.create_lat_ctl2_msg(
+        self.packer, self.CAN, mode, lat.ramp_type, lat.precision_type,
+        -lat.path_offset, -lat.path_angle, -lat.apply_curvature, -lat.curvature_rate, counter
+      ))
+    else:
+      can_sends.append(fordcan_ext.create_lat_ctl_msg(
+        self.packer, self.CAN, lat_active, lat.ramp_type, lat.precision_type,
+        -lat.path_offset, -lat.path_angle, -lat.apply_curvature, -lat.curvature_rate
+      ))
+    return can_sends, apply_curvature
+
+  def status(self) -> LateralStatus:
+    """This frame's values for a BluePilot UI (HOSTS.md), as BP7 sets them on its car controller."""
+    angle_mode = self.curv.primary_lateral_control == PrimaryLateralControl.angle
+    return LateralStatus(
+      lateralUncertainty=self.lateral_uncertainty,
+      angleRateLimited=bool(angle_mode and self.angle.bp_angle_rate_limited),
+      curvatureRateLimited=bool(angle_mode and self.angle.bp_curvature_rate_limited),
+      curvatureDeviationLimited=bool(self.shared.bp_curvature_deviation_limited),
+      humanTurnLateralPaused=bool(angle_mode and self.angle.angle_human_turn_active),
+      stallBlipActive=bool(angle_mode and self.angle.angle_stall_blip_active),
+      disable_BP_lat_UI=bool(self.disable_BP_lat_UI),
+      primary_lateral_control=int(self.curv.primary_lateral_control),
+    )
+
+  def step_lka(self, CC, hud_control):
+    """At LKA_STEP: the Lane_Assist_Data1 message."""
+    # BluePilot: tell bluepilot_lateral/safety/ford.h whether angle mode is engaged, packed into
+    # Lane_Assist_Data1's unused bits. shadow_curvature is negated to match the
+    # path_angle/apply_curvature wire convention that ford.h's angle_meas is calibrated against.
+    # Only called while BluePilot lateral is active (update returned True this frame), so the mode
+    # alone decides.
+    angle_mode_engaged = self.curv.primary_lateral_control == PrimaryLateralControl.angle
+    shadow_curvature = -self.angle.bp_kappa_cmd if angle_mode_engaged else 0.0
+    return fordcan_ext.create_lka_msg(
+      self.packer, self.CAN, CC.latActive, hud_control, angle_mode_engaged, shadow_curvature
+    )

opendbc_repo/opendbc/bluepilot_lateral/core/human_turn.py

@@ -7,8 +7,8 @@ each mode DOES with the signal differs: curvature-primary (``lateral_curv_ext``)
 (reset_steering + post-reset ramp); angle-primary (``lateral_angle_ext``) forces lateral inactive
 (mode 0 on the wire) and ramps path_angle back in from zero through its soft ROC on release.
 """
-from opendbc.car import DT_CTRL
-from opendbc.car.ford.values import CarControllerParams
+from ...car import DT_CTRL
+from ...car.ford.values import CarControllerParams
 
 # Require sustained hands-on AND a large angle (avoids resetting on small wheel nudges in a curve).
 HUMAN_TURN_ANGLE_DEG = 45.0

opendbc_repo/opendbc/bluepilot_lateral/core/lane_center_trim.py

@@ -14,10 +14,10 @@ for a lane-centering nudge, and it bypasses every limiter angle mode already app
 
 This class instead computes a small correction in the **curvature domain**, meant to be added to
 ``kappa_cmd`` before any of those limiters run -- so the correction automatically inherits all of
-them, with no new safety-relevant code path. This mirrors where a GM-focused fork (StarPilot,
-u/jc01rho -- ``selfdrive/controls/lib/drive_helpers.py::LaneCenteringController`` on
-``feat/lane-centering-camera-offset``) places their own lane-centering trim: on the universal
-``desired_curvature`` signal, upstream of any car-specific actuator conversion. The geometry here
+them, with no new safety-relevant code path. The core is ported from StarPilot's
+``selfdrive/controls/lib/lane_centering.py`` (``LaneCenteringController``, by jc01rho; see
+CREDITS.md), which applies its trim the same way: on the universal ``desired_curvature`` signal,
+upstream of any car-specific actuator conversion. The geometry here
 (``raw_correction = 2*error / lookahead**2``) is the same ``y ~= 1/2 * kappa * x**2`` relation
 BluePilot already uses for PSCM d_ref / path_angle elsewhere in this package, solved for the
 curvature that would eliminate a lateral position error at the lookahead distance.
@@ -184,6 +184,12 @@ class LaneCenterTrim:
         return 0.0, 0.0
       if not (np.all(np.diff(left_x) > 0) and np.all(np.diff(right_x) > 0)):
         return 0.0, 0.0
+      if not all(np.isfinite(v) for v in (probs[1], probs[2], stds[1], stds[2])):
+        # Unlike the arrays above, a NaN here doesn't raise -- it flows straight into min()/
+        # np.interp() and poisons confidence (and therefore the correction) with a NaN that
+        # survives every subsequent frame until a hard reset, instead of erroring or getting
+        # clipped like everything else in this function.
+        return 0.0, 0.0
 
       left = float(np.interp(lookahead, left_x, left_y))
       right = float(np.interp(lookahead, right_x, right_y))
@@ -194,7 +200,8 @@ class LaneCenterTrim:
       # probability via min() -- a single missing/unreliable line (e.g. no line on the curb
       # side, only a center stripe) drags confidence toward 0 on its own.
       width_tolerance = float(np.interp(width, _WIDTH_TOLERANCE_BP, _WIDTH_TOLERANCE_V))
-      std_tolerance = float(np.interp(max(float(stds[1]), float(stds[2])), _STD_TOLERANCE_BP, _STD_TOLERANCE_V)) #StarPilot stopped at 0.3, this fades the std through the table
+      # StarPilot stopped at 0.3, this fades the std through the table
+      std_tolerance = float(np.interp(max(float(stds[1]), float(stds[2])), _STD_TOLERANCE_BP, _STD_TOLERANCE_V))
       confidence = min(float(probs[1]), float(probs[2]), width_tolerance, std_tolerance) #confidence is the weakest signal
       scale = float(np.clip(np.interp(confidence, _CONFIDENCE_BP, _CONFIDENCE_V), 0.0, 1.0))
       center_y = 0.5 * (left + right)

opendbc_repo/opendbc/bluepilot_lateral/core/lateral_angle_ext.py

@@ -2,55 +2,49 @@
 BluePilot: Ford CAN-FD path-angle–primary lateral control (developer).
 
 Steering intent is c1 from κ → θ. Converts planner/model curvature into ``path_angle`` using
-PSCM short lookahead d_ref and y ≈ ½κ x² ⇒ path_angle = ½ κ d_ref (see
-``bluepilot/agent_info/20_FORD_PSCM_KNOWLEDGE_PACK.md``). Predicted curvature (modelV2) is
-blended with ``actuators.curvature`` per ``FordPathAngleBlendRatio`` (0 = planner only,
+PSCM short lookahead d_ref and y ≈ ½κ x² ⇒ path_angle = ½ κ d_ref. Predicted curvature
+(modelV2) is blended with ``actuators.curvature`` by ``path_angle_blend_ratio`` (0 = planner only,
 1 = model only).
 
-**c0 (path_offset) is always zero on the wire, unconditionally.** Angle mode has no centering
-trim -- an earlier port attempt piped a small additive trim onto path_angle through the
-curv-mode ``LC_PID_controller``, but it never actually tracked lane center correctly in this
-mode and was removed; only the DBC-required zero c0 remains.
+**c0 (path_offset) is always zero on the wire, unconditionally.** An earlier port attempt piped
+a small additive trim onto path_angle through the curv-mode ``LC_PID_controller``, but it never
+actually tracked lane center correctly in this mode: path_angle here is a derived quantity
+(``kappa_cmd * v_ego * curvature_factor``), so an additive trim in that domain has the wrong
+(inverted) speed-dependence for a lane-centering nudge, and it bypassed every limiter this file
+applies to ``kappa_cmd``. That attempt was removed; only the DBC-required zero c0 remains.
+
+**Lane centering trim (``lane_center_trim.py``)** replaces it: a small correction applied to
+``kappa_cmd`` itself (see ``LaneCenterTrim``), before the deviation clip / gain table / PSCM
+clamp / soft ROC below -- so it inherits every one of those limiters automatically instead of
+bypassing them. Blends toward lane-line center by confidence (same formula as
+``lateral_curv_ext``'s ``path_offset``) and falls back to the model's own predicted path -- not
+to zero -- when lines are missing/unreliable, so the user's left/right offset still applies on
+center-stripe-only roads. Disabled during lane changes, user-tunable (enable, offset, authority)
+via ``enable_lane_positioning_ang`` / ``custom_path_offset_ang`` / ``lane_centering_strength_ang``.
 
 **Human-turn override**: while the driver manually turns (same sustained-press + angle criteria
 as ``lateral_curv_ext``, via the shared ``HumanTurnDetector``), lateral is forced inactive (mode
 0, all-zero signals) instead of winding path_angle into a stale command the PSCM has to reconcile
 on release -- on the Mach-E's PSCM that reconciliation cost 2-3 s of dead time before control
 resumed. Mode 0 is panda-clean by construction: every ford.h check has a legitimate
-!steer_control_enabled branch, so no reset-bypass latch involvement. On release, path_angle ramps
-back in from zero through the soft ROC below (no jump seed) -- generous at human-turn speeds, and
-admitted by ford.h's path_angle ROC check (2% looser) without any bypass.
+!steer_control_enabled branch. On release, path_angle ramps back in from zero through the soft
+ROC below (no jump seed) -- generous at human-turn speeds, and admitted by ford.h's path_angle
+ROC check (2% looser).
 """
 import numpy as np
 from numpy import clip, interp
 
-from opendbc.car import DT_CTRL
-from opendbc.car.lateral import apply_std_steer_angle_limits
-from opendbc.car.ford.values import CAR, CarControllerParams
-from opendbc.sunnypilot.car.ford.lateral_curv_ext import LateralResult
-from opendbc.sunnypilot.car.ford.human_turn import HumanTurnDetector
-from opendbc.sunnypilot.car.ford.values_ext import BP_ANGLE_LIMITS
-from selfdrive.modeld.constants import ModelConstants
-
-# Hard-coded per-platform gain defaults.
-# CAN vehicles (Escape MK4, Bronco Sport, Explorer, Maverick, Edge)
-_GAIN_CAN         = (1.00, 1.15)
-# CAN-FD body-on-frame trucks (F-150, Lightning, Expedition, Ranger)
-_GAIN_CANFD_BOF   = (0.95, 0.95)
-# CAN-FD unibody SUVs (Mustang Mach-E, Escape MK4.5)
-_GAIN_CANFD_SUV   = (1.00, 1.05)
-
-_CANFD_BOF_CARS = frozenset({
-  CAR.FORD_F_150_MK14,
-  CAR.FORD_F_150_LIGHTNING_MK1,
-  CAR.FORD_EXPEDITION_MK4,
-  CAR.FORD_RANGER_MK2,
-})
-_CANFD_SUV_CARS = frozenset({
-  CAR.FORD_MUSTANG_MACH_E_MK1,
-  CAR.FORD_ESCAPE_MK4_5,
-})
-
+from ...car import DT_CTRL
+from ...car.lateral import apply_std_steer_angle_limits
+from ...car.ford.values import CarControllerParams
+from .lateral_curv_ext import LateralResult
+from .lane_center_trim import LaneCenterTrim
+from .values_ext import (
+  ANGLE_GAIN_CAN, ANGLE_GAIN_CANFD_BOF, ANGLE_GAIN_CANFD_BOF_CARS, ANGLE_GAIN_CANFD_SUV, ANGLE_GAIN_CANFD_SUV_CARS,
+  BP_ANGLE_LIMITS, LANE_CHANGE_FACTOR_BP, LANE_CHANGE_FACTOR_LOW,
+)
+from .values_ext import MODEL_T_IDXS
+from ..params.manifest import default, value
 
 # DBC ``LatCtlPath_An_Actl`` (rad) — panda safety uses the same in ``ford.h``; PSCM enforces in firmware.
 FORD_DBC_PATH_ANGLE_MIN = -0.5
@@ -125,49 +119,62 @@ def pscm_d_ref_m(v_ego_ms: float) -> float:
   return d
 
 
+# the settings angle mode reads (params/manifest.py): (attribute, key)
+ANGLE_SETTINGS = (
+  ("low_speed_curv_factor", "FordLowSpeedFactor_ang"),
+  ("high_speed_curv_factor", "FordHighSpeedFactor_ang"),
+  ("user_dampening_factor", "FordHighSpeedDampening_ang"),
+  ("lane_change_factor_high_ang", "lane_change_factor_high_ang"),
+  ("enable_lane_positioning_ang", "enable_lane_positioning_ang"),  # the lane centering trim (lane_center_trim.py)
+  ("custom_path_offset_ang", "custom_path_offset_ang"),
+  ("lane_centering_strength_ang", "lane_centering_strength_ang"),
+)
+
+
 class LateralAngleExt:
-  def __init__(self, CP=None, CP_SP=None):
-    # Predicted-curvature blend for path_angle: pred * b + desired * (1-b); b from ``FordPathAngleBlendRatio``
+  def __init__(self, CP, inputs, shared):
+    self.CP = CP
+    # the user settings (updated from the host's params each frame), at their defaults until then
+    for attr, key in ANGLE_SETTINGS:
+      setattr(self, attr, default(key))
+    # BluePilotLateral's LateralInputs (read) and SharedLateralState (read and written), common to both strategies
+    self.inputs = inputs
+    self.shared = shared
+    # Predicted-curvature blend for path_angle: pred * b + desired * (1-b); b is this fixed default
     self.path_angle_blend_ratio = _FORD_PATH_ANGLE_BLEND_RATIO_DEFAULT
-    # Max extra VLT above t_base; from ``FordVLTExtraMax`` param
+    # Max extra VLT above t_base (fixed)
     self.vlt_extra_max = _VLT_T_EXTRA_MAX
-    # Telemetry: final path_angle (rad) after limits (see bp_card_publisher)
+    # Telemetry: final path_angle (rad) after limits (for the BluePilot UI's bp_card_publisher)
     self.bp_path_angle_final = 0.0
     # High-speed gain factors: set per-platform via carFingerprint in update_angle_params.
     self.path_angle_gain_lowC_highV = 1.0   # dampening at high speed, low curvature
     self.path_angle_gain_highC_highV = 1.0  # gain at high speed, high curvature
     self.bp_path_angle_gain_lowC_highV = 1.0
     self.bp_path_angle_gain_highC_highV = 1.0
-    # User-tunable "feel" multipliers: read from the angle-tuning Params below.
-    self.low_speed_curv_factor = 1.0
-    self.high_speed_curv_factor = 1.0
-    self.user_dampening_factor = 1.0
+    # Telemetry copies of the user "feel" multipliers (ANGLE_SETTINGS)
     self.bp_low_speed_curv_factor = 1.0
     self.bp_high_speed_curv_factor = 1.0
-    # BluePilot: angle mode's own lane-change scaling factor, independent of curvature mode's
-    # lane_change_factor_high_curv -- angle needs a boost (>1) where curvature needs a cut (<1).
-    self.lane_change_factor_high_ang = 1.0
+    # BluePilot: angle-mode lane centering trim (advanced lane positioning) -- see
+    # lane_center_trim.py and the module docstring above.
+    self.lane_center_trim = LaneCenterTrim()
     # Telemetry: variable curvature lookup time used this frame (s)
     self.bp_curvature_lookup_time = _VLT_T_EXTRA_MAX + 0.3725  # warm start at ~0.5s
-    # BluePilot: error-clipped kappa path_angle was derived from -- carcontroller.py reads this as
+    # BluePilot: error-clipped kappa path_angle was derived from -- carcontroller_ext.py reads this as
     # shadow_curvature for ford.h's angle-mode deviation check. Actively consumed, not telemetry.
     self.bp_kappa_cmd = 0.0
-    # BluePilot: rate-limit diagnostics (controllerStateBP)
+    # BluePilot: rate-limit diagnostics (the BluePilot UI's controllerStateBP)
     self.bp_angle_rate_limited = False      # path_angle soft-ROC clip actually bit this frame
     self.bp_curvature_rate_limited = False  # equivalent curvature would be rate-limited by curv-mode logic (sim)
-    self.bp_curvature_deviation_limited = False  # current_curvature error-clip constrained kappa_cmd this frame
     self.sim_curvature_last = 0.0           # shadow curvature-mode last for the curvatureRateLimited sim
     # Exit detection: track previous desired curvature to sense when planner is actively reducing
     self._desired_curvature_last = 0.0
     # Human-turn override: while the driver manually turns, lateral is forced inactive (mode 0,
     # all-zero signals) instead of winding path_angle into a stale command the PSCM can't cleanly
     # reconcile on release (2-3 s re-engage dead time observed on Mach-E). See module docstring.
-    # Note: in CarController this attribute is shared with LateralCurvExt (same mixin instance) --
-    # only one lateral strategy runs per frame, so a single detector serves both.
-    self.human_turn_detector = HumanTurnDetector()
-    self.angle_human_turn_active = False  # read by carcontroller to force mode 0
+    # The detector itself is in BluePilotLateral's shared state: one detector serves both modes.
+    self.angle_human_turn_active = False  # read by BluePilotLateral.step_lateral to force mode 0
     # Post-override stall blip state (see module constants). angle_stall_blip_active is read by
-    # carcontroller to force mode 0, exactly like angle_human_turn_active.
+    # BluePilotLateral.step_lateral to force mode 0, exactly like angle_human_turn_active.
     self.stall_blip_hold_s = 0.0      # accumulated deviation-clip-binding time toward a pulse
     self.stall_blip_frames_left = 0   # remaining pulse frames; > 0 -> mode 0 on the wire
     self.stall_blip_cooldown_s = 0.0  # re-arm delay after a pulse
@@ -177,47 +184,28 @@ class LateralAngleExt:
 
   def update_angle_params(self, params):
     """Sets per-platform gain defaults and reads user angle-tuning params."""
-    self._ensure_lateral_curv_initialized(self.CP)
     fp = getattr(self.CP, 'carFingerprint', '')
-    if fp in _CANFD_BOF_CARS:
-      low, high = _GAIN_CANFD_BOF
-    elif fp in _CANFD_SUV_CARS:
-      low, high = _GAIN_CANFD_SUV
+    if fp in ANGLE_GAIN_CANFD_BOF_CARS:
+      low, high = ANGLE_GAIN_CANFD_BOF
+    elif fp in ANGLE_GAIN_CANFD_SUV_CARS:
+      low, high = ANGLE_GAIN_CANFD_SUV
     else:
-      low, high = _GAIN_CAN
+      low, high = ANGLE_GAIN_CAN
     self.path_angle_gain_lowC_highV = low
     self.path_angle_gain_highC_highV = high
-    if params is not None and hasattr(params, "get"):
-      for attr, key, min_value, max_value in (
-        ("low_speed_curv_factor", "FordLowSpeedFactor_ang", 0.5, 1.5),
-        ("high_speed_curv_factor", "FordHighSpeedFactor_ang", 0.5, 1.5),
-        ("user_dampening_factor", "FordHighSpeedDampening_ang", 0.25, 1.25),
-      ):
-        try:
-          raw = params.get(key, return_default=True)
-          if raw is not None and raw != b"":
-            setattr(self, attr, float(clip(
-              float(raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw), min_value, max_value)))
-        except Exception:
-          pass
-      try:
-        raw = params.get("lane_change_factor_high_ang", return_default=True)
-        if raw is not None and raw != b"":
-          self.lane_change_factor_high_ang = float(clip(
-            float(raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw), 0.85, 1.50))
-      except Exception:
-        pass
+    if params is not None:
+      for attr, key in ANGLE_SETTINGS:
+        setattr(self, attr, value(params, key))
 
-  def update_angle_strategy(self, CC, CS, actuators, CP):
+  def update_angle_strategy(self, CC, CS, actuators):
     """
-    Curvature from planner (+ optional predicted blend) → path_angle via ½·κ·d_ref.
-    c0 (path_offset) is always zero on the wire -- no centering trim in angle mode. c2 and c3 are zero.
+    Curvature from planner (+ optional predicted blend, + lane centering trim) → path_angle via
+    ½·κ·d_ref. c0 (path_offset) is always zero on the wire; the lane centering trim lives entirely
+    in the curvature domain (kappa_cmd), not on c0. c2 and c3 are zero.
     Blended κ is not passed through Ford c2 rate / DBC limits (those target the curvature actuator).
     """
-    self._ensure_lateral_curv_initialized(CP)
-
     v_ego = float(CS.out.vEgoRaw)
-    d_ref = pscm_d_ref_m(v_ego)
+    d_ref = pscm_d_ref_m(v_ego)  # noqa: F841  # BluePilot: unused today; kept verbatim from bp-dev
 
     curvature_rate = 0.0
     path_offset = 0.0
@@ -227,12 +215,11 @@ class LateralAngleExt:
     precision = 1
 
     if not CC.latActive:
-      self.path_angle_last = 0.0
+      self.shared.path_angle_last = 0.0
       self.bp_path_angle_final = 0.0
-      self.apply_curvature_last = 0.0
       self.bp_angle_rate_limited = False
       self.bp_curvature_rate_limited = False
-      self.bp_curvature_deviation_limited = False
+      self.shared.bp_curvature_deviation_limited = False
       self.sim_curvature_last = 0.0
       # Publish the shadow curvature from the measured curvature while inactive. LKA keeps
       # carrying angle_mode_engaged whenever angle mode is configured (independent of
@@ -242,16 +229,17 @@ class LateralAngleExt:
       # ford.h's deviation check compares a zero shadow against real measured curvature.
       # (ford.h skips the check while steer_control_enabled is 0, so the value is free to
       # follow the measurement during the inactive period itself.)
-      self.bp_kappa_cmd = self.get_current_curvature(CS)
-      self.human_turn_detector.reset()
+      self.bp_kappa_cmd = self.inputs.get_current_curvature(CS)
+      self.shared.human_turn_detector.reset()
       self.angle_human_turn_active = False
+      self.lane_center_trim.reset()
       self.stall_blip_hold_s = 0.0
       self.stall_blip_frames_left = 0
       self.stall_blip_cooldown_s = 0.0
       self.stall_blip_count = 0
       self.angle_stall_blip_active = False
       self.press_timer_s = 0.0
-      self.precision_type = 1
+      self.shared.precision_type = 1
       return LateralResult(
         apply_curvature=0.0,
         curvature_rate=0.0,
@@ -263,28 +251,28 @@ class LateralAngleExt:
       )
 
     # Human-turn override: sustained driver press + large wheel angle → force lateral inactive
-    # (carcontroller drops mode to 0; all signals are zero on the wire) so path_angle can't wind
+    # (BluePilotLateral.step_lateral drops mode to 0; all signals are zero on the wire) so path_angle can't wind
     # into a stale command while the driver turns. Always on in angle mode (no param gate) -- the
     # curv-suffixed human-turn toggle belongs to curvature mode's reset strategy, and the Mach-E
     # PSCM re-engage stall this prevents is not something a user should be able to opt out of.
     # On release, no jump seed: path_angle_last is 0, so the normal flow below ramps the command
-    # back in through the soft ROC -- generous at human-turn speeds, no panda bypass involved.
-    self.angle_human_turn_active = self.human_turn_detector.update(
+    # back in through the soft ROC -- generous at human-turn speeds.
+    self.angle_human_turn_active = self.shared.human_turn_detector.update(
       True, CS.out.steeringPressed, CS.out.steeringAngleDeg)
     if self.angle_human_turn_active:
-      self.path_angle_last = 0.0
+      self.shared.path_angle_last = 0.0
       self.bp_path_angle_final = 0.0
-      self.apply_curvature_last = 0.0
       self.bp_angle_rate_limited = False
       self.bp_curvature_rate_limited = False
-      self.bp_curvature_deviation_limited = False
+      self.shared.bp_curvature_deviation_limited = False
       self.sim_curvature_last = 0.0
       # Truthful shadow during the override (mirrors the inactive path -- see the comment
       # there): the driver is steering, so the honest command is the car's actual curvature,
       # and the panda-latched shadow stays current for the re-engage frame.
-      self.bp_kappa_cmd = self.get_current_curvature(CS)
+      self.bp_kappa_cmd = self.inputs.get_current_curvature(CS)
       # Keep exit detection current so resume doesn't compare against a stale pre-turn value.
       self._desired_curvature_last = float(actuators.curvature)
+      self.lane_center_trim.reset()
       # A human turn ends any stall episode -- its own mode 0 does the PSCM reset job. That also
       # covers the press so far: only press time accumulated AFTER the latch releases should earn
       # a hand-off pulse.
@@ -294,7 +282,7 @@ class LateralAngleExt:
       self.stall_blip_count = 0
       self.angle_stall_blip_active = False
       self.press_timer_s = 0.0
-      self.precision_type = 1
+      self.shared.precision_type = 1
       return LateralResult(
         apply_curvature=0.0,
         curvature_rate=0.0,
@@ -314,7 +302,7 @@ class LateralAngleExt:
     else:
       if (self.press_timer_s >= _PRESS_BLIP_MIN_S and self.stall_blip_cooldown_s <= 0.0
           and self.stall_blip_frames_left <= 0
-          and abs(self.path_angle_last) < _BLIP_MAX_PATH_ANGLE):
+          and abs(self.shared.path_angle_last) < _BLIP_MAX_PATH_ANGLE):
         self.stall_blip_frames_left = _STALL_BLIP_FRAMES
       self.press_timer_s = 0.0
 
@@ -326,17 +314,17 @@ class LateralAngleExt:
     if self.stall_blip_frames_left > 0:
       self.stall_blip_frames_left -= 1
       self.angle_stall_blip_active = True
-      self.path_angle_last = 0.0
+      self.shared.path_angle_last = 0.0
       self.bp_path_angle_final = 0.0
-      self.apply_curvature_last = 0.0
       self.bp_angle_rate_limited = False
       self.bp_curvature_rate_limited = False
-      self.bp_curvature_deviation_limited = False
+      self.shared.bp_curvature_deviation_limited = False
       self.sim_curvature_last = 0.0
       # Truthful shadow during the blip (see the inactive-path comment).
-      self.bp_kappa_cmd = self.get_current_curvature(CS)
+      self.bp_kappa_cmd = self.inputs.get_current_curvature(CS)
       self._desired_curvature_last = float(actuators.curvature)
-      self.precision_type = 1
+      self.lane_center_trim.reset()
+      self.shared.precision_type = 1
       if self.stall_blip_frames_left <= 0:
         self.stall_blip_cooldown_s = _STALL_COOLDOWN_S
       return LateralResult(
@@ -350,9 +338,9 @@ class LateralAngleExt:
       )
     self.angle_stall_blip_active = False
 
-    self.precision_type = 1
+    self.shared.precision_type = 1
     precision = 1
-    LP = self.lp
+    LP = self.inputs.lp  # noqa: F841  # BluePilot: unused today; kept verbatim from bp-dev
     desired_curvature = float(actuators.curvature)
 
     # Variable lookup time: t_base tracks planner pre-compensation; extra tapers on high speed and large curves.
@@ -361,14 +349,14 @@ class LateralAngleExt:
     # curvature, kappa_entering stays True, and the exit-biased blend is permanently disabled — causing the car
     # to command max path_angle through the entire apex. 0.15s gives t_base ≤ 0.20s and VLT ≤ 0.33s, restoring
     # the 2.8m lookahead that kept kappa_entering False at the apex in successful earlier runs.
-    _t_base = float(clip(self.sm['liveDelay'].lateralDelay, 0.1, 0.15)) + _DT_MDL
+    _t_base = float(clip(self.inputs.lateral_delay, 0.1, 0.15)) + _DT_MDL
     _speed_factor = float(interp(v_ego, [_VLT_V_LOW_MS, _VLT_V_HIGH_MS], [1.0, 0.0]))
     # Direction-aware kappa factor: on curve ENTRY (model shows more curvature at t_base than planner now),
     # keep full lookahead so pre-steering begins early. On exit/apex, taper by magnitude to prevent unwind.
     _kappa_at_t_base = 0.0
-    if self.model is not None and len(self.model.orientationRate.z) >= 17:
-      _curvatures_ref = np.array(self.model.orientationRate.z) / max(0.01, v_ego)
-      _kappa_at_t_base = abs(float(interp(_t_base, ModelConstants.T_IDXS, _curvatures_ref)))
+    if self.inputs.model is not None and len(self.inputs.model.orientationRate.z) >= 17:
+      _curvatures_ref = np.array(self.inputs.model.orientationRate.z) / max(0.01, v_ego)
+      _kappa_at_t_base = abs(float(interp(_t_base, MODEL_T_IDXS, _curvatures_ref)))
     _kappa_entering = _kappa_at_t_base > abs(desired_curvature)
     if _kappa_entering:
       _kappa_factor = 1.0  # curve deepening ahead: full extra lookahead for gradual entry
@@ -378,10 +366,10 @@ class LateralAngleExt:
     self.bp_curvature_lookup_time = curvature_lookup_time
 
     predicted_curvature = 0.0
-    if self.model is not None and len(self.model.orientationRate.z) >= 17:
-      curvatures = np.array(self.model.orientationRate.z) / max(0.01, v_ego)
+    if self.inputs.model is not None and len(self.inputs.model.orientationRate.z) >= 17:
+      curvatures = np.array(self.inputs.model.orientationRate.z) / max(0.01, v_ego)
       predicted_curvature = float(
-        interp(curvature_lookup_time, ModelConstants.T_IDXS, curvatures)
+        interp(curvature_lookup_time, MODEL_T_IDXS, curvatures)
       )
 
     b = float(self.path_angle_blend_ratio)
@@ -400,8 +388,8 @@ class LateralAngleExt:
     # That caused a positive-feedback flat-line: under-steer → CtrSat → path_angle frozen → more under-steer.
     # Use DBC-limit proximity instead: only block when path_angle is already near the ±0.5 rad CAN limits,
     # which is the only condition where the anti-snap unwind rate cap makes physical sense.
-    _dbc_sat = (self.path_angle_last >= FORD_DBC_PATH_ANGLE_MAX * 0.90 or
-                self.path_angle_last <= FORD_DBC_PATH_ANGLE_MIN * 0.90)
+    _dbc_sat = (self.shared.path_angle_last >= FORD_DBC_PATH_ANGLE_MAX * 0.90 or
+                self.shared.path_angle_last <= FORD_DBC_PATH_ANGLE_MIN * 0.90)
     _in_hard_sat = _pscm_lim >= 2 or _dbc_sat
     # BluePilot: per-call delta threshold. The original 0.002 was authored 2026-05-07 on
     # bp-sid-simple (9c3d000fd), which ran STEER_STEP=1 (true 100Hz, switched 2026-04-22) -- so it
@@ -415,26 +403,36 @@ class LateralAngleExt:
     requested_curvature = predicted_curvature * b_blend + desired_curvature * (1.0 - b_blend)
     self._desired_curvature_last = desired_curvature
 
-    if self.model is not None:
-      self.lane_change = self.model.meta.laneChangeState in (1, 2, 3)
+    if self.inputs.model is not None:
+      self.lane_change = self.inputs.model.meta.laneChangeState in (1, 2, 3)
     else:
       self.lane_change = False
 
     lane_change_factor = interp(
-      v_ego, self.lane_change_factor_bp, [self.lane_change_factor_low, self.lane_change_factor_high_ang]
+      v_ego, LANE_CHANGE_FACTOR_BP, [LANE_CHANGE_FACTOR_LOW, self.lane_change_factor_high_ang]
     )
-    if self.lane_change and self.model is not None:
-      if self.model.meta.laneChangeDirection == 1 and requested_curvature < 0:
+    if self.lane_change and self.inputs.model is not None:
+      if self.inputs.model.meta.laneChangeDirection == 1 and requested_curvature < 0:
         requested_curvature *= lane_change_factor
         precision = 0
-      elif self.model.meta.laneChangeDirection == 2 and requested_curvature > 0:
+      elif self.inputs.model.meta.laneChangeDirection == 2 and requested_curvature > 0:
         requested_curvature *= lane_change_factor
         precision = 0
-    self.precision_type = precision
+    self.shared.precision_type = precision
 
     # Use planner / predicted κ directly for the κ → path_angle map; we are not sending κ on CAN.
     kappa_cmd = float(requested_curvature)
 
+    # BluePilot: lane centering trim (advanced lane positioning) -- nudges kappa_cmd toward true
+    # lane-line center + user offset, gated on lane-line confidence and disabled during lane
+    # changes (see lane_center_trim.py). Applied here, before the deviation clip below, so the
+    # trimmed value inherits every limiter this file already applies to kappa_cmd instead of
+    # bypassing them.
+    kappa_cmd = self.lane_center_trim.update(
+      kappa_cmd, self.inputs.model, v_ego, self.enable_lane_positioning_ang,
+      self.custom_path_offset_ang, self.lane_centering_strength_ang,
+      CC.latActive, self.lane_change)
+
     # BluePilot: clip kappa_cmd to current_curvature (measured, from yaw rate) +- CURVATURE_ERROR,
     # mirroring lateral_curv_ext.py's apply_ford_curvature_limits_ext exactly (same formula, same
     # v_ego > 9 gate, same CarControllerParams.CURVATURE_ERROR tolerance). Without this, kappa_cmd
@@ -444,20 +442,18 @@ class LateralAngleExt:
     # routinely, not just on genuine pothole/override divergence. Curvature mode has always clipped
     # here; this brings angle mode's actual steering intent in line with that proven behavior rather
     # than only clipping the value reported to panda (which would make the check a no-op).
-    current_curvature = self.get_current_curvature(CS)
-    self.bp_curvature_deviation_limited = False
+    current_curvature = self.inputs.get_current_curvature(CS)
+    self.shared.bp_curvature_deviation_limited = False
     if v_ego > 9:
       _kappa_cmd_pre_error_clip = kappa_cmd
       kappa_cmd = float(clip(kappa_cmd, current_curvature - CarControllerParams.CURVATURE_ERROR,
                             current_curvature + CarControllerParams.CURVATURE_ERROR))
       # BluePilot: did this clip actually constrain kappa_cmd this frame (deviation from measured,
-      # not rate-of-change -- see carcontroller.py)?
-      self.bp_curvature_deviation_limited = bool(abs(kappa_cmd - _kappa_cmd_pre_error_clip) > 1e-9)
+      # not rate-of-change)? The BluePilot UI's deviation flag.
+      self.shared.bp_curvature_deviation_limited = bool(abs(kappa_cmd - _kappa_cmd_pre_error_clip) > 1e-9)
 
     lateral_uncertainty = 0.0  # no curvature-limit ladder until angle-mode torque display is defined
 
-
-
     # Speed-interpolated gain: at low speed both curves use 1.0; at high speed the params take effect.
     self.low_gain_calc = interp(
       v_ego, [13.5, 26.82], [1.0, (self.path_angle_gain_lowC_highV * self.user_dampening_factor)]
@@ -470,7 +466,6 @@ class LateralAngleExt:
     path_angle_calc = kappa_cmd * v_ego * self.curvature_factor
     path_angle = path_angle_calc
 
-
     # PSCM authority limit clamp.
     # On CANFD Fords in angle mode, LatCtlLim_D_Stat does not fire, so _pscm_lim stays 0.
     # _in_hard_sat (computed above) combines _pscm_lim >= 2 with _dbc_sat (path_angle near ±0.5 rad limit).
@@ -479,7 +474,7 @@ class LateralAngleExt:
     #   Without the decrease cap, model+planner drop path_angle at ~0.36 rad/s at a sharp apex,
     #   driving desired steering 30°+ ahead of actual while the PSCM is pinned, causing a snap when released.
     if _in_hard_sat:
-      _last = self.path_angle_last
+      _last = self.shared.path_angle_last
       _last_mag = abs(_last)
       _curr_mag = abs(path_angle)
       if _curr_mag > _last_mag:  # magnitude growing — block
@@ -488,7 +483,7 @@ class LateralAngleExt:
         _limited_mag = _last_mag - _PSCM_SAT_UNWIND_RATE
         path_angle = float(_limited_mag if _last >= 0 else -_limited_mag)
     elif _pscm_lim >= 1:  # LimitClose (F150/non-angle-mode only): block increases only
-      path_angle = float(clip(path_angle, -abs(self.path_angle_last), abs(self.path_angle_last)))
+      path_angle = float(clip(path_angle, -abs(self.shared.path_angle_last), abs(self.shared.path_angle_last)))
 
     path_angle = min(FORD_DBC_PATH_ANGLE_MAX, max(FORD_DBC_PATH_ANGLE_MIN, path_angle))
 
@@ -504,12 +499,11 @@ class LateralAngleExt:
     _soft_roc = float(interp(v_ego, [9., 10., 15., 25.], [0.055, 0.055, 0.0425, 0.009]))
     _path_angle_pre_roc = path_angle
     path_angle = float(clip(path_angle,
-                            self.path_angle_last - _soft_roc,
-                            self.path_angle_last + _soft_roc))
+                            self.shared.path_angle_last - _soft_roc,
+                            self.shared.path_angle_last + _soft_roc))
     # BluePilot: did the soft ROC clip actually limit the path_angle we wanted to send this frame?
     self.bp_angle_rate_limited = bool(abs(path_angle - _path_angle_pre_roc) > 1e-9)
 
-
     # c0 always zero -- no centering trim in angle mode.
     path_offset = 0.0
 
@@ -518,10 +512,9 @@ class LateralAngleExt:
     self.bp_path_angle_gain_highC_highV = self.path_angle_gain_highC_highV
     self.bp_low_speed_curv_factor = self.low_speed_curv_factor
     self.bp_high_speed_curv_factor = self.high_speed_curv_factor
-    self.path_angle_last = path_angle
+    self.shared.path_angle_last = path_angle
     self.bp_path_angle_final = path_angle
-    self.apply_curvature_last = 0.0
-    # BluePilot: the error-clipped kappa path_angle was derived from -- carcontroller.py reads this
+    # BluePilot: the error-clipped kappa path_angle was derived from -- carcontroller_ext.py reads this
     # as shadow_curvature for ford.h's angle-mode deviation check (see fordcan_ext.create_lka_msg).
     # Not just telemetry: an actively-consumed value, unlike the removed *_kappa_cmd_raw stubs.
     # While the driver is pressing (before the human-turn override latches), the clipped planner
@@ -530,7 +523,7 @@ class LateralAngleExt:
     # in-drive lateral safety block observed across ~3h of replayed road-test routes was exactly
     # this (driver fighting a sustained curve with the mode still enabled). The honest command
     # during a press is the driver's actual curvature.
-    self.bp_kappa_cmd = self.get_current_curvature(CS) if CS.out.steeringPressed else kappa_cmd
+    self.bp_kappa_cmd = self.inputs.get_current_curvature(CS) if CS.out.steeringPressed else kappa_cmd
 
     # BluePilot: would the equivalent curvature (kappa_cmd) have been rate-limited by curvature-mode's
     # ROC (apply_std_steer_angle_limits)? kappa_cmd is already error-clipped above (same clip
@@ -551,10 +544,10 @@ class LateralAngleExt:
                 and abs(_stall_gap) > _STALL_GAP_MIN
                 and abs(desired_curvature) > abs(current_curvature))
     if _stalled:
-      if self.bp_curvature_deviation_limited and self.stall_blip_cooldown_s <= 0.0:
+      if self.shared.bp_curvature_deviation_limited and self.stall_blip_cooldown_s <= 0.0:
         self.stall_blip_hold_s += _STEER_DT
       if (self.stall_blip_hold_s >= _STALL_HOLD_S and self.stall_blip_count < _STALL_MAX_BLIPS
-          and abs(self.path_angle_last) < _BLIP_MAX_PATH_ANGLE):
+          and abs(self.shared.path_angle_last) < _BLIP_MAX_PATH_ANGLE):
         self.stall_blip_frames_left = _STALL_BLIP_FRAMES
         self.stall_blip_hold_s = 0.0
         self.stall_blip_count += 1
@@ -565,13 +558,12 @@ class LateralAngleExt:
 
     ramp_type = 2
 
-
     return LateralResult(
       apply_curvature=0.0,
       curvature_rate=curvature_rate,
       path_offset=path_offset,
       path_angle=path_angle,
       ramp_type=ramp_type,
-      precision_type=self.precision_type,
+      precision_type=self.shared.precision_type,
       lateralUncertainty=lateral_uncertainty,
     )

opendbc_repo/opendbc/bluepilot_lateral/core/lateral_curv_ext.py

@@ -0,0 +1,448 @@
+"""
+BluePilot Ford lateral curvature extension.
+
+Implements Ford's 4-signal lateral control (curvature, curvature_rate, path_offset, path_angle)
+using predicted curvature from modelV2, PID-based lane centering, and laneline-aware path offset.
+Held by BluePilotLateral (carcontroller_ext.py) as LateralCurvExt.
+
+Ford uses four signals to control steering:
+  - curvature: primary steering command (also used in upstream, limited to 0.02 m^-1)
+  - curvature_rate: always 0, like upstream and stock Ford
+  - path_offset: lateral offset for lane centering (blends model + laneline data)
+  - path_angle: heading angle correction via PID controller
+
+A detailed explanation of Ford's control protocol:
+https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
+"""
+
+from collections import namedtuple, deque
+from enum import IntEnum
+
+import numpy as np
+from numpy import clip, interp
+
+from ...car.common.pid import PIDController
+from ...car import ACCELERATION_DUE_TO_GRAVITY
+from ...car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
+from ...car.ford.values import CarControllerParams, FordFlags
+from .values_ext import BP_ANGLE_LIMITS, CURVATURE_MAX, LANE_CHANGE_FACTOR_BP, LANE_CHANGE_FACTOR_LOW
+from .values_ext import MODEL_T_IDXS
+from ..params.manifest import default, value
+
+
+# the settings curvature mode reads (params/manifest.py), each kept as an attribute of the same name
+CURV_SETTINGS = ("enable_human_turn_detection_curv", "lane_change_factor_high_curv", "pc_blend_ratio_high_C_UI_curv",
+                 "pc_blend_ratio_low_C_UI_curv", "enable_lane_positioning_curv", "custom_path_offset_curv",
+                 "enable_lane_full_mode_curv", "custom_profile_curv", "LC_PID_gain_UI_curv")
+
+
+class PrimaryLateralControl(IntEnum):
+  curvature = 0
+  angle = 1
+
+
+# CAN FD lateral-accel cap (match opendbc/car/ford/carcontroller.py apply_ford_curvature_limits)
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+
+
+# Result namedtuple returned by LateralCurvExt.update()
+LateralResult = namedtuple('LateralResult', [
+  'apply_curvature',
+  'curvature_rate',
+  'path_offset',
+  'path_angle',
+  'ramp_type',
+  'precision_type',
+  'lateralUncertainty',
+])
+
+
+def apply_ford_curvature_limits_ext(apply_curvature, apply_curvature_last, current_curvature,
+                                     v_ego_raw, steering_angle, lat_active, CP):
+  """Extended version of apply_ford_curvature_limits that returns
+  (apply_curvature, max_curvature, curvature_deviation_limited).
+
+  The max_curvature value is used by _calculate_lateral_uncertainty() for the steering
+  torque bar visualization. Stock version returns only apply_curvature.
+
+  curvature_deviation_limited (BluePilot): True when the current_curvature +- CURVATURE_ERROR
+  clip below actually constrained the commanded curvature this frame -- i.e. the desired
+  maneuver was limited by deviation from measured current curvature, not by rate-of-change
+  (apply_std_steer_angle_limits below is a separate limiter with its own telemetry).
+  """
+  max_curvature = 1  # large initial value
+  curvature_deviation_limited = False
+
+  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
+  if v_ego_raw > 9:
+    apply_curvature_pre_error_clip = apply_curvature
+    apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
+                              current_curvature + CarControllerParams.CURVATURE_ERROR)
+    curvature_deviation_limited = bool(abs(apply_curvature - apply_curvature_pre_error_clip) > 1e-9)
+    max_curvature = abs(current_curvature) + CarControllerParams.CURVATURE_ERROR
+
+  # Curvature rate limit after driver torque limit (same inputs/order as apply_ford_curvature_limits)
+  apply_curvature_before_std = apply_curvature
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature_before_std, apply_curvature_last, v_ego_raw,
+                                                  steering_angle, lat_active, BP_ANGLE_LIMITS)
+
+  # Max one-step envelope for UI: steer_up must use pre-limit curvature (see apply_std_steer_angle_limits)
+  steer_up = (apply_curvature_last * apply_curvature_before_std >= 0.0
+              and abs(apply_curvature_before_std) > abs(apply_curvature_last))
+  rate_limits = BP_ANGLE_LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else BP_ANGLE_LIMITS.ANGLE_RATE_LIMIT_DOWN
+  std_steer_angle_rate_limit = np.interp(v_ego_raw, rate_limits[0], rate_limits[1])
+  std_steer_angle_limit = abs(apply_curvature_last) + abs(std_steer_angle_rate_limit)
+  max_curvature = np.minimum(max_curvature, std_steer_angle_limit)
+
+  # Ford CAN FD lateral acceleration limit (more torque available than CAN)
+  if CP.flags & FordFlags.CANFD:
+    curvature_accel_limit = MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
+    apply_curvature = float(np.clip(apply_curvature, -curvature_accel_limit, curvature_accel_limit))
+    max_curvature = np.minimum(max_curvature, abs(curvature_accel_limit))
+
+  return apply_curvature, max_curvature, curvature_deviation_limited
+
+
+class LateralCurvExt:
+  """
+  BluePilot lateral control extension for Ford vehicles.
+
+  Held by BluePilotLateral (carcontroller_ext.py), which calls
+  update() during the lateral control loop (20Hz) to get the full
+  4-signal steering command instead of the upstream curvature-only approach.
+  """
+
+  def __init__(self, inputs, shared):
+    # BluePilotLateral's LateralInputs (read) and SharedLateralState (read and written), common to both strategies
+    self.inputs = inputs
+    self.shared = shared
+
+    # Primary lateral control variable: consumed by BluePilotLateral's lateral dispatch.
+    self.primary_lateral_control = PrimaryLateralControl.curvature
+
+    # Settings (updated from the host's params each frame), at their defaults until then
+    for key in CURV_SETTINGS:
+      setattr(self, key, default(key))
+
+    # Precision/ramp control (precision_type is in the shared state)
+    self.lateralUncertainty = 0.0
+
+    # Predicted curvature blending
+    self.curvature_lookup_time = 0.2  # seconds into the future for curvature extraction
+    self.pc_blend_ratio = 0.5
+    self.pc_blend_ratio_bp = [0.0, 0.001]  # curvature breakpoints (1/m)
+    self.pc_blend_ratio_low = 0.40
+    self.pc_blend_ratio_high = 0.40
+    self.pc_blend_ratio_low_C = 0.40   # from UI when custom_profile_curv == 1
+    self.pc_blend_ratio_high_C = 0.40  # from UI when custom_profile_curv == 1
+
+    # Lane change smoothing
+    self.lane_change = False
+    self.lane_change_last = False
+
+    # Post lane change transition
+    self.post_lane_change_timer = 0
+    self.post_lane_change_active = False
+    self.pre_lane_change_values = {'path_angle': 0.0, 'path_offset': 0.0}
+    self.max_path_angle_change = 0.00125
+    self.max_path_offset_change = 0.00125
+
+    # Human turn detection (the detector is in the shared state, used by both modes)
+    self.human_turn = False
+    self.post_reset_ramp_active = False
+    self.reset_steering_last = False
+
+    # Path offset
+    self.path_offset_lookup_time = 0.2  # seconds
+    self.min_laneline_confidence_bp = [0.6, 0.8]
+
+    # PID-based path angle for lane centering
+    self.path_angle_filter_samples = 3
+    self.path_angle_deque = deque(maxlen=self.path_angle_filter_samples)
+    self.LC_PID_k_p = 0.25
+    self.LC_PID_k_i = 0.05
+    self.LC_PID_controller = PIDController(k_p=self.LC_PID_k_p, k_i=self.LC_PID_k_i, rate=20)
+    self.LC_PID_speed_bp = [0.0, 9.0, 15.0]  # m/s
+    self.LC_PID_speed_v = [0.0, 0.0, 1.0]
+    self.LC_path_angle_ROC_bp = [5, 15, 25]  # m/s
+    self.LC_path_angle_ROC_v = [0.003, 0.0015, 0.002]  # match panda limits
+    self.LC_path_angle_reset_counter = 0
+    self.LC_path_angle_reset_duration = 1.5  # seconds
+
+    # DBC signal max limits
+    self.path_angle_max = 0.5
+    self.path_offset_max = 2.0
+    self.curvature_max = CURVATURE_MAX  # 0.02
+
+    # Previous frame values
+    self.path_offset_last = 0.0
+
+  def update_lateral_params(self, params):
+    """Read lateral-related Params from the UI. Called each frame."""
+    for key in CURV_SETTINGS:
+      setattr(self, key, value(params, key))
+
+    try:
+      self.primary_lateral_control = PrimaryLateralControl(value(params, "FordPrefLateralControl"))
+    except ValueError:  # a mode other than 0 or 1: curvature mode, the default (#66)
+      self.primary_lateral_control = PrimaryLateralControl.curvature
+
+  def update(self, CC, CS, actuators, apply_curvature_last, CP):
+    """
+    Compute lateral steering signals for the current frame.
+
+    Called at 20Hz from BluePilotLateral.step_lateral() when inside the STEER_STEP block.
+
+    Args:
+      CC: CarControl with latActive, hudControl
+      CS: CarState with vEgoRaw, yawRate, steeringPressed, steeringAngleDeg
+      actuators: CC.actuators with desired curvature from planner
+      apply_curvature_last: previous frame's applied curvature
+      CP: CarParams with flags for CANFD etc.
+
+    Returns:
+      LateralResult namedtuple with all signals needed for CAN message construction.
+    """
+    apply_curvature = 0.0
+    path_offset = 0.0
+    path_angle = 0.0
+    reset_steering = 0
+    ramp_type = 2
+    lateralUncertainty = 0.0
+    curvature_deviation_limited = False
+
+    if CC.latActive:
+      self.shared.precision_type = 1
+      steeringPressed = CS.out.steeringPressed
+      steeringAngleDeg_PV = CS.out.steeringAngleDeg
+
+      # Select tuning profile
+      if self.custom_profile_curv == 1:
+        self.pc_blend_ratio_low_C = self.pc_blend_ratio_low_C_UI_curv
+        self.pc_blend_ratio_high_C = self.pc_blend_ratio_high_C_UI_curv
+
+      self.pc_blend_ratio_v = [self.pc_blend_ratio_low_C, self.pc_blend_ratio_high_C]
+
+      # Current and desired curvature
+      current_curvature = self.inputs.get_current_curvature(CS)
+      desired_curvature = actuators.curvature
+
+      # Extract predicted curvature from modelV2
+      if self.inputs.model is not None and len(self.inputs.model.orientationRate.z) >= 17:
+        curvatures = np.array(self.inputs.model.orientationRate.z) / max(0.01, CS.out.vEgoRaw)
+        predicted_curvature = interp(self.curvature_lookup_time, MODEL_T_IDXS, curvatures)
+      else:
+        predicted_curvature = 0.0
+
+      # Blend predicted and desired curvature
+      self.pc_blend_ratio = interp(abs(desired_curvature), self.pc_blend_ratio_bp, self.pc_blend_ratio_v)
+      requested_curvature = (predicted_curvature * self.pc_blend_ratio) + (desired_curvature * (1 - self.pc_blend_ratio))
+
+      # Lane change detection
+      if self.inputs.model is not None:
+        self.lane_change = self.inputs.model.meta.laneChangeState in (1, 2, 3)
+      else:
+        self.lane_change = False
+
+      # Lane change curvature smoothing
+      lane_change_factor = interp(CS.out.vEgoRaw, LANE_CHANGE_FACTOR_BP,
+                                   [LANE_CHANGE_FACTOR_LOW, self.lane_change_factor_high_curv])
+
+      if self.lane_change and self.inputs.model is not None:
+        if self.inputs.model.meta.laneChangeDirection == 1 and requested_curvature < 0:
+          requested_curvature *= lane_change_factor
+          self.shared.precision_type = 0
+        elif self.inputs.model.meta.laneChangeDirection == 2 and requested_curvature > 0:
+          requested_curvature *= lane_change_factor
+          self.shared.precision_type = 0
+
+      # Human turn: sustained hands-on + large angle (not just a nudge) — see HumanTurnDetector
+      self.human_turn = self.shared.human_turn_detector.update(
+        self.enable_human_turn_detection_curv, steeringPressed, steeringAngleDeg_PV)
+
+      # Steering reset logic
+      if self.human_turn or (CS.out.vEgoRaw < 0.1):
+        reset_steering = 1
+      if reset_steering == 1:
+        requested_curvature = 0.0
+
+      # Apply curvature limits (extended version returning max_curvature)
+      apply_curvature, max_curvature, curvature_deviation_limited = apply_ford_curvature_limits_ext(
+        requested_curvature, apply_curvature_last, current_curvature,
+        CS.out.vEgoRaw, 0, CC.latActive, CP)
+
+      # Lateral uncertainty for torque bar visualization
+      lateralUncertainty = self._calculate_lateral_uncertainty(requested_curvature, apply_curvature, max_curvature)
+
+      # Human turn / standstill reset: after apply_ford_curvature_limits_ext (for torque-bar max_curvature),
+      # force κ=0 and (below) path_angle=0 on the bus. ford.h accepts that frame (curvature 0 skips the
+      # curvature checks), but checks the frames after it as usual: a ramp back that exceeds the rate
+      # limit or sits outside the curvature error band is blocked.
+      if reset_steering == 1:
+        apply_curvature = 0.0
+        self.post_reset_ramp_active = False
+      else:
+        # Detect transition from reset to normal
+        if self.reset_steering_last and not reset_steering:
+          self.post_reset_ramp_active = True
+          apply_curvature_last = 0.0  # Reset to ensure clean ramp from 0
+
+      # Post-reset ramp: gradually ramp from 0 to avoid safety limit trips
+      if self.post_reset_ramp_active:
+        apply_curvature = apply_std_steer_angle_limits(
+          requested_curvature, apply_curvature_last,
+          CS.out.vEgoRaw, 0, CC.latActive, BP_ANGLE_LIMITS)
+
+        curvature_error = abs(requested_curvature - apply_curvature)
+        curvature_threshold = max(abs(requested_curvature) * 0.1, 0.001)
+        if curvature_error < curvature_threshold:
+          self.post_reset_ramp_active = False
+
+      self.reset_steering_last = (reset_steering == 1)
+
+      # Path offset: blend model position with laneline data
+      if self.inputs.model is not None:
+        path_offset_position = interp(self.path_offset_lookup_time, MODEL_T_IDXS, self.inputs.model.position.y)
+        path_offset_lanelines = (self.inputs.model.laneLines[1].y[0] + self.inputs.model.laneLines[2].y[0]) / 2
+
+        # Laneline width tolerance (prevents jumps when lanes merge/diverge)
+        laneline_width = self.inputs.model.laneLines[2].y[0] + (-self.inputs.model.laneLines[1].y[0])
+        laneline_width_tolerance = interp(laneline_width, [3.75, 4.25], [0.81, 0.59])
+
+        # Laneline confidence
+        laneline_confidence = min(self.inputs.model.laneLineProbs[1], self.inputs.model.laneLineProbs[2], laneline_width_tolerance)
+        if not self.enable_lane_full_mode_curv:
+          laneline_confidence = 0.0
+
+        laneline_path_offset_scale = interp(laneline_confidence, self.min_laneline_confidence_bp, [0.0, 1.0])
+        path_offset = ((path_offset_position * (1 - laneline_path_offset_scale)) +
+                       (path_offset_lanelines * laneline_path_offset_scale)) + self.custom_path_offset_curv
+
+      # No path offset during lane changes
+      if self.lane_change:
+        path_offset = 0
+
+      # PID-based path angle for lane centering
+      path_offset_error = path_offset * (self.LC_PID_gain_UI_curv / 100)
+      LC_PID_speed_factor = interp(CS.out.vEgoRaw, self.LC_PID_speed_bp, self.LC_PID_speed_v)
+      path_offset_error_adj = path_offset_error * LC_PID_speed_factor
+
+      if not self.enable_lane_positioning_curv:
+        path_offset_error_adj = 0.0
+
+      path_angle_low_c = self.LC_PID_controller.update(path_offset_error_adj)
+
+      if not self.enable_lane_positioning_curv:
+        path_angle_low_c = 0.0
+      if reset_steering == 1:
+        path_angle_low_c = 0.0
+
+      # Rate limit path angle for comfort
+      path_angle_roc = interp(abs(CS.out.vEgoRaw), self.LC_path_angle_ROC_bp, self.LC_path_angle_ROC_v)
+      path_angle_low_c = clip(path_angle_low_c, self.shared.path_angle_last - path_angle_roc, self.shared.path_angle_last + path_angle_roc)
+
+      # Reset PID if driver applies consistent steering pressure
+      if steeringPressed:
+        self.LC_path_angle_reset_counter += 1
+      else:
+        self.LC_path_angle_reset_counter = 0
+      if self.LC_path_angle_reset_counter > self.LC_path_angle_reset_duration * 20:
+        self.LC_PID_controller.reset()
+
+      path_angle = path_angle_low_c  # path_angle_high_c not used currently
+
+      # Post lane change transition smoothing
+      path_angle, path_offset = self._handle_post_lane_change_transition(path_angle, path_offset)
+
+      # Final reset handling
+      if reset_steering == 1:
+        path_angle = 0.0
+
+      # Clip all signals to DBC limits
+      # float() is required: numpy's clip returns np.float64, and capnp rejects that type when
+      # apply_curvature reaches actuators.curvature via apply_curvature_last in carcontroller.py.
+      # The cast is exact (both are IEEE 754 doubles), so no output value changes.
+      apply_curvature = float(clip(apply_curvature, -self.curvature_max, self.curvature_max))
+      path_offset = float(clip(path_offset, -self.path_offset_max, self.path_offset_max))
+      path_angle = float(clip(path_angle, -self.path_angle_max, self.path_angle_max))
+
+      # Zero path_offset before CAN send (path_offset and path_angle can conflict, causing discomfort)
+      path_offset = 0.0
+
+      # Ramp type selection
+      if reset_steering == 1:
+        ramp_type = 3  # Immediate
+        self.path_angle_deque.clear()
+        self.LC_PID_controller.reset()
+      else:
+        ramp_type = 2  # Fast
+
+    else:
+      # Lateral control off — zero everything
+      apply_curvature = 0.0
+      path_offset = 0.0
+      path_angle = 0.0
+      self.path_angle_deque.clear()
+      self.LC_PID_controller.reset()
+      ramp_type = 0
+      lateralUncertainty = 0.0
+
+    # Update state for next frame
+    self.lateralUncertainty = lateralUncertainty
+    self.path_offset_last = path_offset
+    self.shared.path_angle_last = path_angle
+    # BluePilot: did the current_curvature +- CURVATURE_ERROR clip constrain the commanded
+    # curvature this frame (deviation from measured, not rate-of-change)? The BluePilot UI's deviation flag.
+    self.shared.bp_curvature_deviation_limited = curvature_deviation_limited
+
+    return LateralResult(
+      apply_curvature=apply_curvature,
+      curvature_rate=0.0,  # always 0, like stock Ford
+      path_offset=path_offset,
+      path_angle=path_angle,
+      ramp_type=ramp_type,
+      precision_type=self.shared.precision_type,
+      lateralUncertainty=lateralUncertainty,
+    )
+
+  def _handle_post_lane_change_transition(self, path_angle, path_offset):
+    """Smooth transition of control variables after lane change completes.
+
+    Rate-limits path_angle and path_offset back to target values
+    over 160 frames (~8 seconds at 20Hz).
+    """
+    # Detect lane change completion (True → False transition)
+    if self.lane_change_last and not self.lane_change:
+      self.post_lane_change_active = True
+      self.post_lane_change_timer = 0
+      self.pre_lane_change_values = {'path_angle': 0.0, 'path_offset': 0.0}
+
+    self.lane_change_last = self.lane_change
+
+    if self.post_lane_change_active:
+      self.post_lane_change_timer += 1
+
+      new_path_angle = clip(path_angle,
+                            self.pre_lane_change_values['path_angle'] - self.max_path_angle_change,
+                            self.pre_lane_change_values['path_angle'] + self.max_path_angle_change)
+      new_path_offset = clip(path_offset,
+                             self.pre_lane_change_values['path_offset'] - self.max_path_offset_change,
+                             self.pre_lane_change_values['path_offset'] + self.max_path_offset_change)
+
+      self.pre_lane_change_values = {
+        'path_angle': new_path_angle,
+        'path_offset': new_path_offset,
+      }
+
+      if self.post_lane_change_timer >= 160:
+        self.post_lane_change_active = False
+
+      return (new_path_angle, new_path_offset)
+
+    return (path_angle, path_offset)
+
+  def _calculate_lateral_uncertainty(self, requested_curvature, apply_curvature, max_curvature):
+    """Compute ratio of requested to max achievable curvature for the torque bar UI."""
+    max_curvature = np.clip(max_curvature, apply_curvature, self.curvature_max)
+    return float(requested_curvature / max_curvature)

opendbc_repo/opendbc/bluepilot_lateral/core/lateral_inputs.py

@@ -0,0 +1,54 @@
+"""
+BluePilot: views over the host's LateralInputs (host_types.py) in the modelV2 / vehicleParameters shape
+the lateral code reads, and the check that a frame is complete. The host fills LateralInputs once per frame.
+"""
+import math
+from itertools import chain
+from types import SimpleNamespace
+
+from ..host_types import MODEL_PATH_POINTS
+
+
+def lateral_inputs_complete(li) -> bool:
+  """True when every array the lateral indexes into has the shape modelV2 always provides, and
+  every value is finite. A NaN from the model doesn't raise in the lateral math; it reaches the
+  CAN encoders, which do, so the whole frame is dropped here and the previous inputs are kept."""
+  return (len(li.pathYawRate) == MODEL_PATH_POINTS and len(li.pathX) == MODEL_PATH_POINTS and len(li.pathY) == MODEL_PATH_POINTS
+          and len(li.laneLineLeftX) == MODEL_PATH_POINTS and len(li.laneLineLeftY) == MODEL_PATH_POINTS
+          and len(li.laneLineRightX) == MODEL_PATH_POINTS and len(li.laneLineRightY) == MODEL_PATH_POINTS
+          and len(li.laneLineProbs) >= 3 and len(li.laneLineStds) >= 3
+          and all(map(math.isfinite, chain(li.pathYawRate, li.pathX, li.pathY, li.laneLineLeftX, li.laneLineLeftY,
+                                           li.laneLineRightX, li.laneLineRightY, li.laneLineProbs, li.laneLineStds,
+                                           (li.steerRatio, li.stiffnessFactor, li.roll, li.angleOffsetDeg, li.lateralDelay)))))
+
+
+class _LaneLine:
+  def __init__(self, x, y):
+    self.x = x
+    self.y = y
+
+
+class ModelView:
+  """The subset of modelV2 the lateral code uses, with the same attribute paths."""
+
+  def __init__(self, li):
+    self.orientationRate = SimpleNamespace(z=li.pathYawRate)
+    self.position = SimpleNamespace(x=li.pathX, y=li.pathY)
+    # indices match modelV2.laneLines: 1 = left, 2 = right; 0 and 3 are not used
+    self.laneLines = [_LaneLine([], []),
+                      _LaneLine(li.laneLineLeftX, li.laneLineLeftY),
+                      _LaneLine(li.laneLineRightX, li.laneLineRightY),
+                      _LaneLine([], [])]
+    self.laneLineProbs = li.laneLineProbs
+    self.laneLineStds = li.laneLineStds
+    self.meta = SimpleNamespace(laneChangeState=li.laneChangeState, laneChangeDirection=li.laneChangeDirection)
+
+
+class VehicleParamsView:
+  """The subset of vehicleParameters the lateral code uses."""
+
+  def __init__(self, li):
+    self.steerRatio = li.steerRatio
+    self.stiffnessFactor = li.stiffnessFactor
+    self.roll = li.roll
+    self.angleOffsetDeg = li.angleOffsetDeg

opendbc_repo/opendbc/bluepilot_lateral/core/trim.py

@@ -1,104 +0,0 @@
-"""Pure angle lane-centering trim adapted from BluePilot bp-dev e22afa6b.
-
-Alan Polk and ghbarker; the source also credits StarPilot/u/jc01rho.
-See ../CREDITS.md, ../LICENSE and ../LICENSE.md. Geometry/confidence/fallback,
-filter and slew follow lane_center_trim.py; this module receives immutable arrays
-instead of a host model. Stale geometry and driver pressure additionally suppress
-trim, and nonfinite confidence cannot create correction.
-"""
-from dataclasses import dataclass
-import math
-from ..params.trim import DEFAULTS, BOUNDS
-
-
-def clip(value, low, high):
-  return max(low, min(high, value))
-
-
-def interp(value, xs, ys):
-  if value <= xs[0]:
-    return ys[0]
-  for index in range(1, len(xs)):
-    if value < xs[index]:
-      return ys[index - 1] + (ys[index] - ys[index - 1]) * (value - xs[index - 1]) / (xs[index] - xs[index - 1])
-  return ys[-1]
-
-
-@dataclass(frozen=True)
-class TrimConfig:
-  enabled: bool = DEFAULTS["enabled"]
-  offset_m: float = DEFAULTS["offset_m"]
-  gain: float = DEFAULTS["gain"]
-
-
-@dataclass(frozen=True)
-class LaneGeometry:
-  position_x: tuple = ()
-  position_y: tuple = ()
-  left_x: tuple = ()
-  left_y: tuple = ()
-  right_x: tuple = ()
-  right_y: tuple = ()
-  probabilities: tuple = ()
-  standard_deviations: tuple = ()
-  fresh: bool = False
-
-
-def sample(xs, ys, distance):
-  if (not isinstance(xs, tuple) or not isinstance(ys, tuple) or len(xs) < 2 or len(xs) != len(ys) or
-      not all(math.isfinite(v) for v in (*xs, *ys)) or not all(b > a for a, b in zip(xs, xs[1:], strict=False))):
-    return None
-  return interp(distance, xs, ys)
-
-
-class LaneCenterTrim:
-  def __init__(self):
-    self.correction = 0.0
-
-  def reset(self):
-    self.correction = 0.0
-
-  def update(self, requested, speed, geometry, config, *, active, lane_change, steering_pressed=False):
-    try:
-      valid = (isinstance(config, TrimConfig) and config.enabled is True and active and not lane_change and
-               not steering_pressed and isinstance(geometry, LaneGeometry) and geometry.fresh is True and
-               math.isfinite(requested) and math.isfinite(speed) and speed >= 0.0 and
-               math.isfinite(config.offset_m) and BOUNDS["offset_m"][0] <= config.offset_m <= BOUNDS["offset_m"][1] and
-               math.isfinite(config.gain) and BOUNDS["gain"][0] <= config.gain <= BOUNDS["gain"][1])
-      authority = interp(speed, BOUNDS["speed_mps"], BOUNDS["speed_authority"]) if valid else 0.0
-      if not valid or authority <= 0.0:
-        self.reset()
-        return requested
-      distance = clip(speed, *BOUNDS["lookahead_m"])
-      model_y = sample(geometry.position_x, geometry.position_y, distance)
-      if model_y is None:
-        self.reset()
-        return requested
-      # Bad lane-only geometry retains the source's model-position/offset fallback.
-      scale, center = self.lane_blend(geometry, distance)
-      error = scale * (center - model_y) + config.offset_m
-      raw = 2.0 * error / distance ** 2
-      target = clip(raw, -BOUNDS["raw_correction"], BOUNDS["raw_correction"]) * config.gain * authority
-      alpha = 1.0 - math.exp(-BOUNDS["period_s"] / BOUNDS["tau_s"])
-      filtered = alpha * target + (1.0 - alpha) * self.correction
-      self.correction = clip(filtered, self.correction - BOUNDS["correction_delta"], self.correction + BOUNDS["correction_delta"])
-      return requested + self.correction
-    except (AttributeError, IndexError, TypeError, ValueError, OverflowError):
-      self.reset()
-      return requested
-
-  def lane_blend(self, geometry, distance):
-    try:
-      left = sample(geometry.left_x, geometry.left_y, distance)
-      right = sample(geometry.right_x, geometry.right_y, distance)
-      probs, stds = geometry.probabilities, geometry.standard_deviations
-      if (left is None or right is None or not isinstance(probs, tuple) or not isinstance(stds, tuple) or
-          len(probs) != 2 or len(stds) != 2 or not all(math.isfinite(p) and 0.0 <= p <= 1.0 for p in probs) or
-          not all(math.isfinite(s) and s >= 0.0 for s in stds)):
-        return 0.0, 0.0
-      confidence = min(*probs, interp(right - left, BOUNDS["width_m"], BOUNDS["width_tolerance"]),
-                       interp(max(stds), BOUNDS["std"], BOUNDS["std_tolerance"]))
-      scale = clip(interp(confidence, BOUNDS["confidence"], (0.0, 1.0)), 0.0, 1.0)
-      return scale, 0.5 * (left + right)
-    except (AttributeError, IndexError, TypeError, ValueError, OverflowError):
-      return 0.0, 0.0

opendbc_repo/opendbc/bluepilot_lateral/core/values_ext.py

@@ -0,0 +1,156 @@
+from ...car import structs
+from ...car.lateral import AngleSteeringLimits
+from .. import host_types
+from ..params.manifest import PER_FRAME_KEYS, startup_value
+
+
+class FordSafetyFlagsSP:
+  """BluePilot's Ford safety flags: the bits of the second safety param a host sends the panda
+  (current_safety_param_sp, USB control 0xdf), not the main safetyConfigs[].safetyParam (HOSTS.md).
+  ford_bp_init reads it with GET_FLAG(current_safety_param_sp, ...), same pattern as Subaru
+  STOP_AND_GO (subaru_common.h). Plain int constants, not IntFlag: the param must stay a plain int
+  through the host's serialization.
+  """
+  # Bit layout of the SP safety param (mirrored in ford_bp_init, bluepilot_lateral/safety/ford.h; pinned by
+  # tests/test_safety_param_bits.py):
+  #   bit 0    STEER_ANGLE_CURVATURE (pinion-sourced curvature measurement)
+  #   bits 1-4 pinion geometry index (FORD_PINION_GEOMETRY_SHIFT / FORD_PINION_GEOMETRY_INDEX)
+  #   bit 5    BP_LATERAL: the panda runs the 4-signal checks (ford_lmc_checks) instead of
+  #            upstream's stock curvature-only checks. Clear = upstream safety, verbatim.
+  STEER_ANGLE_CURVATURE = 1
+  BP_LATERAL = 1 << 5
+
+
+# Geometry-table index for the steering-angle curvature measurement, packed into
+# the startup safety bits 1-4 when STEER_ANGLE_CURVATURE is set. Must match the
+# ford_pinion_geometry table in bluepilot_lateral/safety/ford.h row for row.
+# Index 0 is reserved as invalid: the firmware treats flag-set-but-no-index as feature
+# off, so a half-configured param can never select the wrong geometry silently.
+# Platforms with no row are in FORD_NO_PINION_PLATFORMS. Indices stay aligned with the C table.
+# BluePilot: the per-platform tables key on the platform name (CP.carFingerprint), not the CAR enum,
+# so a row for a platform some host lacks never breaks import there; it just never matches.
+# FORD_HOST_ONLY_PLATFORMS lists the names with rows here that upstream opendbc's CAR doesn't have; any
+# name a host's CAR lacks must be on it (tests/test_platform_tables.py).
+FORD_HOST_ONLY_PLATFORMS: frozenset[str] = frozenset({
+  "FORD_EDGE_MK2",     # StarPilot
+  "FORD_MONDEO_MK5",   # BP7, StarPilot
+  "FORD_TRANSIT_MK5",  # StarPilot
+})
+# No pinion geometry row, so no STEER_ANGLE_CURVATURE (the setting no-ops and the yaw source is kept):
+FORD_NO_PINION_PLATFORMS: frozenset[str] = frozenset({
+  # ALT_STEER_ANGLE: reads a RELATIVE pinion angle (SteeringPinion_Data_Alt + learned offset) and lacks the
+  # absolute measurement this needs
+  "FORD_EDGE_MK2",
+  # LKA steering through Lane_Assist_Data1 alone: no BluePilot lateral at all
+  "FORD_TRANSIT_MK5",
+})
+
+FORD_PINION_GEOMETRY_SHIFT = 1
+FORD_PINION_GEOMETRY_INDEX = {
+  "FORD_BRONCO_SPORT_MK1": 1,
+  "FORD_ESCAPE_MK4": 2,
+  "FORD_ESCAPE_MK4_5": 3,
+  "FORD_EXPEDITION_MK4": 4,
+  "FORD_EXPLORER_MK6": 5,
+  "FORD_FOCUS_MK4": 6,
+  "FORD_F_150_LIGHTNING_MK1": 7,
+  "FORD_F_150_MK14": 8,
+  "FORD_MAVERICK_MK1": 9,
+  "FORD_MONDEO_MK5": 10,
+  "FORD_MUSTANG_MACH_E_MK1": 11,
+  "FORD_RANGER_MK2": 12,
+}
+
+
+def ford_safety_param(CP: structs.CarParams, params_dict: dict[str, str]) -> int:
+  """The startup safety bits for this car, from the startup settings (HOSTS.md). A host ORs them into the
+  second safety param it sends the panda (current_safety_param_sp, USB 0xdf) at car init."""
+  # Steering-angle curvature measurement (bad-yaw-sensor workaround): the STEER_ANGLE_CURVATURE flag +
+  # the platform geometry-table index; the control side mirrors the same flag
+  # (carcontroller_ext.InputTracker.get_current_curvature). Platforms without a geometry row silently
+  # keep stock yaw behavior -- the toggle no-ops rather than half-configuring.
+  bits = 0
+  if CP.brand == 'ford':
+    # BluePilot 4-signal lateral: tell the panda to run the BP checks. Read once here, at init;
+    # the carcontroller sends 4-signal messages only when this bit is set. Changing the setting
+    # while driving does not change the panda: stock messages are then judged by the BP
+    # envelope (which is not identical to the stock one), so the setting takes full effect at
+    # the next init. Same property as openpilot longitudinal.
+    bp_lateral = not startup_value(params_dict, "disable_BP_lat_UI")
+    if bp_lateral:
+      bits |= FordSafetyFlagsSP.BP_LATERAL
+
+    # The pinion-sourced measurement is a BP lateral feature: its wider error band and the
+    # Python side's yaw-vs-pinion handling only line up on the BP path, so it is off whenever
+    # BP lateral is off (ford_bp_init enforces the same on the panda).
+    steer_angle_curvature = bp_lateral and startup_value(params_dict, "FordPrefSteerAngleCurvature")
+    if steer_angle_curvature:
+      geometry_index = FORD_PINION_GEOMETRY_INDEX.get(CP.carFingerprint)
+      if geometry_index is not None:
+        bits |= FordSafetyFlagsSP.STEER_ANGLE_CURVATURE | (geometry_index << FORD_PINION_GEOMETRY_SHIFT)
+  return bits
+
+
+# Pinion geometry wheelbase (m) where BluePilot deliberately differs from CarSpecs. Used by both the
+# C table (ford_pinion_geometry in bluepilot_lateral/safety/ford.h) and the Python pinion path
+# (carcontroller_ext.pinion_vehicle_model), so the two layers convert pinion angle the same way.
+# FORD_F_150_MK14: the trucks with lane centering come in 3.68 and 3.99 m wheelbases and nothing on
+# the car tells them apart; the average keeps either within about 4% (#21).
+FORD_PINION_WHEELBASE = {
+  "FORD_F_150_MK14": 3.84,
+}
+
+
+# BluePilot: Max curvature for steering command (m^-1), from DBC file limits
+CURVATURE_MAX = 0.02
+
+# BluePilot: Curvature rate limits — 3-point breakpoints for smoother lateral control.
+# Upstream opendbc uses 2-point ([5, 25]) with more conservative values.
+# These allow higher rates at low speed for responsiveness, lower rates at mid-speed
+# for comfort, and very low rates at highway speed for stability.
+#
+# Control (Python) uses stricter windup than unwind so OP stays inside panda when apply_std
+# picks the wrong table vs ford_bp_curvature_cmd_checks. Safety firmware is looser than both: its
+# up table is the control's down table, and its down table is 1% looser again — see
+# bluepilot_lateral/safety/ford.h FORD_LIMITS.
+_BP_ANGLE_RATE_UP = ([5, 16, 25], [0.0025, 0.0012, 0.00008])
+_BP_ANGLE_RATE_DOWN = ([5, 16, 25], [0.0025, 0.0014, 0.00018])
+BP_ANGLE_LIMITS = AngleSteeringLimits(
+  0.02,  # Max curvature for steering command, m^-1
+  _BP_ANGLE_RATE_UP,
+  _BP_ANGLE_RATE_DOWN,
+)
+
+
+# The model's prediction times, part of the host contract (host_types.py); the strategies read it from here.
+MODEL_T_IDXS = host_types.MODEL_T_IDXS
+
+
+# The per-frame settings a host publishes every frame (HOSTS.md; hosts import this name from here). The
+# settings, their defaults and how they are read are in params/manifest.py.
+BP_LATERAL_PARAMS = PER_FRAME_KEYS
+
+# Lane change smoothing, both modes: speed breakpoints (m/s) and the low-speed factor
+LANE_CHANGE_FACTOR_BP = (4.4, 40.23)
+LANE_CHANGE_FACTOR_LOW = 0.95
+
+
+# Angle mode's per-platform high-speed gain defaults (low curvature, high curvature); any other
+# platform gets ANGLE_GAIN_CAN. Read by lateral_angle_ext.update_angle_params.
+# CAN vehicles (Escape MK4, Bronco Sport, Explorer, Maverick, Edge)
+ANGLE_GAIN_CAN = (1.00, 1.15)
+# CAN-FD body-on-frame trucks (F-150, Lightning, Expedition, Ranger)
+ANGLE_GAIN_CANFD_BOF = (0.95, 0.95)
+# CAN-FD unibody SUVs (Mustang Mach-E, Escape MK4.5)
+ANGLE_GAIN_CANFD_SUV = (1.00, 1.05)
+
+ANGLE_GAIN_CANFD_BOF_CARS = frozenset({
+  "FORD_F_150_MK14",
+  "FORD_F_150_LIGHTNING_MK1",
+  "FORD_EXPEDITION_MK4",
+  "FORD_RANGER_MK2",
+})
+ANGLE_GAIN_CANFD_SUV_CARS = frozenset({
+  "FORD_MUSTANG_MACH_E_MK1",
+  "FORD_ESCAPE_MK4_5",
+})

opendbc_repo/opendbc/bluepilot_lateral/host_types.py

@@ -0,0 +1,48 @@
+"""BluePilot: the types a host hands the library and reads back from it (HOSTS.md).
+
+Standard library only: opendbc/car/structs.py imports LateralInputs for CarControlSP, so an import of
+anything in opendbc here would be an import cycle."""
+from dataclasses import dataclass, field
+
+# The model's prediction grid: every path array in LateralInputs has MODEL_PATH_POINTS entries at these
+# times, openpilot's ModelConstants.T_IDXS (t = 10 * (i / 32)^2). The core interpolates over it.
+MODEL_PATH_POINTS = 33
+MODEL_T_IDXS = [10.0 * (i / 32) ** 2 for i in range(MODEL_PATH_POINTS)]
+
+
+@dataclass
+class LateralInputs:
+  """Per-frame model / vehicle inputs for the Ford 4-signal lateral control. The host fills them from
+  modelV2 / vehicleParameters / lateralDelay, so opendbc never subscribes to messaging."""
+  valid: bool = False                     # producer saw model + vehicle params and filled every field below
+  pathYawRate: list[float] = field(default_factory=list)  # modelV2.orientationRate.z, 33 points over T_IDXS
+  pathX: list[float] = field(default_factory=list)        # modelV2.position.x
+  pathY: list[float] = field(default_factory=list)        # modelV2.position.y
+  laneLineLeftX: list[float] = field(default_factory=list)   # modelV2.laneLines[1]
+  laneLineLeftY: list[float] = field(default_factory=list)
+  laneLineRightX: list[float] = field(default_factory=list)  # modelV2.laneLines[2]
+  laneLineRightY: list[float] = field(default_factory=list)
+  laneLineProbs: list[float] = field(default_factory=list)   # 4 entries
+  laneLineStds: list[float] = field(default_factory=list)
+  laneChangeState: int = 0      # modelV2.meta.laneChangeState
+  laneChangeDirection: int = 0  # modelV2.meta.laneChangeDirection
+  steerRatio: float = 0.0       # vehicleParameters
+  stiffnessFactor: float = 0.0
+  roll: float = 0.0
+  angleOffsetDeg: float = 0.0
+  lateralDelay: float = 0.0     # lateralDelay.lateralDelay
+
+
+@dataclass
+class LateralStatus:
+  """This frame's values for a BluePilot UI, from BluePilotLateral.status(). The names are the ones
+  BP7's controllerStateBP publisher reads off its car controller; the four angle-mode values read
+  False outside angle mode, as BP7 sets them."""
+  lateralUncertainty: float = 0.0          # from whichever strategy ran last
+  angleRateLimited: bool = False           # angle mode: the path_angle soft-ROC clip bit this frame
+  curvatureRateLimited: bool = False       # angle mode: the equivalent curvature would have been rate-limited
+  curvatureDeviationLimited: bool = False  # either mode: the current-curvature error clip constrained the command
+  humanTurnLateralPaused: bool = False     # angle mode: lateral sent inactive during a manual turn
+  stallBlipActive: bool = False            # angle mode: the brief mode-0 pulse after a post-override stall
+  disable_BP_lat_UI: bool = False          # BluePilot lateral off: the UI toggle, or the panda bit not set at init
+  primary_lateral_control: int = 0         # 0 = curvature, 1 = angle

opendbc_repo/opendbc/bluepilot_lateral/hosts/iqpilot/hooks.patch

@@ -0,0 +1,270 @@
+diff --git a/iqdbc/car/ford/carcontroller.py b/iqdbc/car/ford/carcontroller.py
+index e00869f..cf8e4ba 100644
+--- a/iqdbc/car/ford/carcontroller.py
++++ b/iqdbc/car/ford/carcontroller.py
+@@ -5,6 +5,7 @@ from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresi
+ from iqdbc.car.ford import fordcan
+ from iqdbc.car.ford.values import CarControllerParams, FordFlags, CAR
+ from iqdbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
++from iqdbc.bluepilot_lateral.hosts.iqpilot.lateral import BluePilotLateral  # BluePilot
+ 
+ LongCtrlState = structs.CarControl.Actuators.LongControlState
+ VisualAlert = structs.CarControl.HUDControl.VisualAlert
+@@ -38,6 +39,7 @@ class CarController(CarControllerBase):
+     super().__init__(dbc_names, CP, CP_IQ)
+     self.packer = CANPacker(dbc_names[Bus.pt])
+     self.CAN = fordcan.CanBus(CP)
++    self.bp = BluePilotLateral(CP, CP_IQ, self.packer, self.CAN)  # BluePilot
+ 
+     self.apply_curvature_last = 0
+     self.anti_overshoot_curvature_last = 0
+@@ -52,6 +54,7 @@ class CarController(CarControllerBase):
+ 
+   def update(self, CC, CC_IQ, CS, now_nanos):
+     can_sends = []
++    bp_active = self.bp.update(CC_IQ, self.frame)  # BluePilot
+ 
+     actuators = CC.actuators
+     hud_control = CC.hudControl
+@@ -74,7 +77,10 @@ class CarController(CarControllerBase):
+ 
+     ### lateral control ###
+     # send steer msg at 20Hz
+-    if (self.frame % CarControllerParams.STEER_STEP) == 0:
++    if bp_active and (self.frame % CarControllerParams.STEER_STEP) == 0:  # BluePilot
++      lat_sends, self.apply_curvature_last = self.bp.step_lateral(CC, CS, actuators, self.apply_curvature_last)
++      can_sends.extend(lat_sends)
++    elif (self.frame % CarControllerParams.STEER_STEP) == 0:
+       # Bronco and some other cars consistently overshoot curv requests
+       # Apply some deadzone + smoothing convergence to avoid oscillations
+       if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
+@@ -108,7 +114,9 @@ class CarController(CarControllerBase):
+         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.))
+ 
+     # send lka msg at 33Hz
+-    if (self.frame % CarControllerParams.LKA_STEP) == 0:
++    if bp_active and (self.frame % CarControllerParams.LKA_STEP) == 0:  # BluePilot
++      can_sends.append(self.bp.step_lka(CC, hud_control))
++    elif (self.frame % CarControllerParams.LKA_STEP) == 0:
+       can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
+ 
+     ### longitudinal control ###
+diff --git a/iqdbc/car/structs.py b/iqdbc/car/structs.py
+index 520c7fc..5f95bbd 100644
+--- a/iqdbc/car/structs.py
++++ b/iqdbc/car/structs.py
+@@ -4,6 +4,7 @@ from typing import dataclass_transform, get_origin
+ import os
+ import capnp
+ from iqdbc.car.common.basedir import BASEDIR
++from iqdbc.bluepilot_lateral.host_types import LateralInputs  # BluePilot: the per-frame inputs controlsd fills
+ try:
+   from iqpilot.cereal import car
+ except ImportError:
+@@ -54,6 +55,7 @@ class IQCarParams:
+   longitudinalStoppingSpeedOverride: float = auto_field()
+   stoppingDecelRateOverride: float = auto_field()
+   longActiveWithGasOverride: bool = auto_field()
++  lateralInputsRequired: bool = auto_field()  # BluePilot: controlsd fills IQCarControl.lateralInputs and params
+ 
+   iqLateralNet: 'IQCarParams.LateralNet' = field(default_factory=lambda: IQCarParams.LateralNet())
+ 
+@@ -120,6 +122,7 @@ class IQCarControl:
+   useRadarAccel: bool = auto_field()
+   radarSetSpeedKph: float = auto_field()
+   radarGapBars: int = auto_field()
++  lateralInputs: 'LateralInputs' = field(default_factory=lambda: LateralInputs())  # BluePilot
+ 
+   @auto_dataclass
+   class Param:
+diff --git a/iqdbc/lvbs/car/interfaces.py b/iqdbc/lvbs/car/interfaces.py
+index 5ca575a..aafd822 100644
+--- a/iqdbc/lvbs/car/interfaces.py
++++ b/iqdbc/lvbs/car/interfaces.py
+@@ -8,6 +8,7 @@ from collections.abc import Callable
+ 
+ from iqdbc.car import structs
+ from iqdbc.car.can_definitions import CanRecvCallable, CanSendCallable
++from iqdbc.bluepilot_lateral.hosts.iqpilot.safety_param import init_ford_safety_param_iq  # BluePilot
+ from iqdbc.car.subaru.values import SubaruFlags
+ from iqdbc.car.tesla.values import LEGACY_CARS
+ from iqdbc.lvbs.car.subaru.iq_values import SubaruFlagsIQ, SubaruSafetyFlagsIQ
+@@ -80,6 +81,7 @@ def apply_iq_car_config(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+   _apply_tesla_options(CP, CP_IQ, params_dict)
+   _apply_creep_assist(CP, CP_IQ, params_dict)
+   _apply_toyota_options(CP, CP_IQ, params_dict)
++  init_ford_safety_param_iq(CP, CP_IQ, params_dict)  # BluePilot
+ 
+ 
+ def _apply_long_tuning(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+diff --git a/iqdbc/safety/modes/ford.h b/iqdbc/safety/modes/ford.h
+index 26ec0af..5e5c0c4 100644
+--- a/iqdbc/safety/modes/ford.h
++++ b/iqdbc/safety/modes/ford.h
+@@ -9,6 +9,7 @@
+ #define FORD_BrakeSysFeatures      0x415U   // RX from ABS, for vehicle speed
+ #define FORD_EngVehicleSpThrottle2 0x202U   // RX from PCM, for second vehicle speed
+ #define FORD_Yaw_Data_FD1          0x91U    // RX from RCM, for yaw rate
++#define FORD_SteeringPinion_Data   0x7EU    // RX from PSCM, optional angle_meas source (BluePilot STEER_ANGLE_CURVATURE)
+ #define FORD_Steering_Data_FD1     0x083U   // TX by OP, various driver switches and LKAS/CC buttons
+ #define FORD_ACCDATA               0x186U   // TX by OP, ACC controls
+ #define FORD_ACCDATA_3             0x18AU   // TX by OP, ACC/TJA user interface
+@@ -29,6 +30,9 @@ static uint8_t ford_get_counter(const CANPacket_t *msg) {
+   } else if (msg->addr == FORD_Yaw_Data_FD1) {
+     // Signal: VehRollYaw_No_Cnt
+     cnt = msg->data[5];
++  } else if (msg->addr == FORD_SteeringPinion_Data) {
++    // Signal: StePinAn_No_Cnt (47|4@0+)
++    cnt = (msg->data[5] >> 4) & 0xFU;
+   } else {
+   }
+   return cnt;
+@@ -74,6 +78,8 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *msg) {
+     valid = ((msg->data[4] >> 5) & 0x3U) == 0x3U;  // VehVActlEng_D_Qf
+   } else if (msg->addr == FORD_Yaw_Data_FD1) {
+     valid = ((msg->data[6] >> 4) & 0x3U) == 0x3U;  // VehYawWActl_D_Qf
++  } else if (msg->addr == FORD_SteeringPinion_Data) {
++    valid = ((msg->data[5] >> 2) & 0x3U) == 0x3U;  // StePinCompAnEst_D_Qf (3=OK)
+   } else {
+   }
+   return valid;
+@@ -94,6 +100,16 @@ static const NativeCurvatureSteeringLimits FORD_STEERING_LIMITS = {
+   .curvature_error_min_speed = 10.0,
+ };
+ 
++// BluePilot: the Ford 4-signal lateral checks, pinion angle_meas source and angle-mode state, from the
++// bluepilot_lateral subtree. The bindings point the library at IQ's native-curvature names.
++#define BP_HOST_CURVATURE_LIMITS NativeCurvatureSteeringLimits
++#define BP_HOST_CURVATURE_STATE native_curvature_state
++#define BP_HOST_RT_CURVATURE_RATE_CHECK rt_native_curvature_rate_limit_check
++#define BP_HOST_LAT_ALLOWED() is_lat_active()
++#define BP_HOST_SPEED_MISMATCH_CHECK() ((void)0)  // ford_rx_hook runs it on FORD_EngVehicleSpThrottle2
++// cppcheck-suppress misra-c2012-20.1; needs the Ford constants defined above
++#include "iqdbc/bluepilot_lateral/safety/ford.h"
++
+ static void ford_rx_hook(const CANPacket_t *msg) {
+   if (msg->bus == FORD_MAIN_BUS) {
+     // Update in motion state from standstill signal
+@@ -117,7 +133,7 @@ static void ford_rx_hook(const CANPacket_t *msg) {
+     }
+ 
+     // Update vehicle yaw rate
+-    if (msg->addr == FORD_Yaw_Data_FD1) {
++    if ((msg->addr == FORD_Yaw_Data_FD1) && !ford_bp_pinion_curvature) {  // BluePilot: pinion source replaces yaw
+       // Signal: VehYaw_W_Actl
+       // TODO: we should use the speed which results in the closest angle measurement to the desired angle
+       float ford_yaw_rate = (((msg->data[2] << 8U) | msg->data[3]) * 0.0002) - 6.5;
+@@ -149,6 +165,8 @@ static void ford_rx_hook(const CANPacket_t *msg) {
+       aol_button_press = GET_BIT(msg, 40U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
+     }
+   }
++
++  ford_bp_rx_hook(msg);  // BluePilot: pinion angle_meas source
+ }
+ 
+ static bool ford_tx_hook(const CANPacket_t *msg) {
+@@ -223,6 +241,8 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
+     if (action != 0U) {
+       tx = false;
+     }
++
++    ford_bp_lka_tx(msg);  // BluePilot: angle-mode state from the frame's unused bits
+   }
+ 
+   // Safety check for LateralMotionControl action
+@@ -234,12 +254,17 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
+     unsigned int raw_path_angle = (msg->data[3] << 3) | (msg->data[4] >> 5);
+     unsigned int raw_path_offset = (msg->data[5] << 2) | (msg->data[6] >> 6);
+ 
+-    // These signals are not yet tested with the current safety limits
+-    bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
+-
+-    // Check angle error and steer_control_enabled
+-    int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature
+-    violation |= steer_native_curvature_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
++    bool violation = false;
++    if (ford_bp_lateral) {  // BluePilot: 4-signal lateral
++      violation = ford_bp_lmc_tx(false, raw_curvature, raw_curvature_rate, raw_path_offset, raw_path_angle, steer_control_enabled);
++    } else {
++      // These signals are not yet tested with the current safety limits
++      violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
++
++      // Check angle error and steer_control_enabled
++      int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature
++      violation |= steer_native_curvature_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
++    }
+ 
+     if (violation) {
+       tx = false;
+@@ -255,12 +280,17 @@ static bool ford_tx_hook(const CANPacket_t *msg) {
+     unsigned int raw_path_angle = ((msg->data[3] & 0x1FU) << 6) | (msg->data[4] >> 2);
+     unsigned int raw_path_offset = ((msg->data[4] & 0x3U) << 8) | msg->data[5];
+ 
+-    // These signals are not yet tested with the current safety limits
+-    bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
+-
+-    // Check angle error and steer_control_enabled
+-    int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature
+-    violation |= steer_native_curvature_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
++    bool violation = false;
++    if (ford_bp_lateral) {  // BluePilot: 4-signal lateral
++      violation = ford_bp_lmc_tx(true, raw_curvature, raw_curvature_rate, raw_path_offset, raw_path_angle, steer_control_enabled);
++    } else {
++      // These signals are not yet tested with the current safety limits
++      violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
++
++      // Check angle error and steer_control_enabled
++      int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature
++      violation |= steer_native_curvature_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
++    }
+ 
+     if (violation) {
+       tx = false;
+@@ -287,6 +317,20 @@ static safety_config ford_init(uint16_t param) {
+     {.msg = {{FORD_Steering_Data_FD1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+   };
+ 
++  // BluePilot: ford_rx_checks plus the pinion message, enforced only while the pinion angle_meas source is
++  // on (ford_bp_init). Written out rather than shared through a macro: cppcheck's MISRA 5.8 check misreads one.
++  static RxCheck ford_rx_checks_pinion[] = {
++    {.msg = {{FORD_BrakeSysFeatures, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},
++    {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},
++    {.msg = {{FORD_Yaw_Data_FD1, 0, 8, 100U, .max_counter = 255U}, { 0 }, { 0 }}},
++    {.msg = {{FORD_EngBrakeData, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
++    {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
++    {.msg = {{FORD_DesiredTorqBrk, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
++    {.msg = {{FORD_Steering_Data_FD1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
++    // StePinAn_No_Cs matches no Ford checksum pattern on real frames: integrity via counter (0-15) + quality flag + 100 Hz
++    {.msg = {{FORD_SteeringPinion_Data, 0, 8, 100U, .max_counter = 15U, .ignore_checksum = true}, { 0 }, { 0 }}},
++  };
++
+   #define FORD_COMMON_TX_MSGS \
+     {FORD_Steering_Data_FD1, 0, 8, .check_relay = false}, \
+     {FORD_Steering_Data_FD1, 2, 8, .check_relay = false}, \
+@@ -331,6 +375,11 @@ static safety_config ford_init(uint16_t param) {
+   } else {
+     ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS);
+   }
++
++  // BluePilot: IQ safety flags (BP lateral, pinion source); the pinion RX check applies only when it is consumed
++  if (ford_bp_init(current_safety_param_iq)) {
++    SET_RX_CHECKS(ford_rx_checks_pinion, ret);
++  }
+   return ret;
+ }
+ 
+diff --git a/iqdbc/safety/tests/test.sh b/iqdbc/safety/tests/test.sh
+index 1ff4ee8..9c8b425 100755
+--- a/iqdbc/safety/tests/test.sh
++++ b/iqdbc/safety/tests/test.sh
+@@ -10,8 +10,8 @@ source ../../../setup.sh
+ rm -f ./libsafety/*.gcda
+ scons -j$(nproc) -D
+ 
+-# run safety tests and generate coverage data
+-pytest -n8 --ignore-glob=misra/*
++# run safety tests and generate coverage data (and the BluePilot ones, from the bluepilot_lateral subtree)
++pytest -n8 --ignore-glob=misra/* . ../../bluepilot_lateral/safety/tests
+ 
+ if [ "$(uname)" = "Darwin" ]; then
+   GCOV_EXEC="/opt/homebrew/opt/llvm@18/bin/llvm-cov gcov"

opendbc_repo/opendbc/bluepilot_lateral/hosts/iqpilot/host.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+# BluePilot: IQPilot as a test host for this library (#18). Its opendbc, iqdbc, comes from IQ.Lvbs's own repo at the
+# commit pinned below, with IQPilot's hooks (hooks.patch, the files they change outside the library) and this
+# library at iqdbc/bluepilot_lateral/.
+#   host.sh tree <dir> [ref]  <dir>/iq: the IQPilot folders iqdbc's code imports; <dir>/host: iqdbc on its own, a git
+#                             repo with IQPilot as committed (first commit) and the hooks plus this library, placed by
+#                             tools/vendor.sh (second). Writes <dir>/state: "not adopted" (the patch applied), "adopted"
+#                             (IQPilot already carries it, or there's no patch), or "drifted: ..." (and fails): the hooks
+#                             or IQPilot's copy of the library differ from what this repo has
+#   host.sh test <dir>        build <dir>/host and run the library tests, IQPilot's safety suite with the BluePilot
+#                             safety tests, and 100% line coverage of modes/ford.h and the library's safety headers
+#   host.sh make <dir>        write hooks.patch from <dir>/host: every change outside the library since IQPilot's
+#                             commit, committed or not. Change a hook: tree, edit <dir>/host, test, make.
+set -euo pipefail
+
+REPO=https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
+PIN=cb6a1c1145b18e36bf5180ab13a4e7beda39c40a  # beta, 2026-10-29
+PROJECT=artifacts/package_sources/iqdbc        # iqdbc's own project: setup.sh, pyproject.toml, uv.lock
+IMPORTED="iqpilot/common iqpilot/cereal iqpilot/system iqpilot/selfdrive"  # imported by iqdbc's code and tests
+EXTRA_PACKAGES="pyserial setproctitle"          # imported too, but only in IQPilot's top-level lock
+
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+LIB="$(cd "$HERE/../.." && pwd)"
+DIR="$(mkdir -p "$2" && cd "$2" && pwd)"
+
+case "$1" in
+tree)
+  REF=${3:-$PIN}
+  rm -rf "$DIR/iq" "$DIR/host"
+  GIT_LFS_SKIP_SMUDGE=1 git clone -q --filter=blob:none --no-checkout "$REPO" "$DIR/iq"
+  # shellcheck disable=SC2086 # a list of paths
+  git -C "$DIR/iq" sparse-checkout set $PROJECT $IMPORTED
+  GIT_LFS_SKIP_SMUDGE=1 git -C "$DIR/iq" checkout -q "$REF"
+  # iqdbc on its own: under IQPilot's root, uv takes it for a member of IQPilot's workspace
+  cp -R "$DIR/iq/$PROJECT" "$DIR/host"
+  cd "$DIR/host"
+  git init -q
+  git add -A
+  git -c user.name=ci -c user.email=ci@localhost commit -q -m "IQPilot $(git -C "$DIR/iq" rev-parse --short HEAD)"
+  state="adopted"
+  if [ -f "$HERE/hooks.patch" ]; then
+    if git apply --check "$HERE/hooks.patch" 2>/dev/null; then
+      git apply "$HERE/hooks.patch"
+      state="not adopted"
+    elif ! git apply --check --reverse "$HERE/hooks.patch" 2>/dev/null; then
+      state="drifted: hooks.patch neither applies nor is already in IQPilot (update it to what IQPilot carries: make)"
+    fi
+  fi
+  # IQPilot's own copy, once it carries one, has to be a release as vendored, before this library replaces it
+  if [ -f iqdbc/bluepilot_lateral/VERSION ] && ! "$LIB/tools/check_vendored.sh" iqdbc/bluepilot_lateral; then
+    state="drifted: IQPilot's copy of the library differs from the release in its VERSION"
+  fi
+  "$LIB/tools/vendor.sh" HEAD iqdbc/bluepilot_lateral
+  git add -A
+  git -c user.name=ci -c user.email=ci@localhost commit -q -m "hooks and library"
+  echo "$state" > "$DIR/state"
+  echo "IQPilot $(git -C "$DIR/iq" rev-parse --short HEAD), hooks: $state, library $(git -C "$LIB" rev-parse --short HEAD)"
+  [[ "$state" != drifted* ]]
+  ;;
+test)
+  cd "$DIR/host"
+  set +u
+  # shellcheck disable=SC1091 # IQPilot's: tools (clang-18 and mull on Linux, for the coverage build) and the venv
+  source setup.sh
+  set -u
+  export PYTHONPATH="$DIR/host:$DIR/iq"  # setup.sh sets it to iqdbc alone; its code imports iqpilot too
+  # shellcheck disable=SC2086 # a list of packages
+  uv pip install -q $EXTRA_PACKAGES
+  scons -j"$(nproc 2>/dev/null || sysctl -n hw.ncpu)"
+  python -m unittest discover -s iqdbc/bluepilot_lateral/tests -t .
+  # IQPilot's safety suite as its test.sh runs it (pytest: unittest also collects its base classes), the BluePilot
+  # tests in the same run (its cross-mode TX sweep reads every Test* class it collects), minus IQPilot's own failures
+  deselect=()
+  # pytest names a test from its rootdir (iqdbc's project), not from the directory it runs in
+  while read -r t; do deselect+=("--deselect=iqdbc/safety/tests/$t"); done < <(grep -v -e '^#' -e '^$' "$HERE/known_failures.txt")
+  cd iqdbc/safety/tests
+  rm -f libsafety/*.gcda
+  pytest -q -n8 --ignore-glob='misra/*' "${deselect[@]}" . ../../bluepilot_lateral/safety/tests
+  if [ "$(uname)" = "Darwin" ]; then GCOV_EXEC="/opt/homebrew/opt/llvm@18/bin/llvm-cov gcov"; else GCOV_EXEC="llvm-cov-18 gcov"; fi
+  # two reports: modes/ford.h and the library's safety/ford.h share a file name (see bluepilot_coverage.sh)
+  gcovr -r .. --gcov-executable "$GCOV_EXEC" --fail-under-line=100 -f "$DIR/host/iqdbc/safety/modes/ford.h"
+  gcovr -r "$DIR/host" --gcov-executable "$GCOV_EXEC" -d --fail-under-line=100 -f "$DIR/host/iqdbc/bluepilot_lateral/safety/"
+  ;;
+make)
+  git -C "$DIR/host" diff HEAD~1 -- . ':(exclude)iqdbc/bluepilot_lateral' > "$HERE/hooks.patch"
+  echo "hooks.patch: $(grep -c '^diff --git' "$HERE/hooks.patch") files"
+  ;;
+*)
+  echo "usage: $0 tree|test|make <dir> [ref]" >&2
+  exit 2
+  ;;
+esac

opendbc_repo/opendbc/bluepilot_lateral/hosts/iqpilot/known_failures.txt

@@ -0,0 +1,4 @@
+# IQPilot's own failing tests at the pinned commit, skipped by host.sh test so they don't fail this library's CI.
+# Each one fails on IQPilot without the hooks or the library too. Remove a line once IQPilot fixes it.
+test_tesla_legacy.py::TestTeslaHW2ExternalPandaSafety::test_enable_control_allowed_with_manual_aol_button_state
+test_tesla_legacy.py::TestTeslaHW3ExternalPandaSafety::test_enable_control_allowed_with_manual_aol_button_state

opendbc_repo/opendbc/bluepilot_lateral/hosts/iqpilot/lateral.py

@@ -0,0 +1,21 @@
+"""
+BluePilot: the IQ.Pilot host adapter for the lateral (HOSTS.md). The Ford CarController builds this
+with IQ.Pilot's types; it hands the core the library's types and nothing IQ-specific.
+"""
+from ...core import carcontroller_ext
+from ...params.param_store import ParamStore
+
+
+def params_from_cc_iq(CC_IQ) -> ParamStore:
+  """The settings IQ.Pilot published this frame (IQCarControl.params entries) as (key, value) pairs."""
+  return ParamStore((p.key, p.value) for p in CC_IQ.params)
+
+
+class BluePilotLateral(carcontroller_ext.BluePilotLateral):
+  def __init__(self, CP, CP_IQ, packer, CAN):
+    super().__init__(CP, CP_IQ.iqSafetyFlags, packer, CAN)
+
+  def update(self, CC_IQ, frame):
+    """Every frame: the inputs and settings IQ.Pilot's controlsd put in IQCarControl. Returns whether
+    BluePilot lateral is active."""
+    return super().update(CC_IQ.lateralInputs, params_from_cc_iq(CC_IQ), frame)

opendbc_repo/opendbc/bluepilot_lateral/hosts/iqpilot/safety_param.py

@@ -0,0 +1,14 @@
+"""
+BluePilot: the startup safety bits onto IQ.Pilot's IQCarParams (HOSTS.md). Its own module, so car
+init imports only values_ext, not the whole lateral.
+"""
+from ...core.values_ext import ford_safety_param
+
+
+def init_ford_safety_param_iq(CP, CP_IQ, params_dict: dict[str, str]) -> None:
+  """Called from IQ.Pilot's apply_iq_car_config at car init. CP_IQ.iqSafetyFlags reaches the panda as
+  current_safety_param_iq (USB 0xdf); lateralInputsRequired tells the host to fill
+  IQCarControl.lateralInputs and the per-frame settings, for every Ford (BluePilot lateral on or off)."""
+  CP_IQ.iqSafetyFlags |= ford_safety_param(CP, params_dict)
+  if CP.brand == 'ford':
+    CP_IQ.lateralInputsRequired = True

opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot.py

@@ -1,138 +0,0 @@
-"""StarPilot's CP adapter; model transport and saved Params stay in the host.
-
-Only exact final CP words derived from the existing five classic/six CANFD
-extended profiles can select angle. Combined AOL retains its original Ford profile identity.
-"""
-from opendbc.car import structs
-from opendbc.car.ford.pinion import base_word, configured, MASK as PINION_MASK
-from opendbc.car.ford.values import CAR, FordFlags
-from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs
-from opendbc.bluepilot_lateral.core.trim import LaneGeometry
-from opendbc.bluepilot_lateral.params import limits as bounds
-
-ANGLE_FLAG = 128
-CLASSIC = frozenset({CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_ESCAPE_MK4, CAR.FORD_FOCUS_MK4,
-                     CAR.FORD_MAVERICK_MK1, CAR.FORD_EXPLORER_MK6})
-CANFD = frozenset({CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, CAR.FORD_F_150_MK14,
-                   CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2, CAR.FORD_MUSTANG_MACH_E_MK1})
-TRUCKS = CANFD - {CAR.FORD_ESCAPE_MK4_5, CAR.FORD_MUSTANG_MACH_E_MK1}
-
-
-def mode_word(cp, *, selected):
-  if (cp.brand != "ford" or cp.passive or cp.dashcamOnly or cp.notCar or cp.alternativeExperience not in (0, 32) or
-      cp.steerControlType != structs.CarParams.SteerControlType.angle or
-      not cp.pcmCruise or len(cp.safetyConfigs) not in (1, 2)):
-    return None
-  if len(cp.safetyConfigs) == 2 and (cp.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or
-                                   cp.safetyConfigs[0].safetyParam != 0):
-    return None
-  fd = cp.carFingerprint in CANFD
-  if ((fd and (not cp.flags & FordFlags.CANFD or cp.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM))) or
-      (not fd and (cp.carFingerprint not in CLASSIC or cp.flags & ~int(FordFlags.HAS_BSM)))):
-    return None
-  safety = cp.safetyConfigs[-1]
-  long = int(cp.openpilotLongitudinalControl)
-  original = (18 if cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 else 66) + long if fd else 32 + long
-  manual = cp.transmissionType == structs.CarParams.TransmissionType.manual
-  if cp.transmissionType not in (structs.CarParams.TransmissionType.automatic, structs.CarParams.TransmissionType.manual):
-    return None
-  if cp.alternativeExperience == 32:
-    expected = original | (256 if manual else 0) | (ANGLE_FLAG if selected else 0)
-  else:
-    expected = ANGLE_FLAG + (2 if fd else 0) + long if selected else original
-  valid = (safety.safetyModel == structs.CarParams.SafetyModel.ford and base_word(safety.safetyParam) == expected and
-           (safety.safetyParam == expected or configured(cp)))
-  return expected if valid else None
-
-
-def supported(cp):
-  return mode_word(cp, selected=False) is not None or mode_word(cp, selected=True) is not None
-
-
-def qualified(cp):
-  return mode_word(cp, selected=True) is not None
-
-
-def select(cp, raw):
-  # Absence/invalid bytes stay at current curvature. Never rewrite saved bytes.
-  chosen = (type(raw) is int and raw == 1) or (type(raw) in (bytes, str) and raw in (b"1", "1"))
-  if not chosen or mode_word(cp, selected=False) is None:
-    return False
-  if cp.alternativeExperience == 32:
-    cp.safetyConfigs[-1].safetyParam |= ANGLE_FLAG
-  else:
-    metadata = cp.safetyConfigs[-1].safetyParam & PINION_MASK
-    cp.safetyConfigs[-1].safetyParam = (ANGLE_FLAG + (2 if cp.flags & FordFlags.CANFD else 0) + int(cp.openpilotLongitudinalControl)) | metadata
-  cp.steerActuatorDelay = 0.22
-  return True
-
-
-def model_geometry(model, *, fresh=False):
-  """Project a caller-qualified snapshot to immutable core arrays; no model imports."""
-  if model is None or fresh is not True:
-    return None
-  try:
-    position_x, position_y = tuple(model.position.x), tuple(model.position.y)
-  except (AttributeError, TypeError, ValueError):
-    return None
-  try:
-    return LaneGeometry(position_x=position_x, position_y=position_y, fresh=True, left_x=tuple(model.laneLines[1].x), left_y=tuple(model.laneLines[1].y),
-                        right_x=tuple(model.laneLines[2].x), right_y=tuple(model.laneLines[2].y),
-                        probabilities=(model.laneLineProbs[1], model.laneLineProbs[2]),
-                        standard_deviations=(model.laneLineStds[1], model.laneLineStds[2]))
-  except (AttributeError, IndexError, TypeError, ValueError):
-    return LaneGeometry(position_x=position_x, position_y=position_y, fresh=True)
-
-
-class Host:
-  def __init__(self, cp):
-    if not qualified(cp):
-      raise ValueError("BluePilot angle requires an exact admitted Ford safety word")
-    low, high = (0.95, 0.95) if cp.carFingerprint in TRUCKS else ((1.0, 1.05) if cp.carFingerprint in CANFD else (1.0, 1.15))
-    self.cp = cp
-    from opendbc.car.ford.pinion import Measurement
-    self.measurement = Measurement(cp)
-    self.controller = AngleController(low_gain=low, high_gain=high)
-    self.inputs = None
-    self.steering_rejected = False
-
-  def update(self, CC, CS):
-    if self.inputs is not None:
-      self.inputs.update()
-      self.measurement.update_parameters(getattr(self.inputs, "vehicle_parameters", None))
-    snapshot = self.inputs.lateral_snapshot(CS.out.vEgoRaw, angle=True) if self.inputs is not None else None
-    model, times, delay, _ = snapshot if snapshot is not None else (None, (), 0.15, True)
-    aol = self.cp.alternativeExperience == 32
-    # The host is constructed before AOL marks the final CarParams.
-    # Retained AOL keeps EPS engaged through release and tracking error;
-    # physical human-turn pauses and fault recovery remain independent.
-    self.controller.recovery_blips = not aol
-    ordinary = CC.enabled and CS.out.cruiseState.enabled and not CS.out.gasPressed and not CS.out.brakePressed
-    ready = (self.inputs is not None and self.inputs.native_permission(self.cp, max_age_ns=bounds.PANDA_AGE_NS) and
-             (aol and CS.out.cruiseState.available or ordinary) and CC.latActive and CS.out.canValid and
-             not CS.out.canTimeout and
-             (not aol or CS.out.gearShifter in (structs.CarState.GearShifter.drive,
-                                              structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low)) and
-             not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and not CS.out.vehicleSensorsInvalid)
-    # Only an actual steering/shadow rejection invalidates its accepted path
-    # and counter history. Unrelated ACC/UI rejections do not reset steering.
-    rejected, self.steering_rejected = self.steering_rejected, False
-    ready = ready and not rejected
-    speed_min = speed_max = None
-    speed_window = getattr(CS, "bluepilot_speed_window", None)
-    if speed_window is not None:
-      low, high, step = speed_window
-      # Allow source progress across the existing 100 ms CAN freshness window.
-      margin = max(0.05, 5 * step)
-      speed_min = max(0.1, min(low, CS.out.vEgoRaw) - margin)
-      speed_max = max(high, CS.out.vEgoRaw, 0.1) + margin
-    meta = model.meta if model is not None else None
-    return self.controller.step(Inputs(
-      active=ready, speed=CS.out.vEgoRaw, measured_curvature=self.measurement.curvature(CS.out),
-      desired_curvature=CC.actuators.curvature, steering_pressed=CS.out.steeringPressed,
-      steering_angle=CS.out.steeringAngleDeg, yaw_predictions=tuple(model.orientationRate.z) if model is not None else (),
-      time_indices=tuple(times), lateral_delay=delay,
-      lane_change=int(getattr(meta.laneChangeState, "raw", meta.laneChangeState)) in (1, 2, 3) if meta else False,
-      lane_direction=int(getattr(meta.laneChangeDirection, "raw", meta.laneChangeDirection)) if meta else 0,
-      limit_status=getattr(CS, "lat_ctl_lim_stat", 0),
-      geometry=model_geometry(model, fresh=snapshot is not None), speed_min=speed_min, speed_max=speed_max))

opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot/lateral.py

@@ -0,0 +1,40 @@
+"""
+BluePilot: the StarPilot host adapter for the lateral (HOSTS.md). StarPilot's Ford CarController builds this
+from CarParams alone (the startup bits ride its Ford safetyParam, safety_param.py). StarPilot has no
+CarControl extension: its openpilot side hands the CarController a FrameInputs each frame instead, carrying
+what sunnypilot and IQ.Pilot carry in theirs.
+"""
+from dataclasses import dataclass, field
+
+from ...core import carcontroller_ext
+from ...host_types import LateralInputs
+from ...params.param_store import ParamStore
+from .safety_param import bp_safety_param
+
+
+@dataclass
+class FrameInputs:
+  """This frame's model / vehicle-parameter inputs and settings, filled by StarPilot's openpilot side."""
+
+  @dataclass
+  class Param:
+    key: str = ""
+    value: bytes = b""
+
+  lateralInputs: LateralInputs = field(default_factory=LateralInputs)
+  params: list = field(default_factory=list)
+
+
+def params_from_frame(frame_inputs: FrameInputs) -> ParamStore:
+  """The settings StarPilot published this frame (FrameInputs.params entries) as (key, value) pairs."""
+  return ParamStore((p.key, p.value) for p in frame_inputs.params)
+
+
+class BluePilotLateral(carcontroller_ext.BluePilotLateral):
+  def __init__(self, CP, packer, CAN):
+    super().__init__(CP, bp_safety_param(CP), packer, CAN)
+
+  def update(self, frame_inputs: FrameInputs, frame):
+    """Every frame: the inputs and settings StarPilot's openpilot side put in frame_inputs. Returns whether
+    BluePilot lateral is active."""
+    return super().update(frame_inputs.lateralInputs, params_from_frame(frame_inputs), frame)

opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot/safety_param.py

@@ -0,0 +1,37 @@
+"""
+BluePilot: the startup safety bits onto StarPilot's Ford safetyParam (HOSTS.md). StarPilot has no second
+safety param, so the bits ride its one Ford param at bits 9-14, clear of the bits StarPilot's Ford safety
+reads (0-3, and 8 for its AOL's manual transmission). Its own module, so car init imports only values_ext,
+not the whole lateral.
+"""
+from ....car import structs
+from ....car.ford.values import FordFlags
+from ...core.values_ext import ford_safety_param
+
+BP_SAFETY_PARAM_SHIFT = 9
+BP_SAFETY_PARAM_MASK = 0x3F  # ford_safety_param's six bits, before the shift
+# StarPilot's Transit steers through Lane_Assist_Data1 alone: no BluePilot lateral
+LKA_STEERING = getattr(FordFlags, "LKA_STEERING", 0)
+
+
+def init_ford_safety_param_starpilot(CP: structs.CarParams, params_dict: dict[str, str]) -> None:
+  """Called from StarPilot's Ford interface at car init, after its own safetyParam bits are set. The
+  shifted bits reach the panda with the Ford safety mode; StarPilot's ford_init passes them to ford_bp_init."""
+  if CP.brand != 'ford' or CP.flags & LKA_STEERING:
+    return
+  bits = ford_safety_param(CP, params_dict)
+  if bits:
+    CP.safetyConfigs[-1].safetyParam |= bits << BP_SAFETY_PARAM_SHIFT
+
+
+def bp_safety_param(CP: structs.CarParams) -> int:
+  """The startup bits as ford_safety_param returned them: what BluePilotLateral and ford_bp_init take."""
+  if not CP.safetyConfigs:
+    return 0
+  return (CP.safetyConfigs[-1].safetyParam >> BP_SAFETY_PARAM_SHIFT) & BP_SAFETY_PARAM_MASK
+
+
+def lateral_inputs_required(CP: structs.CarParams) -> bool:
+  """Whether StarPilot's openpilot side fills the per-frame inputs and settings: every Ford the lateral can
+  run on, BluePilot lateral on or off."""
+  return CP.brand == 'ford' and not CP.flags & LKA_STEERING

opendbc_repo/opendbc/bluepilot_lateral/hosts/sunnypilot/lateral.py

@@ -0,0 +1,21 @@
+"""
+BluePilot: the sunnypilot host adapter for the lateral (HOSTS.md). The Ford CarController builds this
+with sunnypilot's types; it hands the core the library's types and nothing sunnypilot-specific.
+"""
+from ...core import carcontroller_ext
+from ...params.param_store import ParamStore
+
+
+def params_from_cc_sp(CC_SP) -> ParamStore:
+  """The settings sunnypilot published this frame (CarControlSP.params entries) as (key, value) pairs."""
+  return ParamStore((p.key, p.value) for p in CC_SP.params)
+
+
+class BluePilotLateral(carcontroller_ext.BluePilotLateral):
+  def __init__(self, CP, CP_SP, packer, CAN):
+    super().__init__(CP, CP_SP.safetyParam, packer, CAN)
+
+  def update(self, CC_SP, frame):
+    """Every frame: the inputs and settings sunnypilot's controlsd put in CarControlSP. Returns whether
+    BluePilot lateral is active."""
+    return super().update(CC_SP.lateralInputs, params_from_cc_sp(CC_SP), frame)

opendbc_repo/opendbc/bluepilot_lateral/hosts/sunnypilot/safety_param.py

@@ -0,0 +1,15 @@
+"""
+BluePilot: the startup safety bits onto sunnypilot's CarParamsSP (HOSTS.md). Its own module, so car
+init imports only values_ext, not the whole lateral.
+"""
+from ....car import structs
+from ...core.values_ext import ford_safety_param
+
+
+def init_ford_safety_param_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params_dict: dict[str, str]) -> None:
+  """Called from sunnypilot's setup_interfaces at car init. CP_SP.safetyParam reaches the panda as
+  current_safety_param_sp (USB 0xdf); lateralInputsRequired tells the host to fill
+  CarControlSP.lateralInputs and the per-frame settings, for every Ford (BluePilot lateral on or off)."""
+  CP_SP.safetyParam |= ford_safety_param(CP, params_dict)
+  if CP.brand == 'ford':
+    CP_SP.lateralInputsRequired = True

opendbc_repo/opendbc/bluepilot_lateral/params/generate.py

@@ -1,41 +0,0 @@
-"""Generate protocol constants without loading a host or vehicle module."""
-import json
-from pathlib import Path
-
-root = Path(__file__).parent
-spec = json.loads((root / "protocol.json").read_text())
-(root / "protocol.py").write_text('"""Generated from protocol.json; layout preserves the existing curvature flag."""\n' +
-                                "".join(f"{key.upper()} = {value!r}\n" for key, value in spec.items()))
-(root / "protocol.h").write_text("#pragma once\n// Generated from protocol.json; do not allocate bit 1 to angle metadata.\n" +
-                               "".join(f"#define FORD_BP_{key.upper()} {int(value)}U\n" for key, value in spec.items() if key != "shadow_scale"))
-
-manifest = json.loads((root / "manifest.json").read_text())
-defaults, bounds = manifest["defaults"], manifest["bounds"]
-limits = {"BLEND": defaults["blend"], "VLT_EXTRA": defaults["vlt_extra_max"],
-          "PATH_MIN": bounds["path_angle_wire"][0], "PATH_MAX": bounds["path_angle_wire"][1],
-          "GAIN_MIN": bounds["gain"][0], "GAIN_MAX": bounds["gain"][1],
-          "CURVATURE_MAX": bounds["curvature"], "CURVATURE_ERROR": bounds["curvature_error"],
-          "LATERAL_ACCEL": bounds["lateral_accel"], "RX_AGE_US": bounds["rx_age_us"],
-          "SHADOW_AGE_US": bounds["shadow_age_us"], "PATH_ROUNDING_MARGIN": bounds["path_rounding_margin"],
-          "SHADOW_ROUNDING_MARGIN": bounds["shadow_rounding_margin"], "LATERAL_JERK": bounds["lateral_jerk"],
-          "RT_INTERVAL_US": bounds["rt_interval_us"], "STEER_PERIOD_US": bounds["steer_period_us"],
-          "CORE_STEER_PERIOD_S": bounds["core_steer_period_s"], "PANDA_AGE_NS": bounds["panda_age_ns"]}
-(root / "limits.py").write_text('"""Generated from manifest.json; host and core use this manifest contract."""\n' +
-                               "".join(f"{key} = {value!r}\n" for key, value in limits.items()))
-(root / "limits.h").write_text("#pragma once\n// Generated from manifest.json; native and Python bounds share a source.\n" +
-                              "".join(f"#define FORD_BP_{key} {str(value) + 'F' if isinstance(value, float) else str(value) + 'U'}\n"
-                                      for key, value in limits.items()))
-
-# Optional angle trim settings are Python-only; native safety limits stay unchanged.
-trim = manifest["angle_lane_trim"]
-types = {"enabled": "bool", "offset_m": "float", "gain": "float"}
-defaults_fields = "".join(f"  {key}: {types[key]}\n" for key in trim["defaults"])
-bounds_fields = "".join(f"  {key}: {'list[float]' if isinstance(value, list) else 'float'}\n" for key, value in trim["bounds"].items())
-(root / "trim.py").write_text('"""Generated Python-only angle trim defaults; no native bound or registry changes."""\n' +
-                             "from typing import TypedDict\n\n\n" +
-                             "class TrimDefaults(TypedDict):\n" + defaults_fields + "\n\n" +
-                             "class TrimBounds(TypedDict):\n" + bounds_fields + "\n\n" +
-                             f"SOURCE_REVISION = {trim['source_revision']!r}\n" +
-                             f"DEFAULTS: TrimDefaults = {trim['defaults']!r}\n" +
-                             "BOUNDS: TrimBounds = {\n" +
-                             "".join(f"  {key!r}: {value!r},\n" for key, value in trim["bounds"].items()) + "}\n")

opendbc_repo/opendbc/bluepilot_lateral/params/limits.h

@@ -1,20 +0,0 @@
-#pragma once
-// Generated from manifest.json; native and Python bounds share a source.
-#define FORD_BP_BLEND 0.5F
-#define FORD_BP_VLT_EXTRA 0.1F
-#define FORD_BP_PATH_MIN -0.5F
-#define FORD_BP_PATH_MAX 0.5235F
-#define FORD_BP_GAIN_MIN 0.95F
-#define FORD_BP_GAIN_MAX 1.3F
-#define FORD_BP_CURVATURE_MAX 0.02F
-#define FORD_BP_CURVATURE_ERROR 0.002F
-#define FORD_BP_LATERAL_ACCEL 2.4114F
-#define FORD_BP_RX_AGE_US 100000U
-#define FORD_BP_SHADOW_AGE_US 60000U
-#define FORD_BP_PATH_ROUNDING_MARGIN 0.0005F
-#define FORD_BP_SHADOW_ROUNDING_MARGIN 1e-06F
-#define FORD_BP_LATERAL_JERK 3.5886F
-#define FORD_BP_RT_INTERVAL_US 250000U
-#define FORD_BP_STEER_PERIOD_US 50000U
-#define FORD_BP_CORE_STEER_PERIOD_S 0.045F
-#define FORD_BP_PANDA_AGE_NS 300000000U

opendbc_repo/opendbc/bluepilot_lateral/params/limits.py

@@ -1,19 +0,0 @@
-"""Generated from manifest.json; host and core use this manifest contract."""
-BLEND = 0.5
-VLT_EXTRA = 0.1
-PATH_MIN = -0.5
-PATH_MAX = 0.5235
-GAIN_MIN = 0.95
-GAIN_MAX = 1.3
-CURVATURE_MAX = 0.02
-CURVATURE_ERROR = 0.002
-LATERAL_ACCEL = 2.4114
-RX_AGE_US = 100000
-SHADOW_AGE_US = 60000
-PATH_ROUNDING_MARGIN = 0.0005
-SHADOW_ROUNDING_MARGIN = 1e-06
-LATERAL_JERK = 3.5886
-RT_INTERVAL_US = 250000
-STEER_PERIOD_US = 50000
-CORE_STEER_PERIOD_S = 0.045
-PANDA_AGE_NS = 300000000

opendbc_repo/opendbc/bluepilot_lateral/params/manifest.json

@@ -1,109 +0,0 @@
-{
-  "source_revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a",
-  "settings": [
-    {
-      "key": "FordLateralMode",
-      "type": "enum",
-      "default": 0,
-      "values": {
-        "0": "Current curvature",
-        "1": "BluePilot angle"
-      },
-      "label": "Ford steering controller",
-      "description": "Select the steering controller for supported Ford profiles. Takes effect on the next drive.",
-      "modes": [
-        "angle"
-      ]
-    }
-  ],
-  "defaults": {
-    "blend": 0.5,
-    "vlt_extra_max": 0.1,
-    "low_speed_factor": 1.0,
-    "high_speed_factor": 1.0,
-    "dampening": 1.0,
-    "lane_change_factor": 1.0
-  },
-  "bounds": {
-    "path_angle_wire": [
-      -0.5,
-      0.5235
-    ],
-    "gain": [
-      0.95,
-      1.3
-    ],
-    "curvature_error": 0.002,
-    "lateral_accel": 2.4114,
-    "rx_age_us": 100000,
-    "shadow_age_us": 60000,
-    "steer_period_us": 50000,
-    "curvature": 0.02,
-    "path_rounding_margin": 0.0005,
-    "shadow_rounding_margin": 1e-06,
-    "lateral_jerk": 3.5886,
-    "rt_interval_us": 250000,
-    "core_steer_period_s": 0.045,
-    "panda_age_ns": 300000000
-  },
-  "angle_lane_trim": {
-    "source_revision": "e22afa6be9b881fa784c92ebb316db47728a3d81",
-    "defaults": {
-      "enabled": false,
-      "offset_m": 0.0,
-      "gain": 0.25
-    },
-    "bounds": {
-      "offset_m": [
-        -0.5,
-        0.5
-      ],
-      "gain": [
-        0.0,
-        1.0
-      ],
-      "width_m": [
-        2.4,
-        2.8,
-        3.75,
-        4.25
-      ],
-      "width_tolerance": [
-        0.0,
-        0.81,
-        0.81,
-        0.59
-      ],
-      "std": [
-        0.3,
-        0.5
-      ],
-      "std_tolerance": [
-        0.81,
-        0.0
-      ],
-      "confidence": [
-        0.6,
-        0.8
-      ],
-      "speed_mps": [
-        0.0,
-        9.0,
-        15.0
-      ],
-      "speed_authority": [
-        0.0,
-        0.0,
-        1.0
-      ],
-      "lookahead_m": [
-        8.0,
-        35.0
-      ],
-      "raw_correction": 0.004,
-      "tau_s": 0.4,
-      "period_s": 0.05,
-      "correction_delta": 0.00015
-    }
-  }
-}

opendbc_repo/opendbc/bluepilot_lateral/params/manifest.py

@@ -0,0 +1,137 @@
+"""
+BluePilot: every setting the lateral library reads, in one place.
+
+Each Setting says what the host stores (key, type, default: its params_keys.h line), what the user
+sees (label, description, range: the BluePilot UI's text and limits), and how the library reads it
+(at startup, every frame or both; clamped to its range or not). The library reads every setting
+through `value` (per frame, from the CarControlSP.params ParamStore) or `startup_value` (get_car's
+params dict), with one rule: a published, parseable value is used; missing, empty or unparsable
+gives the default.
+
+`python -m <pkg>.bluepilot_lateral.params.manifest` prints the lines for a host's params_keys.h (<pkg>: the host's opendbc package).
+"""
+from dataclasses import dataclass
+from typing import Literal
+
+STARTUP, PER_FRAME, BOTH = "startup", "per-frame", "both"
+
+
+@dataclass(frozen=True)
+class Setting:
+  key: str
+  type: type
+  default: bool | int | float
+  read: Literal["startup", "per-frame", "both"]
+  label: str
+  description: str
+  range: tuple[float, float] | None = None  # the UI's limits
+  clamp: bool = False  # the library clamps to range (the angle-mode factors only, as BluePilot does)
+
+
+SETTINGS: tuple[Setting, ...] = (
+  Setting("disable_BP_lat_UI", bool, False, BOTH, "Disable BP Lateral Control",
+          "Disable BluePilot lateral control."),
+  Setting("enable_human_turn_detection_curv", bool, True, PER_FRAME, "Enable Human Turn Detection",
+          "Enable detection of human-initiated turns."),
+  Setting("enable_lane_positioning_curv", bool, False, PER_FRAME, "Enable Lane Positioning",
+          "Enable custom lane positioning controls."),
+  Setting("enable_lane_full_mode_curv", bool, False, PER_FRAME, "Enable Lanefull Mode",
+          "Enable lanefull mode for lane positioning."),
+  Setting("enable_lane_positioning_ang", bool, False, PER_FRAME, "Enable Lane Positioning",
+          "Nudge the vehicle toward true lane-line center (plus optional bias) while in angle-primary control."),
+  Setting("FordPrefLateralControl", int, 0, PER_FRAME, "Primary Control Variable",
+          "Curvature matches the existing strategy. Angle uses path_angle as the main actuator (in development).",
+          range=(0, 1)),
+  # an on/off toggle in the UI, stored as INT
+  Setting("custom_profile_curv", int, 0, PER_FRAME, "Use Custom Tuning Profile",
+          "Enable custom tuning profile settings.", range=(0, 1)),
+  Setting("lane_change_factor_high_curv", float, 0.85, PER_FRAME, "Lane Change Factor High",
+          "Scales steering during a lane change (curvature control). Values <1.0 reduce it.", range=(0.5, 1.0)),
+  Setting("pc_blend_ratio_high_C_UI_curv", float, 0.4, PER_FRAME, "Predicted Curvature Blend Ratio High",
+          "Adjust the high curvature blend ratio (0.0-1.0).", range=(0.0, 1.0)),
+  Setting("pc_blend_ratio_low_C_UI_curv", float, 0.4, PER_FRAME, "Predicted Curvature Blend Ratio Low",
+          "Adjust the low curvature blend ratio (0.0-1.0).", range=(0.0, 1.0)),
+  Setting("custom_path_offset_curv", float, 0.0, PER_FRAME, "In-Lane Offset",
+          "Adjust the in-lane offset (-0.5 to 0.5).", range=(-0.5, 0.5)),
+  Setting("LC_PID_gain_UI_curv", float, 1.0, PER_FRAME, "Centering PID gain",
+          "PID gain for the curvature-mode centering controller. Applies whenever lane positioning is on.",
+          range=(0.0, 50.0)),
+  Setting("FordLowSpeedFactor_ang", float, 1.0, PER_FRAME, "Low Speed Adjustment Factor",
+          "Scales the low-speed steering response in angle mode. Adjust for personal feel. Default 1.0.",
+          range=(0.5, 1.5), clamp=True),
+  Setting("FordHighSpeedFactor_ang", float, 1.0, PER_FRAME, "High Speed Adjustment Factor",
+          "Scales the high-speed steering response in angle mode. Adjust for personal feel. Default 1.0.",
+          range=(0.5, 1.5), clamp=True),
+  Setting("FordHighSpeedDampening_ang", float, 1.0, PER_FRAME, "High Speed Low Curve Adjustment Factor",
+          "Tune adjustment factor for low curve straightaways (highways) at high speeds. If oversteering, reduce. " +
+          "If understeering, increase", range=(0.25, 1.25), clamp=True),
+  Setting("lane_change_factor_high_ang", float, 1.0, PER_FRAME, "Lane Change Factor High",
+          "Scales steering during a lane change (angle control). Values >1.0 boost it.", range=(0.85, 1.5), clamp=True),
+  Setting("custom_path_offset_ang", float, 0.0, PER_FRAME, "In-Lane Offset",
+          "Adjust the in-lane offset (-0.5 to 0.5).", range=(-0.5, 0.5), clamp=True),
+  Setting("lane_centering_strength_ang", float, 0.25, PER_FRAME, "Lane Centering Strength",
+          "How much authority the lane centering trim has vs. the model's own path (0.0-1.0).",
+          range=(0.0, 1.0), clamp=True),
+  Setting("FordPrefSteerAngleCurvature", bool, False, STARTUP, "Use Pinion Yaw Sensor",
+          "Measures how the car is turning from the steering pinion angle sensor instead of a faulty RCM yaw sensor " +
+          '(symptoms: "Turn Exceeds Steering Limit" warnings, weak curve tracking, "Service AdvanceTrac"). Check with ' +
+          "tools/ford_yaw_health_check.py. Applies the next time the car starts. Not available on the Edge."),
+)
+
+_BY_KEY = {s.key: s for s in SETTINGS}
+
+# what a host publishes in CarControlSP.params every frame (values_ext.BP_LATERAL_PARAMS)
+PER_FRAME_KEYS = tuple(s.key for s in SETTINGS if s.read != STARTUP)
+
+
+def _parse(setting: Setting, raw):
+  """The setting's value from what the host gave, or None if there is nothing usable."""
+  if isinstance(raw, (bytes, bytearray)):
+    raw = raw.decode("utf-8", errors="replace")
+  if raw is None or raw == "":
+    return None
+  if setting.type is bool:
+    if isinstance(raw, (bool, int)):
+      return bool(raw)
+    text = str(raw).strip().lower()
+    return True if text in ("1", "true") else False if text in ("0", "false") else None
+  try:
+    v = setting.type(raw)
+  except (TypeError, ValueError):
+    return None
+  if setting.clamp and setting.range is not None:
+    v = setting.type(min(max(v, setting.range[0]), setting.range[1]))
+  return v
+
+
+def default(key: str):
+  return _BY_KEY[key].default
+
+
+def value(params, key: str):
+  """A per-frame setting from the host's ParamStore (built from this frame's (key, value) pairs)."""
+  setting = _BY_KEY[key]
+  assert setting.read != STARTUP, f"{key} is read at startup only: hosts don't publish it per frame"
+  v = _parse(setting, params.get(key))
+  return setting.default if v is None else v
+
+
+def startup_value(params_dict: dict, key: str):
+  """A startup setting from get_car's params dict (values as Params returned them)."""
+  setting = _BY_KEY[key]
+  assert setting.read != PER_FRAME, f"{key} is read per frame only: hosts don't pass it at startup"
+  v = _parse(setting, params_dict.get(key))
+  return setting.default if v is None else v
+
+
+def params_keys_lines() -> list[str]:
+  """A host's params_keys.h entries for every setting."""
+  types = {bool: "BOOL", int: "INT", float: "FLOAT"}
+
+  def text(s):
+    return ("1" if s.default else "0") if s.type is bool else str(s.default)
+  return [f'{{"{s.key}", {{PERSISTENT | BACKUP, {types[s.type]}, "{text(s)}"}}}},' for s in SETTINGS]
+
+
+if __name__ == "__main__":
+  print("\n".join(params_keys_lines()))

opendbc_repo/opendbc/bluepilot_lateral/params/param_store.py

@@ -0,0 +1,17 @@
+"""
+BluePilot: the settings a host published this frame, by key (HOSTS.md). The lateral code reads every
+setting through params/manifest.py's value(), which parses the published text and takes the manifest
+default for a key that is missing, empty or unparsable. A host publishes every per-frame key anyway,
+using its own registry default for one never written.
+"""
+
+
+class ParamStore:
+  def __init__(self, pairs):
+    """pairs: the (key, value) settings a host published this frame, value as bytes or text."""
+    self._values = dict(pairs)
+
+  def get(self, key):
+    """The published value as text, or None if the host didn't publish the key."""
+    v = self._values.get(key)
+    return v.decode("utf-8", errors="replace") if isinstance(v, (bytes, bytearray)) else v

opendbc_repo/opendbc/bluepilot_lateral/params/protocol.h

@@ -1,10 +0,0 @@
-#pragma once
-// Generated from protocol.json; do not allocate bit 1 to angle metadata.
-#define FORD_BP_VERSION 1U
-#define FORD_BP_ANGLE_MASK 1U
-#define FORD_BP_EXTENDED_CURVATURE_MASK 2U
-#define FORD_BP_COUNTER_SHIFT 2U
-#define FORD_BP_COUNTER_MASK 28U
-#define FORD_BP_COUNTER_MODULUS 8U
-#define FORD_BP_VERSION_MASK 15U
-#define FORD_BP_CHECKSUM_SHIFT 4U

opendbc_repo/opendbc/bluepilot_lateral/params/protocol.json

@@ -1,11 +0,0 @@
-{
-  "version": 1,
-  "angle_mask": 1,
-  "extended_curvature_mask": 2,
-  "counter_shift": 2,
-  "counter_mask": 28,
-  "counter_modulus": 8,
-  "shadow_scale": 1e-06,
-  "version_mask": 15,
-  "checksum_shift": 4
-}

opendbc_repo/opendbc/bluepilot_lateral/params/protocol.py

@@ -1,10 +0,0 @@
-"""Generated from protocol.json; layout preserves the existing curvature flag."""
-VERSION = 1
-ANGLE_MASK = 1
-EXTENDED_CURVATURE_MASK = 2
-COUNTER_SHIFT = 2
-COUNTER_MASK = 28
-COUNTER_MODULUS = 8
-SHADOW_SCALE = 1e-06
-VERSION_MASK = 15
-CHECKSUM_SHIFT = 4

opendbc_repo/opendbc/bluepilot_lateral/params/trim.py

@@ -1,45 +0,0 @@
-"""Generated Python-only angle trim defaults; no native bound or registry changes."""
-from typing import TypedDict
-
-
-class TrimDefaults(TypedDict):
-  enabled: bool
-  offset_m: float
-  gain: float
-
-
-class TrimBounds(TypedDict):
-  offset_m: list[float]
-  gain: list[float]
-  width_m: list[float]
-  width_tolerance: list[float]
-  std: list[float]
-  std_tolerance: list[float]
-  confidence: list[float]
-  speed_mps: list[float]
-  speed_authority: list[float]
-  lookahead_m: list[float]
-  raw_correction: float
-  tau_s: float
-  period_s: float
-  correction_delta: float
-
-
-SOURCE_REVISION = 'e22afa6be9b881fa784c92ebb316db47728a3d81'
-DEFAULTS: TrimDefaults = {'enabled': False, 'offset_m': 0.0, 'gain': 0.25}
-BOUNDS: TrimBounds = {
-  'offset_m': [-0.5, 0.5],
-  'gain': [0.0, 1.0],
-  'width_m': [2.4, 2.8, 3.75, 4.25],
-  'width_tolerance': [0.0, 0.81, 0.81, 0.59],
-  'std': [0.3, 0.5],
-  'std_tolerance': [0.81, 0.0],
-  'confidence': [0.6, 0.8],
-  'speed_mps': [0.0, 9.0, 15.0],
-  'speed_authority': [0.0, 0.0, 1.0],
-  'lookahead_m': [8.0, 35.0],
-  'raw_correction': 0.004,
-  'tau_s': 0.4,
-  'period_s': 0.05,
-  'correction_delta': 0.00015,
-}

opendbc_repo/opendbc/bluepilot_lateral/safety/ford.h

@@ -0,0 +1,383 @@
+/**
+ * BluePilot Ford lateral-control extensions: state and implementations.
+ * See ford_declarations.h in this directory for the declarations.
+ */
+
+#pragma once
+
+#include "../safety/ford_declarations.h"
+#include "../safety/lateral.h"
+
+// ===============================
+// Global Variables
+// ===============================
+
+bool ford_bp_lateral = false;  // SP safety-param bit 5: BP 4-signal lateral checks instead of stock
+bool ford_bp_pinion_curvature = false;
+const AngleSteeringParams *ford_bp_pinion_params = &ford_pinion_geometry[0];
+
+// BluePilot: per-platform geometry for pinion-angle -> curvature conversion (the optional
+// angle_meas source), selected by the 4-bit geometry index in current_safety_param_sp
+// bits 1-4. Row order and values must match FORD_PINION_GEOMETRY_INDEX in
+// bluepilot_lateral/core/values_ext.py (enforced by test_ford_bluepilot_pinion.py's
+// geometry test against CarSpecs + calc_slip_factor(VehicleModel(CP)), with the wheelbase
+// overrides in FORD_PINION_WHEELBASE applied).
+// Index 0 is reserved as invalid; ford_bp_init disables the feature outright on a zero or
+// out-of-range index so a half-configured param can never select the wrong geometry.
+// FORD_EDGE_MK2 (ALT_STEER_ANGLE: relative pinion angle + learned offset) is unsupported
+// and deliberately absent.
+const AngleSteeringParams ford_pinion_geometry[FORD_PINION_GEOMETRY_ROWS] = {
+  {.slip_factor = 0.0f, .steer_ratio = 1.0f, .wheelbase = 1.0f},                  // 0: invalid
+  {.slip_factor = -0.00062819555f, .steer_ratio = 17.7f, .wheelbase = 2.670f},    // 1: FORD_BRONCO_SPORT_MK1
+  {.slip_factor = -0.00061892325f, .steer_ratio = 16.7f, .wheelbase = 2.710f},    // 2: FORD_ESCAPE_MK4
+  {.slip_factor = -0.00061892325f, .steer_ratio = 16.7f, .wheelbase = 2.710f},    // 3: FORD_ESCAPE_MK4_5
+  {.slip_factor = -0.00045454798f, .steer_ratio = 17.0f, .wheelbase = 3.690f},    // 4: FORD_EXPEDITION_MK4
+  {.slip_factor = -0.00055447339f, .steer_ratio = 16.8f, .wheelbase = 3.025f},    // 5: FORD_EXPLORER_MK6
+  {.slip_factor = -0.00062121569f, .steer_ratio = 15.0f, .wheelbase = 2.700f},    // 6: FORD_FOCUS_MK4
+  {.slip_factor = -0.00045331952f, .steer_ratio = 16.9f, .wheelbase = 3.700f},    // 7: FORD_F_150_LIGHTNING_MK1
+  {.slip_factor = -0.00043679222f, .steer_ratio = 17.0f, .wheelbase = 3.840f},    // 8: FORD_F_150_MK14 (average wheelbase, #21)
+  {.slip_factor = -0.00054528036f, .steer_ratio = 17.0f, .wheelbase = 3.076f},    // 9: FORD_MAVERICK_MK1
+  {.slip_factor = -0.00058852001f, .steer_ratio = 14.8f, .wheelbase = 2.850f},    // 10: FORD_MONDEO_MK5
+  {.slip_factor = -0.00056209187f, .steer_ratio = 17.0f, .wheelbase = 2.984f},    // 11: FORD_MUSTANG_MACH_E_MK1
+  {.slip_factor = -0.00051293030f, .steer_ratio = 17.0f, .wheelbase = 3.270f},    // 12: FORD_RANGER_MK2
+};
+
+bool ford_bp_angle_mode_engaged = false;
+int16_t ford_bp_shadow_curvature_raw = 0;  // wire units, scale 1e-6 1/m (LANE_ASSIST_DATA1.md)
+
+int desired_path_angle_last = 0;
+int desired_path_offset_last = 0;
+
+
+// ===============================
+// Function Implementations
+// ===============================
+
+static inline bool path_angle_cmd_checks(int desired_path_angle, bool steer_control_enabled, const AngleSteeringLimits limits) {
+  bool violation = false;
+
+  if (steer_control_enabled) {
+    float speed = ((float)vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
+
+    int delta_path_angle_roc = (safety_interpolate(limits.angle_rate_up_lookup, speed) * limits.angle_deg_to_can) + 1.;
+
+    int highest_desired_path_angle = desired_path_angle_last + delta_path_angle_roc;
+    int lowest_desired_path_angle = desired_path_angle_last - delta_path_angle_roc;
+
+    violation |= safety_max_limit_check(desired_path_angle, highest_desired_path_angle, lowest_desired_path_angle);
+    FORD_BP_DBG("path_angle_cmd_checks 1: desired_path_angle: %d desired_path_angle_last: %d highest_desired_path_angle: %d lowest_desired_path_angle: %d violation: %d \n",
+                desired_path_angle, desired_path_angle_last, highest_desired_path_angle, lowest_desired_path_angle, (int)violation);
+  }
+  desired_path_angle_last = desired_path_angle;
+
+  if (!steer_control_enabled) {
+    violation |= (desired_path_angle != 0);
+  }
+  FORD_BP_DBG("path_angle_cmd_checks 2: violation: %d \n", (int)violation);
+
+  return violation;
+}
+
+static inline bool path_offset_cmd_checks(int desired_path_offset, bool steer_control_enabled, const AngleSteeringLimits limits) {
+  bool violation = false;
+
+  if (steer_control_enabled) {
+    float speed = ((float)vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
+
+    int delta_path_offset_roc = (safety_interpolate(limits.angle_rate_up_lookup, speed) * limits.angle_deg_to_can) + 1.;
+
+    int highest_desired_path_offset = desired_path_offset_last + delta_path_offset_roc;
+    int lowest_desired_path_offset = desired_path_offset_last - delta_path_offset_roc;
+
+    violation |= safety_max_limit_check(desired_path_offset, highest_desired_path_offset, lowest_desired_path_offset);
+    FORD_BP_DBG("path_offset_cmd_checks 1: desired_path_offset: %d desired_path_offset_last: %d highest_desired_path_offset: %d lowest_desired_path_offset: %d violation: %d \n",
+                desired_path_offset, desired_path_offset_last, highest_desired_path_offset, lowest_desired_path_offset, (int)violation);
+
+  }
+  desired_path_offset_last = desired_path_offset;
+
+  if (!steer_control_enabled) {
+    violation |= (desired_path_offset != 0);
+  }
+  FORD_BP_DBG("path_offset_cmd_checks 2: violation: %d \n", (int)violation);
+
+  return violation;
+}
+
+// BluePilot: angle mode has no "current path_angle" measurement to check the command against,
+// unlike curvature mode, which compares desired_curvature against angle_meas (measured curvature,
+// from yaw rate). Without this, a large deviation between commanded path_angle and the car's ACTUAL
+// curvature -- e.g. a pothole or driver override kicking the wheel -- would go unchecked: path_angle's
+// own ROC only bounds how fast the *command* changes, not how far it may sit from reality.
+//
+// Deliberately narrower than steer_angle_cmd_checks: no rate-of-change enforcement here, and no
+// shared state (desired_angle_last) with curvature mode. path_angle already has its own dedicated,
+// tuned ROC (path_angle_cmd_checks / FORD_PATH_ANGLE_LIMITS); imposing a second, curvature-tuned ROC
+// on shadow_curvature -- which isn't an actuator, just a cross-check value -- would risk spurious
+// blocks unrelated to path_angle's actual behavior (confirmed on real hardware 2026-07-10: doing
+// this via steer_angle_cmd_checks caused blocks at low speed from shadow_curvature jumping frame to
+// frame with nothing driving it toward path_angle's own smooth ROC). This is a pure per-frame
+// proximity check: does this frame's steering intent make physical sense given where the car is.
+// BluePilot: enforce_angle_error is gone from the struct; the check is unconditional now because
+// its only caller, ford_lmc_checks, passes the base of a BluePilot limit set (FORD_LIMITS, above
+// ford_bp_lmc_tx), all of which set it true pre-sync.
+static inline bool ford_shadow_curvature_error_check(int desired_curvature, bool steer_control_enabled,
+                                               const BP_HOST_CURVATURE_LIMITS limits) {
+  bool violation = false;
+  if (steer_control_enabled &&
+      ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > limits.curvature_error_min_speed)) {
+    int lowest_allowed = BP_HOST_CURVATURE_STATE.meas.min - limits.max_curvature_error - 1;
+    int highest_allowed = BP_HOST_CURVATURE_STATE.meas.max + limits.max_curvature_error + 1;
+    violation = safety_max_limit_check(desired_curvature, highest_allowed, lowest_allowed);
+  }
+  return violation;
+}
+
+// BluePilot: shared curvature/curvature_rate/path_offset/path_angle command checks for
+// LateralMotionControl (CAN) and LateralMotionControl2 (CAN FD), in signed CAN units. limits is the
+// curvature limit set ford_bp_lmc_tx picked for the message and the angle_meas source.
+// dbg_prefix labels the FORD_BP_DBG output ("CAN Out" / "CANFD Out").
+static inline bool ford_lmc_checks(int desired_curvature, int desired_curvature_rate, int desired_path_offset, int desired_path_angle,
+                            bool steer_control_enabled, const FordBpCurvatureLimits *limits, const char *dbg_prefix) {
+  // dbg_prefix is only read inside FORD_BP_DBG, which expands to a no-op unless FORD_BP_DEBUG is defined for the
+  // debug build, making the parameter otherwise unused.
+  SAFETY_UNUSED(dbg_prefix);
+
+  // PathAngle rate limits
+  static const AngleSteeringLimits FORD_PATH_ANGLE_LIMITS = {
+    .max_angle = 1000,
+    // 0.0005
+    .angle_deg_to_can = 2000,        // 1 / (2e-5) rad to can
+    // Mirror lateral_angle_ext.py _soft_roc: interp(v_ego, [9,10,15,25], [0.055,0.055,0.0425,0.009])
+    // rad/call, scaled x1.02 so panda is 2% LOOSER than the Python control and never blocks LMC2.
+    // lookup_t is fixed at 3 points; Python's 9 & 10 m/s nodes are both 0.055 (flat top), so {10,15,25}
+    // reproduces the curve exactly and speeds <10 clamp to the first point. The +1 CAN unit and the
+    // speed-1 fudge in path_angle_cmd_checks add extra headroom on top of the 2%.
+    // BluePilot: LMC2 is only sent once per CarControllerParams.STEER_STEP (5) = 20Hz, not 100Hz --
+    // _soft_roc's y-values (and this mirror) are per-call, not per-100Hz-tick; see lateral_angle_ext.py.
+    .angle_rate_up_lookup = {
+      .x = {10., 15., 25.},
+      .y = {0.0561, 0.04335, 0.00918}
+    },
+    .angle_rate_down_lookup = {
+      .x = {10., 15., 25.},
+      .y = {0.0561, 0.04335, 0.00918}
+    },
+    .frequency = 20U,               // Hz -- LateralMotionControl/LateralMotionControl2 @ 20Hz (matches
+                                    // actual STEER_STEP=5 cadence; was 100U, a stale leftover from an
+                                    // abandoned 100Hz-cadence experiment. Currently unread by
+                                    // path_angle_cmd_checks (only angle_rate_up/down_lookup matter),
+                                    // but corrected for consistency/documentation and in case a future
+                                    // rt_angle_rate_limit_check() wiring starts consuming it.
+  };
+
+  // PathOffset rate limits
+  static const AngleSteeringLimits FORD_PATH_OFFSET_LIMITS = {
+    .max_angle = 100,               // 1.0 meter in CAN units (100 * 0.01)
+    .angle_deg_to_can = 100,        // 1 / (0.01) meter to can
+    .angle_rate_up_lookup = {
+      .x = {5., 15., 25.},
+      .y = {0.05, 0.025, 0.01}     // Slower rate limits for path offset
+    },
+    .angle_rate_down_lookup = {
+      .x = {5., 15., 25.},
+      .y = {0.05, 0.025, 0.01}     // Slower rate limits for path offset
+    },
+    .frequency = 20U,               // Hz - 20Hz message rate
+  };
+
+  const BP_HOST_CURVATURE_LIMITS *base = &limits->base;
+  bool violation = false;
+
+  // Check curvature value limits (already converted to signed CAN units by the caller). Note:
+  // curvature's wire scale (curvature_to_can) is the same for CAN and CAN FD, so this is safe to
+  // read off the (possibly pinion-widened) limits struct regardless of bus.
+  int curvature_min_can = (int)(FORD_CURVATURE_MIN * base->curvature_to_can);
+  int curvature_max_can = (int)(FORD_CURVATURE_MAX * base->curvature_to_can);
+  violation |= (desired_curvature < curvature_min_can) || (desired_curvature > curvature_max_can);
+  FORD_BP_DBG("%s: desired_curvature: %d, curvature_min_can: %d, curvature_max_can: %d, violation: %d\n",
+              dbg_prefix, desired_curvature, curvature_min_can, curvature_max_can, (int)violation);
+
+  // Curvature rate must be 0, like stock Ford: BluePilot always sends 0 (#22)
+  violation |= (desired_curvature_rate != 0);
+  FORD_BP_DBG("%s: desired_curvature_rate: %d, violation: %d\n", dbg_prefix, desired_curvature_rate, (int)violation);
+
+  // Check path offset value limits
+  int path_offset_min_can = (int)(FORD_PATH_OFFSET_MIN * FORD_PATH_OFFSET_LIMITS.angle_deg_to_can);
+  int path_offset_max_can = (int)(FORD_PATH_OFFSET_MAX * FORD_PATH_OFFSET_LIMITS.angle_deg_to_can);
+  violation |= (desired_path_offset < path_offset_min_can) || (desired_path_offset > path_offset_max_can);
+  FORD_BP_DBG("%s: desired_path_offset: %d, path_offset_min_can: %d, path_offset_max_can: %d, violation: %d\n",
+              dbg_prefix, desired_path_offset, path_offset_min_can, path_offset_max_can, (int)violation);
+
+  // Check path angle value limits. Angle mode uses path_angle as the actuator and may swing to
+  // the full DBC range, corroborated by ford_bp_angle_mode_engaged so a frame can't unlock this
+  // wider range by merely setting curvature to 0. Curvature mode always keeps the tight cap,
+  // including at curvature == 0 (straight driving, or the reset/human-turn frame) -- path_angle
+  // there only trims and amplifies wound-up curvature, never needs the wide range.
+  float path_angle_min_phys = ford_bp_angle_mode_engaged ? FORD_DBC_PATH_ANGLE_MIN : FORD_PATH_ANGLE_MIN;
+  float path_angle_max_phys = ford_bp_angle_mode_engaged ? FORD_DBC_PATH_ANGLE_MAX : FORD_PATH_ANGLE_MAX;
+  const float path_angle_min_scaled = path_angle_min_phys * FORD_PATH_ANGLE_LIMITS.angle_deg_to_can;
+  const float path_angle_max_scaled = path_angle_max_phys * FORD_PATH_ANGLE_LIMITS.angle_deg_to_can;
+  int path_angle_min_can = (int)path_angle_min_scaled;
+  int path_angle_max_can = (int)path_angle_max_scaled;
+  violation |= (desired_path_angle < path_angle_min_can) || (desired_path_angle > path_angle_max_can);
+  FORD_BP_DBG("%s: desired_path_angle: %d, path_angle_min_can: %d, path_angle_max_can: %d, violation: %d\n",
+              dbg_prefix, desired_path_angle, path_angle_min_can, path_angle_max_can, (int)violation);
+
+  // Check the curvature command and steer_control_enabled. At curvature 0 (angle mode, where
+  // path_angle does the steering, and curvature mode's reset frame) ford_bp_curvature_cmd_checks skips
+  // its value checks itself and keeps the speed cross-check, message-rate check and controls gate;
+  // path_angle keeps its own checks regardless.
+  violation |= ford_bp_curvature_cmd_checks(desired_curvature, steer_control_enabled, limits);
+  FORD_BP_DBG("%s: 1. desired_curvature violation: %d\n", dbg_prefix, (int)violation);
+
+  // Angle mode's own deviation-only check against shadow_curvature, once angle mode is confirmed
+  // engaged. If desired_curvature == 0 but angle mode is NOT confirmed, this is skipped -- that's
+  // ordinary curvature mode at zero (straight driving or the reset/human-turn frame), which needs
+  // no shadow-curvature check; it's still bounded by the tight path_angle range above and
+  // steer_control_enabled's own checks.
+  if ((desired_curvature == 0) && ford_bp_angle_mode_engaged) {
+    const float shadow_curvature_scaled = (float)ford_bp_shadow_curvature_raw * FORD_BP_LKA_SHADOW_RAW_TO_CAN;
+    int shadow_curvature_can = (int)shadow_curvature_scaled;
+    violation |= ford_shadow_curvature_error_check(shadow_curvature_can, steer_control_enabled, *base);
+  }
+
+  // Check path angle rate of change limits
+  violation |= path_angle_cmd_checks(desired_path_angle, steer_control_enabled, FORD_PATH_ANGLE_LIMITS);
+  FORD_BP_DBG("%s: 2. desired_path_angle violation: %d\n", dbg_prefix, (int)violation);
+
+  // Check path offset rate of change limits
+  violation |= path_offset_cmd_checks(desired_path_offset, steer_control_enabled, FORD_PATH_OFFSET_LIMITS);
+  FORD_BP_DBG("%s: 3. desired_path_offset violation: %d\n", dbg_prefix, (int)violation);
+
+
+  return violation;
+}
+
+// BluePilot: the curvature limit sets ford_bp_lmc_tx picks from: the host's BP_HOST_CURVATURE_LIMITS as
+// .base plus the measured rate tables, checked by ford_bp_curvature_cmd_checks instead of upstream's
+// ISO-jerk-derived delta. The values are the pre-sync macro's. max_curv_err is 100 (0.002) on the stock
+// yaw-sourced angle_meas path and 150 (0.003) on the pinion-sourced path (STEER_ANGLE_CURVATURE):
+// firmware uses the raw pinion angle, with no roll/alignment-offset compensation (the Python layer
+// compensates via liveParameters). ford_bp_curvature_cmd_checks assumes max_steer_power 0 and
+// inactive_curvature_is_zero true rather than reading them, and base sets only the fields the library
+// reads, so it initializes upstream's CurvatureSteeringLimits and a host's narrower struct alike.
+#define FORD_LIMITS(limit_lateral_accel, max_curv_err) {                                         \
+  .base = {                                                                                      \
+    .max_curvature = 1000,          /* 0.02 curvature */                                         \
+    .curvature_to_can = 50000,      /* 1 / (2e-5) rad to can */                                  \
+    .frequency = 20U,               /* LateralMotionControl / LateralMotionControl2 @ 20 Hz */   \
+    .max_curvature_error = (max_curv_err),                                                       \
+    /* no blending at low speed due to lack of torque wind-up and inaccurate current curvature */\
+    .curvature_error_min_speed = 10.0,  /* m/s */                                                \
+  },                                                                                             \
+  /* Down table 1% looser than up (#20); both >= the Python control's tables (values_ext) */     \
+  .curvature_rate_up_lookup = {                                                                  \
+    {5., 16., 25.},                                                                              \
+    {0.0025f, 0.0014f, 0.00018f}                                                                 \
+  },                                                                                             \
+  .curvature_rate_down_lookup = {                                                                \
+    {5., 16., 25.},                                                                              \
+    {0.002525f, 0.001414f, 0.0001818f}                                                           \
+  },                                                                                             \
+  .limit_lateral_acceleration = (limit_lateral_accel),                                           \
+}
+
+// BluePilot: LateralMotionControl (CAN) or LateralMotionControl2 (CAN FD) with BP lateral on. Both
+// messages carry the same four signals; ford_tx_hook decodes the raw values, and this converts them
+// to signed CAN units (physical = raw * scale - offset), picks the limit set for the message and the
+// angle_meas source, and runs ford_lmc_checks.
+static inline bool ford_bp_lmc_tx(bool canfd, unsigned int raw_curvature, unsigned int raw_curvature_rate,
+                                  unsigned int raw_path_offset, unsigned int raw_path_angle, bool steer_control_enabled) {
+  // static inside the one function that reads them (MISRA 8.9)
+  static const FordBpCurvatureLimits FORD_BP_STEERING_LIMITS = FORD_LIMITS(false, 100);
+  static const FordBpCurvatureLimits FORD_BP_STEERING_LIMITS_PINION = FORD_LIMITS(false, 150);
+  static const FordBpCurvatureLimits FORD_CANFD_STEERING_LIMITS = FORD_LIMITS(true, 100);
+  static const FordBpCurvatureLimits FORD_CANFD_STEERING_LIMITS_PINION = FORD_LIMITS(true, 150);
+
+  const FordBpCurvatureLimits *limits;
+  unsigned int inactive_curvature_rate;
+  const char *dbg_prefix;
+  if (canfd) {
+    limits = ford_bp_pinion_curvature ? &FORD_CANFD_STEERING_LIMITS_PINION : &FORD_CANFD_STEERING_LIMITS;
+    inactive_curvature_rate = FORD_CANFD_INACTIVE_CURVATURE_RATE;
+    dbg_prefix = "CANFD Out";
+  } else {
+    limits = ford_bp_pinion_curvature ? &FORD_BP_STEERING_LIMITS_PINION : &FORD_BP_STEERING_LIMITS;
+    inactive_curvature_rate = FORD_INACTIVE_CURVATURE_RATE;
+    dbg_prefix = "CAN Out";
+  }
+
+  int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;
+  int desired_curvature_rate = raw_curvature_rate - inactive_curvature_rate;
+  int desired_path_offset = raw_path_offset - FORD_INACTIVE_PATH_OFFSET;
+  int desired_path_angle = raw_path_angle - FORD_INACTIVE_PATH_ANGLE;
+  return ford_lmc_checks(desired_curvature, desired_curvature_rate, desired_path_offset, desired_path_angle,
+                         steer_control_enabled, limits, dbg_prefix);
+}
+
+// BluePilot: angle_mode_engaged and shadow_curvature ride in Lane_Assist_Data1 bits with no DBC
+// signal mapped to them (layout: bluepilot_lateral/can/LANE_ASSIST_DATA1.md), read out of
+// the frame being sent. A separate CAN message (0x5F0)
+// was tried first: the panda never receives its own TX, and an RX check for it tripped
+// safety_tick's lagging check and blocked controls car-wide (2026-07-09).
+static inline void ford_bp_lka_tx(const CANPacket_t *msg) {
+  ford_bp_angle_mode_engaged = (msg->data[FORD_BP_LKA_ANGLE_MODE_BYTE] & FORD_BP_LKA_ANGLE_MODE_MASK) != 0U;
+  unsigned int shadow_curvature_raw = (msg->data[FORD_BP_LKA_SHADOW_MSB_BYTE] << 8) | msg->data[FORD_BP_LKA_SHADOW_LSB_BYTE];
+  ford_bp_shadow_curvature_raw = (int16_t)shadow_curvature_raw;
+}
+
+// BluePilot: optional angle_meas source -- measured curvature from the steering pinion angle (PSCM)
+// via the vehicle model, for vehicles whose RCM broadcasts implausible yaw (sign-inverted vs
+// IMU/steering geometry) while its quality flag still reads OK. The pinion angle was validated
+// against the comma IMU (corr +0.99 on real routes); the Python control layer measures from the
+// same source when this is enabled (carcontroller_ext.InputTracker.get_current_curvature), so the layers always
+// agree. ford_rx_hook skips its yaw block while this source is on.
+static inline void ford_bp_rx_hook(const CANPacket_t *msg) {
+  // addr and bus compared directly, not with upstream's msg_matches, which not every host has
+  if ((msg->addr == FORD_SteeringPinion_Data) && (msg->bus == FORD_MAIN_BUS) && ford_bp_pinion_curvature) {
+    // Signal: StePinComp_An_Est, 22|15@0+ (0.1,-1600) deg
+    int angle_raw = ((msg->data[2] & 0x7FU) << 8) | msg->data[3];
+    float pinion_angle_deg = ((float)angle_raw * 0.1f) - 1600.0f;
+    float pinion_angle_rad = pinion_angle_deg * 0.017453292519943295f;  // DEG_TO_RAD
+    // angle -> curvature via vehicle model (matches VehicleModel.curvature_factor);
+    // sign: firmware angle_meas is Ford wire convention (the yaw block uses +yaw/v), and
+    // pinion angle correlates +0.97 with wire desired curvature on real frames -> positive.
+    float speed = SAFETY_MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
+    float curvature_factor = get_curvature_factor(speed, *ford_bp_pinion_params);
+    float current_curvature = pinion_angle_rad * curvature_factor / ford_bp_pinion_params->steer_ratio;
+    // convert current curvature into units on CAN for comparison with desired curvature
+    update_sample(&BP_HOST_CURVATURE_STATE.meas, ROUND(current_curvature * FORD_STEERING_LIMITS.curvature_to_can));
+  }
+}
+
+// BluePilot: read the SP safety param and reset the BP lateral state. param_sp is
+// current_safety_param_sp, delivered via USB 0xdf before the safety model is set (a separate uint16
+// from ford_init's param; pattern: subaru_common.h). Bits: 0 pinion-curvature enable, 1-4 pinion
+// geometry index, 5 BP 4-signal lateral (clear = upstream's stock lateral safety, verbatim). A zero
+// or out-of-range index disables the pinion source, so a half-configured param can never select the
+// wrong geometry: the stock yaw path is kept. Returns whether the pinion source is on, i.e. whether
+// ford_init applies the pinion RX check (ford_rx_checks_pinion). That check stays out of the stock
+// config, so a pinion hiccup can't disable controls for users who never consume the message.
+static inline bool ford_bp_init(uint16_t param_sp) {
+  const uint16_t FORD_PARAM_SP_BP_LATERAL = 32;
+  ford_bp_lateral = GET_FLAG(param_sp, FORD_PARAM_SP_BP_LATERAL);
+  const uint16_t FORD_PARAM_SP_STEER_ANGLE_CURVATURE = 1;
+  // Pinion measurement is only valid with the BP checks: the stock error band (100) was tuned for the
+  // yaw source and the stock Python path clips against yaw-derived curvature.
+  bool pinion_enabled = ford_bp_lateral && GET_FLAG(param_sp, FORD_PARAM_SP_STEER_ANGLE_CURVATURE);
+  const uint16_t pinion_geometry_index = (param_sp >> 1) & 0xFU;
+  if ((pinion_geometry_index == 0U) || (pinion_geometry_index > FORD_PINION_GEOMETRY_COUNT)) {
+    pinion_enabled = false;
+  }
+  ford_bp_pinion_curvature = pinion_enabled;
+  ford_bp_pinion_params = pinion_enabled ? &ford_pinion_geometry[pinion_geometry_index] : &ford_pinion_geometry[0];
+
+  // start from a clean BP lateral state, as set_safety_hooks does for upstream's (desired_angle_last
+  // etc.), so a re-init never checks against a previous session's commands. The angle-mode flag is
+  // set again by the next Lane_Assist_Data1 frame.
+  desired_path_angle_last = 0;
+  desired_path_offset_last = 0;
+  ford_bp_angle_mode_engaged = false;
+  return ford_bp_pinion_curvature;
+}

opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h

@@ -1,249 +0,0 @@
-#pragma once
-// Angle-primary Ford extension adapted from Alan Polk's bp-7.0 e1d051d7.
-// See ../CREDITS.md, ../LICENSE and ../LICENSE.md. No reset bypass.
-#include "opendbc/bluepilot_lateral/params/protocol.h"
-#include "opendbc/bluepilot_lateral/params/limits.h"
-
-// Shared Ford stock-switch state is declared before the angle hooks below.
-static bool ford_stock_switch = false;
-static bool ford_bp_enabled = false;
-static bool ford_bp_canfd = false;
-static bool ford_bp_shadow_seen = false;
-static bool ford_bp_lka_counter_seen = false;
-static uint8_t ford_bp_lka_counter = 0U;
-static int ford_bp_shadow_raw = 0;
-static uint32_t ford_bp_shadow_us = 0U;
-static int ford_bp_path_last = 0;
-static bool ford_bp_control_counter_seen = false;
-static uint8_t ford_bp_control_counter = 0U;
-static bool ford_bp_control_seen = false;
-static uint32_t ford_bp_control_us = 0U;
-static float ford_bp_equivalent_last = 0.0F;
-static unsigned int ford_bp_rt_msgs = 0U;
-static unsigned int ford_bp_rt_msgs_prev = 0U;
-static uint32_t ford_bp_rt_us = 0U;
-static bool ford_bp_rx_seen[7];
-static uint32_t ford_bp_rx_us[7];
-
-static void ford_bp_invalidate_shadow(void) {
-  ford_bp_shadow_seen = false;
-  ford_bp_shadow_raw = 0;
-}
-
-static void ford_bp_withdraw(void) {
-  ford_bp_invalidate_shadow();
-  ford_bp_path_last = 0;
-  ford_bp_equivalent_last = 0.0F;
-}
-
-static bool ford_bp_configure(uint16_t param) {
-  ford_bp_enabled = ((param == 128U) || (param == 129U) || (param == 130U)) && (alternative_experience == 0);
-#ifdef ALLOW_DEBUG
-  ford_bp_enabled |= (param == 131U) && (alternative_experience == 0);
-#endif
-  const bool joint = ((unsigned int)alternative_experience == 32U) &&
-    ((param == 146U) || (param == 147U) || (param == 160U) || (param == 161U) || (param == 194U) || (param == 195U));
-  ford_bp_enabled |= joint;
-  ford_bp_canfd = (param & 2U) != 0U;
-  ford_bp_lka_counter_seen = false;
-  ford_bp_control_counter_seen = false;
-  ford_bp_control_seen = false;
-  ford_bp_lka_counter = 0U;
-  ford_bp_control_counter = 0U;
-  ford_bp_shadow_us = 0U;
-  ford_bp_control_us = 0U;
-  ford_bp_rt_msgs = 0U;
-  ford_bp_rt_msgs_prev = 0U;
-  ford_bp_rt_us = microsecond_timer_get();
-  ford_bp_withdraw();
-  for (unsigned int i = 0U; i < 7U; i++) {
-    ford_bp_rx_seen[i] = false;
-    ford_bp_rx_us[i] = 0U;
-  }
-  return ((param & 128U) == 0U) || ford_bp_enabled;
-}
-
-static bool ford_bp_health(uint32_t now);
-
-static bool ford_bp_permission(void) {
-  bool permitted = false;
-  if (ford_aol_enabled) {
-    permitted = (ford_aol_permission_mask() & 1U) != 0U;
-  } else {
-    permitted = lateral_controls_allowed() && controls_allowed && !brake_pressed && !gas_pressed;
-  }
-  return permitted;
-}
-
-static void ford_bp_rx(const CANPacket_t *msg) {
-  if (ford_bp_enabled && (msg->bus == 0U) && (GET_LEN(msg) == 8U)) {
-    const unsigned int ids[7] = {0x415U, 0x202U, 0x91U, 0x165U, 0x204U, 0x213U, 0x83U};
-    for (unsigned int i = 0U; i < 7U; i++) {
-      if (msg->addr == ids[i]) {
-        ford_bp_rx_seen[i] = true;
-        ford_bp_rx_us[i] = microsecond_timer_get();
-      }
-    }
-    // Angle-specific source freshness is stricter than the generic1s RX tick.
-    // Expose that withdrawal through the ordinary public controls acknowledgment.
-    if (controls_allowed && !ford_bp_health(microsecond_timer_get())) {
-      controls_allowed = false;
-    }
-    // Permission losses remove the old actuator history before any later arm.
-    if (!ford_bp_permission() || !ford_bp_health(microsecond_timer_get())) {
-      ford_bp_withdraw();
-    }
-  }
-}
-
-static bool ford_bp_health(uint32_t now) {
-  bool valid = !safety_rx_checks_invalid && !relay_malfunction;
-  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
-    const RxStatus *status = &current_safety_config.rx_checks[i].status;
-    valid &= status->msg_seen && !status->lagging && status->valid_checksum &&
-             status->valid_quality_flag && (status->wrong_counters < MAX_WRONG_COUNTERS);
-  }
-  const unsigned int count = ford_stock_switch ? 7U : 6U;
-  for (unsigned int i = 0U; i < count; i++) {
-    const uint32_t age = ((i == 3U) || (i == 6U)) ? (2U * FORD_BP_RX_AGE_US) : FORD_BP_RX_AGE_US;
-    valid &= ford_bp_rx_seen[i] && (safety_get_ts_elapsed(now, ford_bp_rx_us[i]) <= age);
-  }
-  return valid;
-}
-
-static bool ford_bp_lka(const CANPacket_t *msg) {
-  const uint32_t now = microsecond_timer_get();
-  const unsigned int counter = (msg->data[4] & FORD_BP_COUNTER_MASK) >> FORD_BP_COUNTER_SHIFT;
-  unsigned int sum = 0U;
-  for (unsigned int i = 0U; i < 7U; i++) { sum += msg->data[i]; }
-  const unsigned int checksum = (15U - (sum & 15U)) & 15U;
-  // Preserve every DBC-owned bit of the packer's neutral LKA body.
-  const unsigned int angle = ((msg->data[2] & 0xFU) << 8) | msg->data[3];
-  const unsigned int curvature = (msg->data[1] << 4) | (msg->data[2] >> 4);
-  bool valid = !relay_malfunction && (msg->bus == 0U) && (GET_LEN(msg) == 8U) && (msg->data[0] == 0U) &&
-               (angle == 2048U) && (curvature == 2048U) &&
-               ((msg->data[4] & 0xE3U) == FORD_BP_ANGLE_MASK) &&
-               ((msg->data[7] & FORD_BP_VERSION_MASK) == FORD_BP_VERSION) &&
-               ((msg->data[7] >> FORD_BP_CHECKSUM_SHIFT) == checksum);
-  const int shadow = to_signed((msg->data[5] << 8) | msg->data[6], 16);
-  const bool resync = (shadow == 0) && !ford_bp_permission();
-  if (ford_bp_lka_counter_seen && !resync) {
-    valid &= counter == ((ford_bp_lka_counter + 1U) % FORD_BP_COUNTER_MODULUS);
-    valid &= safety_get_ts_elapsed(now, ford_bp_shadow_us) >= 20000U;
-  }
-  valid &= SAFETY_ABS(shadow) <= 20000;
-  if (valid) {
-    ford_bp_lka_counter = (uint8_t)counter;
-    ford_bp_lka_counter_seen = true;
-    ford_bp_shadow_raw = shadow;
-    ford_bp_shadow_seen = !resync;
-    ford_bp_shadow_us = now;
-  } else {
-    ford_bp_invalidate_shadow();
-  }
-  return valid;
-}
-
-static bool ford_bp_lateral(const CANPacket_t *msg) {
-  const bool fd = msg->addr == 0x3D6U;
-  const unsigned int mode = fd ? ((msg->data[0] >> 4) & 7U) : ((msg->data[4] >> 2) & 7U);
-  const unsigned int curvature = fd ? ((msg->data[2] << 3) | (msg->data[3] >> 5)) :
-                                     ((msg->data[0] << 3) | (msg->data[1] >> 5));
-  const unsigned int rate = fd ? (((unsigned int)msg->data[6] << 3) | (msg->data[7] >> 5)) :
-                                (((msg->data[1] & 31U) << 8) | msg->data[2]);
-  const unsigned int path_raw = fd ? (((msg->data[3] & 31U) << 6) | (msg->data[4] >> 2)) :
-                                    (((unsigned int)msg->data[3] << 3) | (msg->data[4] >> 5));
-  const unsigned int offset = fd ? (((msg->data[4] & 3U) << 8) | msg->data[5]) :
-                                  (((unsigned int)msg->data[5] << 2) | (msg->data[6] >> 6));
-  const unsigned int precision = fd ? ((msg->data[0] >> 2) & 3U) : (msg->data[4] & 3U);
-  const unsigned int ramp = fd ? (msg->data[0] & 3U) : ((msg->data[6] >> 4) & 3U);
-  const bool active = mode == 1U;
-  const int path = (int)path_raw - 1000;
-  const uint32_t now = microsecond_timer_get();
-  bool valid = !relay_malfunction && (msg->bus == 0U) && (GET_LEN(msg) == 8U) && (fd == ford_bp_canfd) && (mode <= 1U) &&
-               (curvature == 1000U) && (rate == (fd ? 1024U : 4096U)) && (offset == 512U) &&
-               (precision <= 1U) && (ramp == (active ? 2U : 0U));
-  const unsigned int counter = (msg->data[7] >> 1) & 15U;
-  if (fd) {
-    unsigned int checksum = mode + counter;
-    const unsigned int fields[4] = {curvature, rate, path_raw, offset};
-    for (unsigned int i = 0U; i < 4U; i++) { checksum += fields[i] + (fields[i] >> 8); }
-    valid &= msg->data[1] == (0xFFU - (checksum & 0xFFU));
-    valid &= ((msg->data[0] & 0x80U) == 0U) && ((msg->data[7] & 1U) == 0U);
-    if (ford_bp_control_counter_seen && active) { valid &= counter == ((ford_bp_control_counter + 1U) % 16U); }
-  } else {
-    valid &= ((msg->data[6] & 0xFU) == 0U) && (msg->data[7] == 0U);
-  }
-  const float speed_for_equivalent = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 0.1F);
-  const float equivalent = (float)path / (2000.0F * speed_for_equivalent);
-  // Time-window expiration is independent of packet acceptance: denied floods
-  // cannot latch the old count forever or erase accepted actuator history.
-  const uint32_t rt_elapsed = safety_get_ts_elapsed(now, ford_bp_rt_us);
-  if (rt_elapsed >= FORD_BP_RT_INTERVAL_US) {
-    ford_bp_rt_msgs = 0U;
-    ford_bp_rt_msgs_prev = 0U;
-    ford_bp_rt_us = now;
-  } else if (rt_elapsed >= (FORD_BP_RT_INTERVAL_US / 2U)) {
-    ford_bp_rt_msgs_prev = ford_bp_rt_msgs;
-    ford_bp_rt_msgs = 0U;
-    ford_bp_rt_us = now;
-  } else {
-    // Keep the current history while neither expiration boundary has elapsed.
-  }
-  const unsigned int rt_count = ford_bp_rt_msgs + ford_bp_rt_msgs_prev;
-  valid &= rt_count <= 7U;  // Current20Hz curvature RT allowance; accepted frames own this count.
-  if (active) {
-    static const struct lookup_t roc = {{10.0F, 15.0F, 25.0F}, {0.0561F, 0.04335F, 0.00918F}};
-    const float speed_min = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 0.1F);
-    const float speed_max = SAFETY_MAX(vehicle_speed.max / VEHICLE_SPEED_FACTOR, 0.1F);
-    const float delta_float = safety_interpolate(roc, speed_min - 1.0F) * 2000.0F;
-    const int delta = (int)delta_float + 1;
-    const float shadow = (float)ford_bp_shadow_raw * 0.000001F;
-    const float shadow_can = shadow * 50000.0F;
-    const float path_abs = SAFETY_ABS(path) / 2000.0F;
-    const float path_curvature_low = path_abs / (speed_max * FORD_BP_GAIN_MAX);
-    const float path_curvature_high = path_abs / (speed_min * FORD_BP_GAIN_MIN);
-    const float physical_cap = SAFETY_MIN(FORD_BP_CURVATURE_MAX, FORD_BP_LATERAL_ACCEL / (SAFETY_MAX(speed_max, 1.0F) * SAFETY_MAX(speed_max, 1.0F)));
-    const float relation_low = SAFETY_ABS(shadow) * speed_min * FORD_BP_GAIN_MIN * 2000.0F;
-    const float relation_high = SAFETY_ABS(shadow) * speed_max * FORD_BP_GAIN_MAX * 2000.0F;
-    valid &= ford_bp_permission() && ford_bp_health(now) && ford_bp_shadow_seen &&
-             (safety_get_ts_elapsed(now, ford_bp_shadow_us) <= FORD_BP_SHADOW_AGE_US) &&
-             (path >= -1000) && (path <= 1047) && (SAFETY_ABS(path - ford_bp_path_last) <= delta) &&
-             ((path == 0) || ((ford_bp_shadow_raw != 0) && ((path > 0) == (ford_bp_shadow_raw > 0)))) &&
-             (SAFETY_ABS(path) >= (relation_low - 2.0F)) && (SAFETY_ABS(path) <= (relation_high + 2.0F)) &&
-             (SAFETY_ABS(shadow) <= (physical_cap + FORD_BP_SHADOW_ROUNDING_MARGIN)) && (path_curvature_high <= (physical_cap + FORD_BP_SHADOW_ROUNDING_MARGIN));
-    if (speed_max > 10.0F) {
-      const int measured_min = curvature_state.meas.min - (ford_pinion_enabled ? 150 : 100);
-      const int measured_max = curvature_state.meas.max + (ford_pinion_enabled ? 150 : 100);
-      const float measured_min_float = (float)measured_min;
-      const float measured_max_float = (float)measured_max;
-      valid &= (shadow_can >= measured_min_float) && (shadow_can <= measured_max_float);
-      // Independent actual-actuator check; an invented shadow cannot launder path angle.
-      const float signed_low = (path < 0) ? (-path_curvature_high) : path_curvature_low;
-      const float signed_high = (path < 0) ? (-path_curvature_low) : path_curvature_high;
-      valid &= ((signed_low * 50000.0F) >= measured_min_float) &&
-               ((signed_high * 50000.0F) <= measured_max_float);
-    }
-    const uint32_t elapsed = ford_bp_control_seen ? safety_get_ts_elapsed(now, ford_bp_control_us) : FORD_BP_STEER_PERIOD_US;
-    const float jerk_speed = SAFETY_MAX(speed_min - 1.0F, 1.0F);
-    const float jerk_delta = FORD_BP_LATERAL_JERK / (jerk_speed * jerk_speed) *
-                             (SAFETY_MIN(elapsed, FORD_BP_STEER_PERIOD_US) * 0.000001F) * FORD_BP_GAIN_MIN;
-    valid &= SAFETY_ABS(equivalent - ford_bp_equivalent_last) <= (jerk_delta + FORD_BP_SHADOW_ROUNDING_MARGIN);
-    if (ford_bp_control_seen) { valid &= elapsed >= 40000U; }
-  } else {
-    valid &= path == 0;
-  }
-  if (valid) {
-    ford_bp_rt_msgs += 1U;
-    ford_bp_equivalent_last = active ? equivalent : 0.0F;
-    ford_bp_path_last = active ? path : 0;
-    ford_bp_control_counter = (uint8_t)counter;
-    ford_bp_control_counter_seen = true;
-    ford_bp_control_seen = true;
-    ford_bp_control_us = now;
-    if (!active) { ford_bp_shadow_seen = false; }
-  } else {
-    ford_bp_invalidate_shadow();
-  }
-  return valid;
-}

opendbc_repo/opendbc/bluepilot_lateral/safety/ford_declarations.h

@@ -0,0 +1,99 @@
+/**
+ * BluePilot Ford lateral-control extensions: type declarations, state, and prototypes.
+ * See ford.h in this directory for the implementations.
+ */
+
+#pragma once
+
+#include "../../safety/declarations.h"
+#include "../safety/lateral_declarations.h"
+
+// BluePilot: Ford safety debug prints. Compile-time switch: build with -DFORD_BP_DEBUG (bench /
+// libsafety only) to turn every FORD_BP_DBG into a printf; otherwise it expands to nothing, so CI
+// coverage and mutation see no code and the panda build carries no runtime flag. The printf
+// branch is bench-only and is not part of the MISRA-checked configuration (test_misra.sh runs
+// without FORD_BP_DEBUG). To use it on the bench, compile libsafety with
+//   cc ... -DALLOW_DEBUG -DFORD_BP_DEBUG -I . -c <pkg>/safety/tests/libsafety/safety.c
+// (the same flags <pkg>/safety/tests/libsafety/libsafety_py.py uses, plus FORD_BP_DEBUG; <pkg> is the
+// host's opendbc package: opendbc, iqdbc).
+#ifdef FORD_BP_DEBUG
+#include <stdio.h>
+#define FORD_BP_DBG(...) printf(__VA_ARGS__)
+#else
+#define FORD_BP_DBG(...) ((void)0)
+#endif
+
+// ===============================
+// Constants and Defines
+// ===============================
+
+// BluePilot: steering-angle curvature measurement (bad-yaw-sensor workaround). Index 0 of
+// ford_pinion_geometry is reserved as invalid; see ford_bp_init in ford.h.
+#define FORD_PINION_GEOMETRY_COUNT 12U
+// Row count including the reserved index-0 entry. Kept as a plain literal: the mutation
+// harness rewrites arithmetic in array sizes into runtime expressions, which cannot compile.
+#define FORD_PINION_GEOMETRY_ROWS 13U
+
+// Control signal limits -- curvature magnitude must match MAX_CURVATURE; rate tables must match
+// bluepilot_lateral/core/values_ext.py BP_ANGLE_LIMITS.
+#define FORD_CURVATURE_MIN -0.02f
+#define FORD_CURVATURE_MAX 0.02f
+#define FORD_PATH_OFFSET_MIN -1.0f
+#define FORD_PATH_OFFSET_MAX 1.0f
+#define FORD_PATH_ANGLE_MIN -0.25f
+#define FORD_PATH_ANGLE_MAX 0.25f
+// BluePilot: full DBC signal range for path_angle (LatCtlPath_An, 0.0005 scale). Used as the
+// value limit in ANGLE mode, where path_angle is the steering actuator (see ford_lmc_checks).
+// Matches lateral_angle_ext.py FORD_DBC_PATH_ANGLE_MIN/MAX. In curvature mode the tight ±0.25
+// cap above applies instead (path_angle there only trims and amplifies wound-up curvature).
+#define FORD_DBC_PATH_ANGLE_MIN -0.5f
+#define FORD_DBC_PATH_ANGLE_MAX 0.5235f
+
+// ===============================
+// Global Variables
+// ===============================
+
+// BluePilot: optional angle_meas source, measured curvature from the steering pinion angle
+// (PSCM) via the vehicle model, selected by the geometry index in current_safety_param_sp
+// bits 1-4. Default off = stock yaw-sourced angle_meas. See ford_bp_init in ford.h.
+extern bool ford_bp_lateral;
+extern bool ford_bp_pinion_curvature;
+extern const AngleSteeringParams *ford_bp_pinion_params;
+extern const AngleSteeringParams ford_pinion_geometry[FORD_PINION_GEOMETRY_ROWS];
+
+// BluePilot: angle_mode_engaged + shadow_curvature, read out of Lane_Assist_Data1's unused
+// bits by ford_bp_lka_tx (no separate CAN message, no RX). The layout is in
+// bluepilot_lateral/can/LANE_ASSIST_DATA1.md; fordcan_ext.py packs it with the same values
+// (tests/test_lane_assist_data1.py).
+#define FORD_BP_LKA_ANGLE_MODE_BYTE 4U
+#define FORD_BP_LKA_ANGLE_MODE_MASK 0x1U
+#define FORD_BP_LKA_SHADOW_MSB_BYTE 5U  // shadow curvature: int16, big-endian, bytes 5-6
+#define FORD_BP_LKA_SHADOW_LSB_BYTE 6U
+// shadow curvature raw units (1e-6 1/m) to curvature CAN units (2e-5 1/m)
+#define FORD_BP_LKA_SHADOW_RAW_TO_CAN 0.05f
+extern bool ford_bp_angle_mode_engaged;
+extern int16_t ford_bp_shadow_curvature_raw;  // wire units, scale 1e-6 1/m (LANE_ASSIST_DATA1.md)
+
+// last commanded values for the path_angle / path_offset rate-of-change checks
+extern int desired_path_angle_last;
+extern int desired_path_offset_last;
+
+// ===============================
+// Function Declarations
+// ===============================
+
+static inline bool path_angle_cmd_checks(int desired_path_angle, bool steer_control_enabled, AngleSteeringLimits limits);
+static inline bool path_offset_cmd_checks(int desired_path_offset, bool steer_control_enabled, AngleSteeringLimits limits);
+static inline bool ford_shadow_curvature_error_check(int desired_curvature, bool steer_control_enabled, BP_HOST_CURVATURE_LIMITS limits);
+
+// Shared curvature/curvature_rate/path_offset/path_angle command checks for LateralMotionControl
+// (CAN) and LateralMotionControl2 (CAN FD) -- see ford_lmc_checks in ford.h.
+static inline bool ford_lmc_checks(int desired_curvature, int desired_curvature_rate, int desired_path_offset, int desired_path_angle,
+                            bool steer_control_enabled, const FordBpCurvatureLimits *limits, const char *dbg_prefix);
+
+// Called from modes/ford.h's hooks and ford_init -- see bluepilot_lateral/safety/ford.h.
+static inline bool ford_bp_lmc_tx(bool canfd, unsigned int raw_curvature, unsigned int raw_curvature_rate,
+                                  unsigned int raw_path_offset, unsigned int raw_path_angle, bool steer_control_enabled);
+static inline void ford_bp_lka_tx(const CANPacket_t *msg);
+static inline void ford_bp_rx_hook(const CANPacket_t *msg);
+static inline bool ford_bp_init(uint16_t param_sp);

opendbc_repo/opendbc/bluepilot_lateral/safety/lateral.h

@@ -0,0 +1,121 @@
+/**
+ * BluePilot lateral-control extensions shared across safety modes: implementation.
+ * See lateral_declarations.h in this directory for the declarations.
+ */
+
+#pragma once
+
+#include "../safety/lateral_declarations.h"
+
+// BluePilot: measured-table rate limiting. This is the pre-sync steer_angle_cmd_checks logic,
+// carried over verbatim in the curvature domain so Ford lateral behavior is unchanged by the
+// move off AngleSteeringLimits. Differences from upstream's ISO-only path (steer_curvature_cmd_checks
+// in opendbc/safety/lateral.h) that matter:
+//   - asymmetric up/down deltas selected by the sign of the last command
+//   - the error boundary uses relaxed deltas and CONVERGES toward measured, rather than
+//     hard-clamping, so a wound-up command unwinds instead of instantly faulting
+//   - the ISO lateral accel cap is applied only on buses that need it (Q4/CAN FD)
+static inline bool ford_bp_curvature_rate_lookup_check(int desired_curvature, const FordBpCurvatureLimits *limits) {
+  const BP_HOST_CURVATURE_LIMITS *base = &limits->base;
+  bool violation = false;
+
+  const float fudged_speed_lookup = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
+  const int delta_up = (safety_interpolate(limits->curvature_rate_up_lookup, fudged_speed_lookup) * base->curvature_to_can) + 1.;
+  const int delta_down = (safety_interpolate(limits->curvature_rate_down_lookup, fudged_speed_lookup) * base->curvature_to_can) + 1.;
+
+  // allow down limits at zero since small floats from openpilot will be rounded to 0
+  int highest_desired_curvature = BP_HOST_CURVATURE_STATE.desired_last + ((BP_HOST_CURVATURE_STATE.desired_last > 0) ? delta_up : delta_down);
+  int lowest_desired_curvature = BP_HOST_CURVATURE_STATE.desired_last - ((BP_HOST_CURVATURE_STATE.desired_last >= 0) ? delta_down : delta_up);
+
+  if (base->max_curvature_error && ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > base->curvature_error_min_speed)) {
+    // flipped fudge to avoid false positives
+    const float fudged_speed_error = (vehicle_speed.max / VEHICLE_SPEED_FACTOR) + 1.;
+    const int delta_up_relaxed = (safety_interpolate(limits->curvature_rate_up_lookup, fudged_speed_error) * base->curvature_to_can) - 1.;
+    const int delta_down_relaxed = (safety_interpolate(limits->curvature_rate_down_lookup, fudged_speed_error) * base->curvature_to_can) - 1.;
+
+    const int lowest_desired_curvature_error = BP_HOST_CURVATURE_STATE.meas.min - base->max_curvature_error - 1;
+    const int highest_desired_curvature_error = BP_HOST_CURVATURE_STATE.meas.max + base->max_curvature_error + 1;
+
+    // the MAX/MIN allow the desired value to reach the edge of the bounds without going under
+    if (BP_HOST_CURVATURE_STATE.desired_last > highest_desired_curvature_error) {
+      const int delta = (BP_HOST_CURVATURE_STATE.desired_last >= 0) ? delta_down_relaxed : delta_up_relaxed;
+      highest_desired_curvature = SAFETY_MAX(BP_HOST_CURVATURE_STATE.desired_last - delta, highest_desired_curvature_error);
+
+    } else if (BP_HOST_CURVATURE_STATE.desired_last < lowest_desired_curvature_error) {
+      const int delta = (BP_HOST_CURVATURE_STATE.desired_last <= 0) ? delta_down_relaxed : delta_up_relaxed;
+      lowest_desired_curvature = SAFETY_MIN(BP_HOST_CURVATURE_STATE.desired_last + delta, lowest_desired_curvature_error);
+
+    } else {
+      // already inside error boundary, don't allow commanding outside it
+      highest_desired_curvature = SAFETY_MIN(highest_desired_curvature, highest_desired_curvature_error);
+      lowest_desired_curvature = SAFETY_MAX(lowest_desired_curvature, lowest_desired_curvature_error);
+    }
+
+    // don't enforce above the max curvature
+    lowest_desired_curvature = SAFETY_CLAMP(lowest_desired_curvature, -base->max_curvature, base->max_curvature);
+    highest_desired_curvature = SAFETY_CLAMP(highest_desired_curvature, -base->max_curvature, base->max_curvature);
+  }
+
+  violation |= safety_max_limit_check(desired_curvature, highest_desired_curvature, lowest_desired_curvature);
+
+  if (limits->limit_lateral_acceleration) {
+    // Limit to average banked road since safety doesn't have the roll. NOTE: this is the
+    // pre-sync constant (ISO_LATERAL_ACCEL MINUS the roll term, ~2.4 m/s^2), not the
+    // MAX_LATERAL_ACCEL used by the ISO path in steer_curvature_cmd_checks (~3.6 m/s^2). Do not
+    // merge the two.
+    static const float BP_MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL);
+    const float fudged_speed = SAFETY_MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
+    const float max_curvature_accel = BP_MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
+    const int max_curvature_accel_can = (max_curvature_accel * base->curvature_to_can) + 1.;
+    violation |= safety_max_limit_check(desired_curvature, max_curvature_accel_can, -max_curvature_accel_can);
+  }
+
+  return violation;
+}
+
+// BluePilot: upstream's steer_curvature_cmd_checks (opendbc/safety/lateral.h) with
+// ford_bp_curvature_rate_lookup_check in place of its ISO lateral accel and jerk checks. Ford has no
+// steer power signal (max_steer_power 0) and resets to zero on a violation
+// (inactive_curvature_is_zero), so only those sides of upstream's branches are kept.
+// The other difference from upstream: curvature 0 (no curvature command: angle mode, curvature
+// mode's reset frame) skips the cap and rate-table checks, keeping the message-rate check and the
+// gates. Keep it when re-syncing against upstream (#60).
+static inline bool ford_bp_curvature_cmd_checks(int desired_curvature, bool steer_control_enabled,
+                                                const FordBpCurvatureLimits *limits) {
+  bool violation = false;
+
+  BP_HOST_SPEED_MISMATCH_CHECK();
+
+  if (BP_HOST_LAT_ALLOWED() && steer_control_enabled) {
+    // BluePilot: curvature 0 is the no-curvature-command sentinel (angle mode steers with path_angle
+    // and holds curvature at 0; curvature mode's reset frame sends 0), so the value checks don't
+    // apply to it: the error band would trip as the car turns while the command stays at 0. The
+    // message-rate check and the gates below still run.
+    if (desired_curvature != 0) {
+      // *** absolute curvature cap ***
+      violation |= safety_max_limit_check(desired_curvature, limits->base.max_curvature, -limits->base.max_curvature);
+
+      // *** measured-table rate limits, error band and (CAN FD) lateral accel cap ***
+      violation |= ford_bp_curvature_rate_lookup_check(desired_curvature, limits);
+    }
+
+    // *** real time rate limit check ***
+    violation |= BP_HOST_RT_CURVATURE_RATE_CHECK(limits->base);
+  }
+  BP_HOST_CURVATURE_STATE.desired_last = desired_curvature;
+
+  // Curvature must be 0 while not steering
+  if (!steer_control_enabled) {
+    violation |= desired_curvature != 0;
+  }
+
+  // No curvature control allowed when controls are not allowed
+  violation |= !BP_HOST_LAT_ALLOWED() && steer_control_enabled;
+
+  // reset to zero (inactive_curvature_is_zero)
+  if (violation || !BP_HOST_LAT_ALLOWED()) {
+    BP_HOST_CURVATURE_STATE.desired_last = 0;
+  }
+
+  return violation;
+}

opendbc_repo/opendbc/bluepilot_lateral/safety/lateral_declarations.h

@@ -0,0 +1,60 @@
+/**
+ * BluePilot lateral-control extensions shared across safety modes: declarations.
+ * See lateral.h in this directory for the implementation.
+ */
+
+#pragma once
+
+#include "../../safety/declarations.h"
+
+// BluePilot: the host bindings. The library is written against comma's opendbc safety names; a host
+// whose names differ defines these before including safety/ford.h (HOSTS.md, "Host bindings"). The
+// defaults are upstream opendbc's (sunnypilot/opendbc), so a host on those names defines nothing.
+// Type of FordBpCurvatureLimits.base: the host's curvature limit struct. The library reads only its
+// max_curvature, curvature_to_can, frequency, max_curvature_error and curvature_error_min_speed.
+#ifndef BP_HOST_CURVATURE_LIMITS
+#define BP_HOST_CURVATURE_LIMITS CurvatureSteeringLimits
+#endif
+// The host's curvature state (desired_last, meas), the one its curvature RX hook fills.
+#ifndef BP_HOST_CURVATURE_STATE
+#define BP_HOST_CURVATURE_STATE curvature_state
+#endif
+// The host's real-time message-rate check, taking a BP_HOST_CURVATURE_LIMITS by value.
+#ifndef BP_HOST_RT_CURVATURE_RATE_CHECK
+#define BP_HOST_RT_CURVATURE_RATE_CHECK rt_curvature_rate_limit_check
+#endif
+// Whether lateral control is allowed: controls_allowed or the host's lateral-only engagement (MADS).
+#ifndef BP_HOST_LAT_ALLOWED
+#define BP_HOST_LAT_ALLOWED() (controls_allowed || controls_allowed_lateral)
+#endif
+// The second-speed cross-check upstream runs inside its curvature check. A host that runs it in its
+// RX hook instead defines this as ((void)0).
+#ifndef BP_HOST_SPEED_MISMATCH_CHECK
+#define BP_HOST_SPEED_MISMATCH_CHECK() speed_mismatch_check((float)vehicle_speed_2.values[0] / VEHICLE_SPEED_FACTOR)
+#endif
+
+// BluePilot: curvature limits for the measured-table check. base holds upstream's fields
+// (max_curvature, curvature_to_can, frequency, error band, ...); the rest are BluePilot's.
+typedef struct {
+  BP_HOST_CURVATURE_LIMITS base;
+  // Explicit rate-of-change tables, mirrored from values_ext.py BP_ANGLE_LIMITS. Upstream derives
+  // the per-tick delta from the ISO lateral jerk limit alone, which is looser than Ford's EPS
+  // tolerates at low speed and tighter than it tolerates at high speed.
+  struct lookup_t curvature_rate_up_lookup;
+  struct lookup_t curvature_rate_down_lookup;
+  // Ford CAN (Q3) is NOT lateral-accel limited in safety -- the EPS already caps it, and applying
+  // the ISO cap here would clip commands the car accepts today. Ford CAN FD (Q4) has more torque
+  // available and IS limited.
+  bool limit_lateral_acceleration;
+} FordBpCurvatureLimits;
+
+// BluePilot: measured-table curvature rate-of-change + error-band check, used by
+// ford_bp_curvature_cmd_checks below.
+static inline bool ford_bp_curvature_rate_lookup_check(int desired_curvature, const FordBpCurvatureLimits *limits);
+
+// BluePilot: curvature command checks for the BluePilot lateral (Ford only today, see the
+// FORD_LIMITS macro in bluepilot_lateral/safety/ford.h). Upstream's steer_curvature_cmd_checks with
+// the measured-table check in place of its ISO accel and jerk checks, and no value checks at
+// curvature 0, the no-curvature-command sentinel (only the message-rate check and the gates).
+static inline bool ford_bp_curvature_cmd_checks(int desired_curvature, bool steer_control_enabled,
+                                                const FordBpCurvatureLimits *limits);

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/bluepilot_coverage.sh

@@ -0,0 +1,43 @@
+#!/usr/bin/env bash
+# BluePilot: 100% line coverage of the BluePilot safety headers (#53). Upstream's test.sh only measures
+# files under <pkg>/safety/, and the headers live in <pkg>/bluepilot_lateral/safety/. <pkg> is the host's
+# opendbc package, whatever it's named (opendbc, iqdbc): the one the library is mounted in.
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+ROOT="$(cd "$DIR/../../../.." && pwd)"
+PKG="$(basename "$(cd "$DIR/../../.." && pwd)")"
+cd "$ROOT/$PKG/safety/tests"
+
+source "$ROOT/setup.sh"
+
+# reset coverage data, then run upstream's safety tests. The BluePilot ones come in through the host's
+# loader (test_bluepilot_lateral.py) where it has one; otherwise they run here on their own.
+rm -f ./libsafety/*.gcda ./libsafety/*.gcno
+SAFETY_COVERAGE=1 python -m unittest discover -s .
+if [ ! -f test_bluepilot_lateral.py ]; then
+  SAFETY_COVERAGE=1 python -m unittest discover -s "$ROOT/$PKG/bluepilot_lateral/safety/tests" -t "$ROOT"
+fi
+
+if [ "$(uname)" = "Darwin" ]; then
+  GCOV_EXEC="llvm-cov gcov"
+else
+  GCOV_EXEC="gcov"
+fi
+
+# Two reports: the library's safety/ford.h and the host's modes/ford.h share a file name, and one gcovr run
+# over both can credit one's lines to the other. modes/ford.h is measured from <pkg>/safety, as the host's
+# test.sh does; the second run deletes the coverage data.
+if ! OUT="$(gcovr -r "$ROOT/$PKG/safety" --gcov-executable "$GCOV_EXEC" --fail-under-line=100 \
+             -f "$ROOT/$PKG/safety/modes/ford.h")"; then
+  echo -e "FAILED:\n$OUT"
+  exit 1
+fi
+echo "$OUT"
+if ! OUT="$(gcovr -r "$ROOT" --gcov-executable "$GCOV_EXEC" -d --fail-under-line=100 \
+             -f "$ROOT/$PKG/bluepilot_lateral/safety/")"; then
+  echo -e "FAILED:\n$OUT"
+  exit 1
+fi
+echo "$OUT"
+echo "SUCCESS: the BluePilot safety headers and modes/ford.h have 100% coverage!"

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/bluepilot_mutation.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+"""BluePilot: run upstream's mutation.py on the BluePilot safety headers (#53).
+
+Upstream's run only mutates code from files under <pkg>/safety/, and the BluePilot headers live in
+the library (<pkg>/bluepilot_lateral/safety/). This points the same run at them; the killer tests
+are the ones mutation.py already discovers in <pkg>/safety/tests/, the BluePilot ones through the
+loader there (test_bluepilot_lateral.py). Same options as mutation.py. <pkg> is the host's opendbc
+package, whatever it's named (opendbc, iqdbc): the one the library is mounted in."""
+import importlib
+import sys
+from pathlib import Path
+
+PKG = Path(__file__).resolve().parents[3].name
+mutation = importlib.import_module(f"{PKG}.safety.tests.mutation")
+
+mutation.SAFETY_DIR = mutation.ROOT / PKG / "bluepilot_lateral" / "safety"
+
+# Equivalent mutants: no test can kill them, so they are skipped (mutation.py keeps its own list inside
+# main()). ford.h's +-0.02 range check in ford_lmc_checks is the same +-1000 CAN cap as lateral.h's
+# max_curvature check, which blocks every frame it would (its steering-off and controls-not-allowed
+# checks cover the rest), and the range check writes no state (only ford_bp_curvature_cmd_checks
+# resets desired_last). It stays as the backstop if a platform's max_curvature ever differs, and a
+# test can reach it then.
+KNOWN_SURVIVORS = {
+  (f"{PKG}/bluepilot_lateral/safety/ford.h", 197, "|=", "&="),
+}
+
+_enumerate_sites = mutation.enumerate_sites
+
+
+def key(site):
+  return str(site.origin_file.relative_to(mutation.ROOT)), site.origin_line, site.original_op, site.mutated_op
+
+
+def enumerate_sites(input_source, preprocessed_file):
+  sites, counts, build_incompatible_ids, source = _enumerate_sites(input_source, preprocessed_file)
+  skipped = [s for s in sites if key(s) in KNOWN_SURVIVORS]
+  assert len(skipped) == len(KNOWN_SURVIVORS), f"an equivalent mutant moved or is gone: {sorted(KNOWN_SURVIVORS - {key(s) for s in skipped})}"
+  for s in skipped:
+    print(f"skipping equivalent mutant: {key(s)[0]}:{s.origin_line} [{s.mutator}] {s.original_op}->{s.mutated_op}", flush=True)
+  return [s for s in sites if key(s) not in KNOWN_SURVIVORS], counts, build_incompatible_ids, source
+
+
+mutation.enumerate_sites = enumerate_sites  # main() looks it up by name
+
+if __name__ == "__main__":
+  sys.exit(mutation.main())

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/ford_bluepilot_common.py

@@ -0,0 +1,268 @@
+"""
+BluePilot: shared harness for the Ford 4-signal lateral safety tests.
+
+Not a test module (no test_ prefix). Provides:
+  * BPFordLateralModel: a Python mirror of the BluePilot curvature checks in
+    opendbc/bluepilot_lateral/safety/lateral.h (ford_bp_curvature_rate_lookup_check) and the lateral
+    acceleration cap, computed with the same float32 arithmetic and rounding as the C, so the
+    tests can assert exact CAN-unit boundaries on both x86 and ARM runners.
+  * BPFordTestCase: unittest base that borrows upstream's Ford test class for its message
+    builders (composition, so upstream's tests are not inherited) and sets the BP_LATERAL safety
+    param bit before ford_init.
+"""
+import re
+import unittest
+from pathlib import Path
+
+import numpy as np
+
+from ....car.structs import CarParams
+from ....car.ford.fordcan import CanBus
+from ....car.ford.values import FordSafetyFlags
+from ...can import fordcan_ext
+from ...core.values_ext import FordSafetyFlagsSP
+from ....safety.tests.libsafety import libsafety_py
+from ....safety.tests.common import CANPackerSafety
+from ....safety.tests import test_ford  # module import keeps its test classes out of discovery here
+from ...tests import host
+
+f32 = np.float32
+
+
+def c_int(v) -> int:
+  """C (int) cast: truncation toward zero."""
+  return int(np.trunc(float(v)))
+
+
+# --- constants mirrored from the C (opendbc/safety/modes/ford.h, opendbc/bluepilot_lateral/safety/*.h, lateral.h) ---
+CURVATURE_TO_CAN = 50000.0          # FORD_LIMITS .curvature_to_can
+FORD_CURVATURE_MAX = 0.02           # rad/m, FORD_CURVATURE_MAX in ford_declarations.h
+MAX_CURVATURE_CAN = c_int(f32(FORD_CURVATURE_MAX) * f32(CURVATURE_TO_CAN))  # FORD_LIMITS .max_curvature, 1000
+MAX_CURVATURE_ERROR_CAN = 100       # FORD_LIMITS(_, 100)
+MAX_CURVATURE_ERROR_CAN_PINION = 150  # FORD_BP_STEERING_LIMITS_PINION / FORD_CANFD_STEERING_LIMITS_PINION
+CURVATURE_ERROR_MIN_SPEED = 10.0    # m/s
+VEHICLE_SPEED_FACTOR = 1000.0
+RATE_LOOKUP_X = (5., 16., 25.)                 # m/s, FORD_LIMITS curvature_rate_{up,down}_lookup
+RATE_LOOKUP_UP_Y = (0.0025, 0.0014, 0.00018)   # rad/m per frame, curvature_rate_up_lookup
+RATE_LOOKUP_DOWN_Y = (0.002525, 0.001414, 0.0001818)  # curvature_rate_down_lookup: 1% looser than up (#20)
+ISO_LATERAL_ACCEL = 3.0
+EARTH_G = 9.81
+AVERAGE_ROAD_ROLL = 0.06
+BP_MAX_LATERAL_ACCEL = float(f32(ISO_LATERAL_ACCEL) - f32(EARTH_G) * f32(AVERAGE_ROAD_ROLL))  # lateral.h, ~2.41 m/s^2
+
+PATH_ANGLE_TO_CAN = 2000.0          # FORD_PATH_ANGLE_LIMITS .angle_deg_to_can (1 / 5e-4 rad)
+FORD_PATH_ANGLE_MAX = 0.25          # rad, curvature mode
+FORD_DBC_PATH_ANGLE_MIN = -0.5      # rad, angle mode: the DBC's own range
+FORD_DBC_PATH_ANGLE_MAX = 0.5235
+PATH_ANGLE_MAX_CAN = c_int(f32(FORD_PATH_ANGLE_MAX) * f32(PATH_ANGLE_TO_CAN))          # 500
+PATH_ANGLE_DBC_MIN_CAN = c_int(f32(FORD_DBC_PATH_ANGLE_MIN) * f32(PATH_ANGLE_TO_CAN))  # -1000
+PATH_ANGLE_DBC_MAX_CAN = c_int(f32(FORD_DBC_PATH_ANGLE_MAX) * f32(PATH_ANGLE_TO_CAN))  # 1047, truncated like the C's (int) cast
+PATH_ANGLE_LOOKUP_X = (10., 15., 25.)
+PATH_ANGLE_LOOKUP_Y = (0.0561, 0.04335, 0.00918)   # rad per frame
+
+PATH_OFFSET_TO_CAN = 100.0          # FORD_PATH_OFFSET_LIMITS .angle_deg_to_can (1 / 0.01 m)
+FORD_PATH_OFFSET_MAX = 1.0          # m
+PATH_OFFSET_MAX_CAN = c_int(f32(FORD_PATH_OFFSET_MAX) * f32(PATH_OFFSET_TO_CAN))  # 100
+PATH_OFFSET_LOOKUP_X = (5., 15., 25.)
+PATH_OFFSET_LOOKUP_Y = (0.05, 0.025, 0.01)          # m per frame
+
+CURVATURE_RATE_TO_CAN_CANFD = 1000000.0   # LatCtlCrv_NoRate2_Actl wire resolution, 1e-6 1/m^2
+CURVATURE_RATE_TO_CAN_CAN = 4000000.0     # LatCtlCurv_NoRate_Actl wire resolution, 2.5e-7 1/m^2
+
+LATCTL_CURVATURE_SIGNAL_MAX = 0.02094  # rad/m, LatCtlCurv_No_Actl range [-0.02|0.02094] in the DBC
+CURVATURE_SIGNAL_MAX_CAN = c_int(f32(LATCTL_CURVATURE_SIGNAL_MAX) * f32(CURVATURE_TO_CAN))  # 1047: the packer cannot go further
+FORMER_LATCH_WINDOW_FRAMES = 70      # > the 60 frames the removed reset-bypass latch covered (#9)
+SMALL_ANGLE = 0.01                  # rad: a small non-zero path_angle; probes hold it constant, so its ROC never decides
+
+
+def c_interpolate(xs, ys, x) -> np.float32:
+  """safety_interpolate() from opendbc/safety/helpers.h, in float32."""
+  x = f32(x)
+  xs = [f32(v) for v in xs]
+  ys = [f32(v) for v in ys]
+  ret = ys[-1]
+  if x <= xs[0]:
+    ret = ys[0]
+  else:
+    for i in range(len(xs) - 1):
+      if x < xs[i + 1]:
+        x0, y0 = xs[i], ys[i]
+        dx = f32(max(xs[i + 1] - x0, f32(0.0001)))
+        dy = f32(ys[i + 1] - y0)
+        ret = f32(f32(dy * f32(x - x0)) / dx) + y0
+        break
+  return f32(ret)
+
+
+def c_fudged_speed(speed_ms: float, offset: float) -> np.float32:
+  """(vehicle_speed.x / VEHICLE_SPEED_FACTOR) + offset, as the C computes it: the sample is an
+  int in mm/s, the division and the offset happen in double, and the result is rounded to
+  float once when passed to safety_interpolate. speed_ms comes from libsafety's getters,
+  which are the sample / 1000 rounded to float32; the integer is recovered exactly."""
+  sample = round(float(speed_ms) * VEHICLE_SPEED_FACTOR)
+  return f32(sample / VEHICLE_SPEED_FACTOR + offset)
+
+
+class BPFordLateralModel:
+  """Mirror of the BP curvature path in ford_bp_curvature_cmd_checks + ford_bp_curvature_rate_lookup_check.
+
+  Speeds are what the C sees: vehicle_speed.min / max / values[0] in m/s (read back from
+  libsafety after the rx messages so packer rounding is included).
+  """
+
+  def __init__(self, canfd: bool, max_curvature_error: int = MAX_CURVATURE_ERROR_CAN):
+    self.limit_lateral_accel = canfd  # FORD_LIMITS(true, …) only for CAN FD
+    self.max_curvature_error = max_curvature_error
+
+  @staticmethod
+  def rate_delta(speed_min: float, up: bool = True) -> int:
+    # (safety_interpolate(lookup, (vehicle_speed.min / F) - 1.) * curvature_to_can) + 1.  -> int
+    fudged = c_fudged_speed(speed_min, -1.0)
+    table = RATE_LOOKUP_UP_Y if up else RATE_LOOKUP_DOWN_Y
+    return c_int(float(f32(c_interpolate(RATE_LOOKUP_X, table, fudged) * f32(CURVATURE_TO_CAN))) + 1.0)
+
+  @staticmethod
+  def rate_delta_relaxed(speed_max: float, up: bool = True) -> int:
+    fudged = c_fudged_speed(speed_max, 1.0)
+    table = RATE_LOOKUP_UP_Y if up else RATE_LOOKUP_DOWN_Y
+    return c_int(float(f32(c_interpolate(RATE_LOOKUP_X, table, fudged) * f32(CURVATURE_TO_CAN))) - 1.0)
+
+  @staticmethod
+  def accel_cap(speed_min: float) -> int:
+    # BP_MAX_LATERAL_ACCEL / (fudged_speed^2) * curvature_to_can + 1, fudged = max(v.min - 1, 1)
+    fudged = f32(max(float(c_fudged_speed(speed_min, -1.0)), 1.0))
+    max_curv = f32(f32(BP_MAX_LATERAL_ACCEL) / f32(fudged * fudged))
+    return c_int(float(f32(max_curv * f32(CURVATURE_TO_CAN))) + 1.0)
+
+  def bounds(self, desired_last: int, meas_min: int, meas_max: int,
+             speed_min: float, speed_max: float, speed_now: float) -> tuple[int, int]:
+    """(lowest, highest) allowed desired curvature in CAN units for the next frame."""
+    delta_up = self.rate_delta(speed_min, up=True)
+    delta_down = self.rate_delta(speed_min, up=False)
+    highest = desired_last + (delta_up if desired_last > 0 else delta_down)
+    lowest = desired_last - (delta_down if desired_last >= 0 else delta_up)
+    if self.max_curvature_error and speed_now > CURVATURE_ERROR_MIN_SPEED:
+      relaxed_up = self.rate_delta_relaxed(speed_max, up=True)
+      relaxed_down = self.rate_delta_relaxed(speed_max, up=False)
+      lowest_err = meas_min - self.max_curvature_error - 1
+      highest_err = meas_max + self.max_curvature_error + 1
+      if desired_last > highest_err:
+        delta = relaxed_down if desired_last >= 0 else relaxed_up
+        highest = max(desired_last - delta, highest_err)
+      elif desired_last < lowest_err:
+        delta = relaxed_down if desired_last <= 0 else relaxed_up
+        lowest = min(desired_last + delta, lowest_err)
+      else:
+        highest = min(highest, highest_err)
+        lowest = max(lowest, lowest_err)
+      lowest = max(-MAX_CURVATURE_CAN, min(MAX_CURVATURE_CAN, lowest))
+      highest = max(-MAX_CURVATURE_CAN, min(MAX_CURVATURE_CAN, highest))
+    return lowest, highest
+
+  def cap(self, speed_min: float) -> int:
+    """The largest |curvature| the checks accept at this speed: the lateral-accel cap on CAN FD, the
+    0.02 hard limit otherwise (FORD_LIMITS .limit_lateral_acceleration)."""
+    return min(self.accel_cap(speed_min), MAX_CURVATURE_CAN) if self.limit_lateral_accel else MAX_CURVATURE_CAN
+
+  def allowed(self, desired: int, desired_last: int, meas_min: int, meas_max: int,
+              speed_min: float, speed_max: float, speed_now: float) -> bool:
+    """Whether a non-zero desired curvature passes the BP curvature checks (controls allowed, steer enabled)."""
+    if abs(desired) > MAX_CURVATURE_CAN:
+      return False
+    lowest, highest = self.bounds(desired_last, meas_min, meas_max, speed_min, speed_max, speed_now)
+    if desired > highest or desired < lowest:
+      return False
+    if self.limit_lateral_accel:
+      cap = self.accel_cap(speed_min)
+      if desired > cap or desired < -cap:
+        return False
+    return True
+
+
+_NUM = r"[-+0-9.eE]+"
+_GEOMETRY_ROW = re.compile(rf"\{{\.slip_factor = (?P<slip>{_NUM})f, \.steer_ratio = (?P<sr>{_NUM})f, \.wheelbase = (?P<wb>{_NUM})f\}},\s*// (?P<idx>\d+):")
+
+
+def pinion_geometry_table() -> dict[int, tuple[float, float, float]]:
+  """ford_pinion_geometry from opendbc/bluepilot_lateral/safety/ford.h as {index: (slip_factor, steer_ratio,
+  wheelbase)}. Read from source: libsafety exposes no getters for it and adding some would touch
+  upstream's harness."""
+  bp = Path(__file__).resolve().parents[1]
+  src = (bp / "ford.h").read_text()
+  body = src[src.index("ford_pinion_geometry[FORD_PINION_GEOMETRY_ROWS] = {"):]
+  body = body[:body.index("};")]
+  matches = list(_GEOMETRY_ROW.finditer(body))
+  # every initializer must parse (a row in a spelling the regex misses would otherwise vanish),
+  # the comment index must be the row's position, and the count must be the declared size
+  assert len(matches) == body.count("{.slip_factor"), "a geometry row did not parse"
+  rows = {}
+  for pos, m in enumerate(matches):
+    assert int(m["idx"]) == pos, f"row {pos} is labeled {m['idx']}"
+    rows[pos] = (float(m["slip"]), float(m["sr"]), float(m["wb"]))
+  declared = re.search(r"#define FORD_PINION_GEOMETRY_ROWS (\d+)U", (bp / "ford_declarations.h").read_text())
+  assert declared and int(declared[1]) == len(rows), "FORD_PINION_GEOMETRY_ROWS does not match the table"
+  return rows
+
+
+def angle_roc_delta(xs, ys, scale: float, speed_min: float) -> int:
+  """path_angle / path_offset per-frame ROC: interpolate(lookup, v.min - 1) * scale + 1."""
+  fudged = c_fudged_speed(speed_min, -1.0)
+  return c_int(float(f32(c_interpolate(xs, ys, fudged) * f32(scale))) + 1.0)
+
+
+class BPFordTestCase(unittest.TestCase):
+  """Base for BluePilot Ford lateral tests. Subclasses set CANFD and may set PARAM_SP."""
+
+  CANFD = True
+  PARAM_SP = FordSafetyFlagsSP.BP_LATERAL
+
+  def setUp(self):
+    cls = test_ford.TestFordCANFDStockSafety if self.CANFD else test_ford.TestFordLongitudinalSafety
+    self.stock = cls("test_steer_allowed")  # upstream's Ford TestCase, for its message builders only
+    self.stock.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.stock.safety = libsafety_py.libsafety
+    self.safety = self.stock.safety
+    self.reinit()
+    self.safety.init_tests()
+    self.safety.set_controls_allowed(True)
+    self.model = BPFordLateralModel(self.CANFD)
+    self.set_meas(0, 15.0)
+
+  def tearDown(self):
+    # stock classes in the same process must not inherit the bit
+    host.set_safety_param(self.safety, 0)
+    super().tearDown()  # the host's own resets (IQ.Pilot's AOL state)
+
+  def reinit(self):
+    """A safety-mode init with the BP bit set (ford_init reads the bit)."""
+    host.set_safety_param(self.safety, self.PARAM_SP)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, host.ford_param(FordSafetyFlags.CANFD if self.CANFD else 0, self.PARAM_SP))
+
+  # --- wrappers over upstream's builders ---
+  def tx(self, msg) -> bool:
+    return self.stock._tx(msg)
+
+  def rx(self, msg) -> bool:
+    return self.stock._rx(msg)
+
+  def lat(self, enabled: bool, path_offset=0.0, path_angle=0.0, curvature=0.0, curvature_rate=0.0, increment_timer=True):
+    return self.stock._lat_ctl_msg(enabled, path_offset, path_angle, curvature, curvature_rate, increment_timer=increment_timer)
+
+  def set_meas(self, curvature: float, speed: float):
+    self.stock._reset_curvature_measurement(curvature, speed)
+
+  def set_prev_curvature_can(self, can: int):
+    self.safety.set_desired_curvature_last(can)
+
+  def speeds(self) -> tuple[float, float]:
+    return float(self.safety.get_vehicle_speed_min()), float(self.safety.get_vehicle_speed_max())
+
+  def meas(self) -> tuple[int, int]:
+    return int(self.safety.get_curvature_meas_min()), int(self.safety.get_curvature_meas_max())
+
+  def lka_bp_status_msg(self, angle_mode_engaged: bool, shadow_curvature: float):
+    """Lane_Assist_Data1 with BluePilot's angle-mode side channel (can/LANE_ASSIST_DATA1.md), built by
+    the real packer, so every angle-mode test runs Python's packing through the panda's decode."""
+    addr, dat, bus = fordcan_ext.create_lka_msg(self.stock.packer, CanBus(fingerprint={}), False, None, angle_mode_engaged,
+                                                 shadow_curvature)
+    return libsafety_py.make_CANPacket(addr, bus, bytes(dat))

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/test_ford_bluepilot.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+"""
+BluePilot: the BP_LATERAL safety-param bit selects which Ford lateral checks the panda runs.
+
+This pins the switch itself, not the BluePilot limits: with the bit set a modest non-zero
+path_angle is accepted, and with it clear (upstream's stock checks) the same frame is rejected.
+The BluePilot limits are covered separately.
+"""
+import unittest
+
+from ....car.structs import CarParams
+from ....car.ford.values import FordSafetyFlags
+from ...core.values_ext import FordSafetyFlagsSP
+from ....safety.tests.libsafety import libsafety_py
+from ....safety.tests.common import CANPackerSafety
+from ....safety.tests import test_ford  # module import: keeps its test classes out of this module's discovery
+from ...tests import host
+
+SPEED = 15.0             # m/s, above the curvature-error gate, inside the path_angle ROC table
+SMALL_PATH_ANGLE = 0.01  # rad, well inside the per-call ROC at this speed (~0.043)
+LARGE_PATH_ANGLE = 0.30  # rad, outside both the ROC step and the ±0.25 curvature-mode range
+
+
+class TestFordBPLateralBit(unittest.TestCase):
+  """Uses upstream's CAN FD stock test class only for its message helpers; its tests are not inherited."""
+
+  def setUp(self):
+    self.h = test_ford.TestFordCANFDStockSafety("test_steer_allowed")
+    self.h.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.h.safety = libsafety_py.libsafety
+
+  def tearDown(self):
+    host.set_safety_param(self.h.safety, 0)
+    super().tearDown()
+
+  def _init(self, param_sp: int):
+    h = self.h
+    host.set_safety_param(h.safety, param_sp)
+    h.safety.set_safety_hooks(CarParams.SafetyModel.ford, host.ford_param(FordSafetyFlags.CANFD, param_sp))
+    h.safety.init_tests()
+    h.safety.set_controls_allowed(True)
+    h._reset_curvature_measurement(0, SPEED)
+    h._set_prev_desired_angle(0.001)
+
+  def test_bit_set_runs_bluepilot_checks(self):
+    self._init(FordSafetyFlagsSP.BP_LATERAL)
+    self.assertTrue(self.h._tx(self.h._lat_ctl_msg(True, 0, SMALL_PATH_ANGLE, 0.001, 0)))
+    self.assertFalse(self.h._tx(self.h._lat_ctl_msg(True, 0, LARGE_PATH_ANGLE, 0.001, 0)))
+
+  def test_bit_clear_runs_stock_checks(self):
+    self._init(0)
+    # upstream: any non-zero path_angle is a violation
+    self.assertFalse(self.h._tx(self.h._lat_ctl_msg(True, 0, SMALL_PATH_ANGLE, 0.001, 0)))
+    self.assertTrue(self.h._tx(self.h._lat_ctl_msg(True, 0, 0, 0.001, 0)))
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/test_ford_bluepilot_angle_mode.py

@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+"""
+BluePilot Ford lateral, angle mode: the shadow-curvature plausibility check.
+
+In angle mode the LatCtl curvature signal is held at 0 and the command rides on path_angle.
+Lane_Assist_Data1 carries a side channel (angle mode engaged, and the curvature the controller
+would have commanded, "shadow curvature"; layout in opendbc/bluepilot_lateral/can/LANE_ASSIST_DATA1.md)
+that the panda checks against the yaw-measured curvature with the same error window as curvature mode
+(ford_shadow_curvature_error_check, ford.h). Ported from BluePilot's earlier vendored tests.
+"""
+import unittest
+
+from .ford_bluepilot_common import (
+  BPFordTestCase, SMALL_ANGLE, FORMER_LATCH_WINDOW_FRAMES, CURVATURE_TO_CAN, MAX_CURVATURE_ERROR_CAN, CURVATURE_ERROR_MIN_SPEED,
+)
+
+
+class TestFordBPAngleModeCANFD(BPFordTestCase):
+  CANFD = True
+
+  def _angle_frame(self) -> bool:
+    return self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0))
+
+  def test_shadow_curvature_error_window(self):
+    """Above the speed gate the shadow curvature must be within max_curvature_error of measured;
+    below it the check is off. Covers ford_shadow_curvature_error_check and its call site."""
+    measured_can = 250  # 0.005 rad/m
+    for speed in (CURVATURE_ERROR_MIN_SPEED - 1, CURVATURE_ERROR_MIN_SPEED + 1, 20.0):
+      enforced = speed > CURVATURE_ERROR_MIN_SPEED
+      self.set_meas(measured_can / CURVATURE_TO_CAN, speed)
+      m_min, m_max = self.meas()
+      hi_edge = m_max + MAX_CURVATURE_ERROR_CAN + 1  # highest_allowed in the C
+      lo_edge = m_min - MAX_CURVATURE_ERROR_CAN - 1
+      # shadow arrives as int16 at 1e-6 rad/m; the C scales by 0.05 to CAN units and truncates,
+      # so pick shadow values that land exactly on the CAN-unit boundaries
+      for shadow_can, expect in ((m_max, True), (hi_edge, True), (hi_edge + 1, not enforced),
+                                 (lo_edge, True), (lo_edge - 1, not enforced), (0, not enforced)):
+        self.tx(self.lka_bp_status_msg(True, shadow_can / CURVATURE_TO_CAN))
+        with self.subTest(speed=speed, shadow_can=shadow_can):
+          self.assertEqual(expect, self._angle_frame())
+
+  def test_shadow_curvature_has_no_rate_limit(self):
+    """Only the path_angle ROC applies in angle mode: a large frame-to-frame jump in the shadow
+    curvature that stays inside the window of a correspondingly moved measurement must pass."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 1
+    for curvature in (0.015, -0.015, 0.018, -0.018, 0.001, -0.019):
+      self.set_meas(curvature, speed)
+      self.tx(self.lka_bp_status_msg(True, curvature))
+      with self.subTest(curvature=curvature):
+        self.assertTrue(self._angle_frame())
+
+  def test_flag_clear_skips_shadow_check(self):
+    """Without the angle-mode bit a curvature-0 frame is not checked against the shadow value."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    self.set_meas(0.005, speed)
+    self.tx(self.lka_bp_status_msg(False, 0.02))  # would fail the window if it were applied
+    self.assertTrue(self._angle_frame())
+
+  def test_curvature_mode_unaffected_by_angle_mode_flag(self):
+    """A real (non-zero) curvature command is curvature mode by its own content; the flag and the
+    shadow value must not gate it either way."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    curvature_can = 500
+    self.set_meas(curvature_can / CURVATURE_TO_CAN, speed)
+    for flag in (True, False):
+      self.tx(self.lka_bp_status_msg(flag, 0.02))
+      self.set_prev_curvature_can(curvature_can)
+      with self.subTest(flag=flag):
+        self.assertTrue(self.tx(self.lat(True, 0, 0, curvature_can / CURVATURE_TO_CAN, 0)))
+
+  def test_shadow_out_of_window_blocks_while_enabled(self):
+    """An out-of-window shadow value blocks the enabled frame; the disabled all-zero frame (mode 0)
+    is not checked against it."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    self.set_meas(0.005, speed)
+    self.tx(self.lka_bp_status_msg(True, 0.02))
+    self.assertFalse(self._angle_frame())
+    self.assertTrue(self.tx(self.lat(False, 0, 0, 0, 0)))
+
+  def test_mode0_frame_leaves_shadow_check_active(self):
+    """Angle mode's human-turn override sends mode 0 with every signal zero. The frames after it
+    are checked: an out-of-window shadow curvature blocks on every frame of the 60-frame window
+    the removed bypass latch used to cover (#9)."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    self.set_meas(0.005, speed)
+    self.tx(self.lka_bp_status_msg(True, 0.005))
+    self.assertTrue(self.tx(self.lat(False, 0, 0, 0, 0)))
+    self.tx(self.lka_bp_status_msg(True, 0.02))
+    for frame in range(FORMER_LATCH_WINDOW_FRAMES):
+      with self.subTest(frame=frame):
+        self.assertFalse(self._angle_frame())
+
+
+class TestFordBPAngleModeCAN(TestFordBPAngleModeCANFD):
+  CANFD = False
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/test_ford_bluepilot_limits.py

@@ -0,0 +1,463 @@
+#!/usr/bin/env python3
+"""
+BluePilot Ford lateral: the 4-signal limits with the BP_LATERAL bit set.
+
+Every expectation comes from ford_bluepilot_common.BPFordLateralModel, a float32 mirror of the
+C, so boundaries are asserted at the exact CAN unit on both x86 and ARM.
+"""
+import random
+import unittest
+
+from ....safety.tests import common
+from ....can.dbc import DBC
+
+from .ford_bluepilot_common import (
+  BPFordTestCase, angle_roc_delta, SMALL_ANGLE, FORMER_LATCH_WINDOW_FRAMES, CURVATURE_SIGNAL_MAX_CAN,
+  CURVATURE_TO_CAN, MAX_CURVATURE_CAN, MAX_CURVATURE_ERROR_CAN, CURVATURE_ERROR_MIN_SPEED,
+  PATH_ANGLE_TO_CAN, PATH_ANGLE_MAX_CAN, PATH_ANGLE_DBC_MIN_CAN, PATH_ANGLE_DBC_MAX_CAN,
+  PATH_ANGLE_LOOKUP_X, PATH_ANGLE_LOOKUP_Y,
+  PATH_OFFSET_TO_CAN, PATH_OFFSET_MAX_CAN, PATH_OFFSET_LOOKUP_X, PATH_OFFSET_LOOKUP_Y,
+  CURVATURE_RATE_TO_CAN_CANFD, CURVATURE_RATE_TO_CAN_CAN,
+)
+from ...tests import host
+
+# speeds chosen to hit both sides of the error-band gate (10 m/s) and every segment of the
+# {5, 16, 25} rate table, plus its clamped ends
+SPEEDS = (3.0, 5.0, 8.0, 10.5, 12.0, 16.0, 20.0, 25.0, 30.0)
+
+
+class TestFordBPLimitsCANFD(BPFordTestCase):
+  CANFD = True
+
+  def _probe(self, desired_can: int, last_can: int) -> bool:
+    self.set_prev_curvature_can(last_can)
+    return self.tx(self.lat(True, 0, SMALL_ANGLE, desired_can / CURVATURE_TO_CAN, 0))
+
+  def _assert_matches_model(self, last_can: int, probes):
+    v_min, v_max = self.speeds()
+    m_min, m_max = self.meas()
+    for desired in probes:
+      if desired == 0 or abs(desired) > CURVATURE_SIGNAL_MAX_CAN:  # 0 skips the value checks the model mirrors
+        continue
+      expected = self.model.allowed(desired, last_can, m_min, m_max, v_min, v_max, v_max)
+      with self.subTest(speed=v_max, meas=(m_min, m_max), last=last_can, desired=desired):
+        self.assertEqual(expected, self._probe(desired, last_can))
+
+  def test_curvature_rate_lookup_boundaries(self):
+    """Per-frame delta from the {5,16,25} m/s table (ford_bp_curvature_rate_lookup_check), both
+    directions, both signs, exact boundary: the speed fudge and the delta arithmetic."""
+    for speed in SPEEDS:
+      self.set_meas(0, speed)
+      v_min, v_max = self.speeds()
+      delta = self.model.rate_delta(v_min)
+      for last in (0, 40, -40, 250, -250):
+        lowest, highest = self.model.bounds(last, *self.meas(), v_min, v_max, v_max)
+        self._assert_matches_model(last, (highest - 1, highest, highest + 1, lowest - 1, lowest, lowest + 1,
+                                          last + delta, last + delta + 1, last - delta, last - delta - 1))
+
+  def test_curvature_error_band_convergence(self):
+    """Above 10 m/s the command must stay within max_curvature_error of measured; when the last
+    command is already outside the band it must move back toward it by at least the relaxed
+    delta, and may not move further away. Below 10 m/s the band is off (the relaxed branches of
+    ford_bp_curvature_rate_lookup_check). Seen in the car: a 4-frame block at 26 mph with the driver
+    steering harder than the command, sitting exactly on this window's edge (#12)."""
+    # measured both signs, and last commands on both sides of zero, so both relaxed branches run
+    # with last commands of either sign. The C picks the up or down table by that sign, and the
+    # down table is 1% looser (#20), so each relaxed probe below uses the table the C picks.
+    for meas_can in (200, -200, 600, -600):
+      for speed in (8.0, 12.0, 16.0, 20.0):
+        self.set_meas(meas_can / CURVATURE_TO_CAN, speed)
+        v_min, v_max = self.speeds()
+        m_min, m_max = self.meas()
+        band_on = v_max > CURVATURE_ERROR_MIN_SPEED
+        delta = self.model.rate_delta(v_min)
+        lowest_err = m_min - MAX_CURVATURE_ERROR_CAN - 1
+        highest_err = m_max + MAX_CURVATURE_ERROR_CAN + 1
+        cap = self.model.cap(v_min)  # the explicit asserts below stay under it
+
+        # last command below the band (on either side of zero): must climb toward it
+        for last in (lowest_err - 150, 0, -1, 1):
+          if last >= lowest_err:
+            continue
+          relaxed = self.model.rate_delta_relaxed(v_max, up=last > 0)  # climbing: down table while last <= 0
+          self._assert_matches_model(last, (last + relaxed - 1, last + relaxed, last + delta, last + delta + 1,
+                                            last - 1, lowest_err))
+          if band_on:
+            ctx = f"meas={meas_can} speed={speed} last={last} relaxed={relaxed} band=({lowest_err},{highest_err})"
+            self.assertFalse(self._probe(last + relaxed - 1, last), "must move toward the band " + ctx)
+            if abs(min(last + relaxed, lowest_err)) <= cap:
+              self.assertTrue(self._probe(min(last + relaxed, lowest_err), last), ctx)
+            if last - 1 != 0:  # curvature 0 is angle mode's sentinel and skips the curvature checks
+              self.assertFalse(self._probe(last - 1, last), "may not move away from the band " + ctx)
+
+        # last command above the band (on either side of zero): must descend toward it
+        for last in (highest_err + 150, 0, -1, 1):
+          if last <= highest_err:
+            continue
+          relaxed = self.model.rate_delta_relaxed(v_max, up=last < 0)  # descending: down table while last >= 0
+          self._assert_matches_model(last, (last - relaxed + 1, last - relaxed, last - delta, last - delta - 1,
+                                            last + 1, highest_err))
+          if band_on:
+            ctx = f"meas={meas_can} speed={speed} last={last} relaxed={relaxed} band=({lowest_err},{highest_err})"
+            self.assertFalse(self._probe(last - relaxed + 1, last), "must move toward the band " + ctx)
+            if abs(max(last - relaxed, highest_err)) <= cap:
+              self.assertTrue(self._probe(max(last - relaxed, highest_err), last), ctx)
+            if last + 1 != 0:
+              self.assertFalse(self._probe(last + 1, last), "may not move away from the band " + ctx)
+
+        # last command inside the band: may not leave it
+        last = highest_err - 1
+        self._assert_matches_model(last, (highest_err, highest_err + 1, lowest_err, lowest_err - 1))
+        if band_on and delta > 1 and abs(highest_err) <= cap:
+          self.assertTrue(self._probe(highest_err, last))
+          self.assertFalse(self._probe(highest_err + 1, last), "inside the band, may not command outside it")
+
+  def test_lateral_accel_cap(self):
+    """CAN FD only: |curvature| <= (ISO_LATERAL_ACCEL - g*roll) / v^2, with the speed fudged down 1 m/s."""
+    for speed in (15.0, 20.0, 25.0, 30.0):
+      self.set_meas(0, speed)
+      v_min, _ = self.speeds()
+      cap = self.model.accel_cap(v_min)
+      self.assertLess(cap, MAX_CURVATURE_CAN, "cap only means something below the 0.02 hard limit")
+      for sign in (1, -1):
+        # measured curvature at the cap so the error band and rate limits allow it; last at the cap too
+        self.set_meas(sign * cap / CURVATURE_TO_CAN, speed)
+        with self.subTest(speed=speed, sign=sign):
+          self.assertTrue(self._probe(sign * cap, sign * cap))
+          self.assertFalse(self._probe(sign * (cap + 1), sign * cap))
+
+  def test_max_curvature_hard_limit(self):
+    """+-0.02 rad/m (1000 CAN) regardless of speed. At 3 m/s the accel cap and the band are off. Only the
+    positive side has an over-cap frame: LatCtlCurv_No_Actl is 11 bits unsigned with offset -0.02, so its
+    minimum is exactly -0.02, and -1001 CAN units can't be sent (it wraps to +1047 on the wire)."""
+    self.set_meas(0.02, 3.0)
+    for sign in (1, -1):
+      self.assertTrue(self._probe(sign * MAX_CURVATURE_CAN, sign * MAX_CURVATURE_CAN))
+    self.assertFalse(self._probe(MAX_CURVATURE_CAN + 1, MAX_CURVATURE_CAN))
+    name = "LateralMotionControl2" if self.CANFD else "LateralMotionControl"
+    sig = next(m for m in DBC("ford_lincoln_base_pt").msgs.values() if m.name == name).sigs["LatCtlCurv_No_Actl"]
+    self.assertFalse(sig.is_signed)
+    self.assertEqual(round(sig.offset * CURVATURE_TO_CAN), -MAX_CURVATURE_CAN)
+
+  def test_over_cap_frame_resets_last(self):
+    """A frame past the 0.02 cap resets desired_last to 0 (ford_bp_curvature_cmd_checks' own cap), so
+    the next frame at the cap is a jump from 0 past the rate limit. ford_lmc_checks' range check blocks
+    the over-cap frame either way; only the cap in ford_bp_curvature_cmd_checks resets. At 5 m/s the
+    band is off and the CAN FD accel cap is far above 0.02. Positive only: the signal's minimum is
+    -0.02 exactly (11 bits unsigned, offset -0.02), so -1001 wraps to +1047 on the wire."""
+    self.set_meas(0.02, 5.0)
+    self.assertLess(self.model.rate_delta(self.speeds()[0]), MAX_CURVATURE_CAN)
+    self.assertFalse(self._probe(MAX_CURVATURE_CAN + 1, MAX_CURVATURE_CAN))
+    self.assertFalse(self.tx(self.lat(True, 0, SMALL_ANGLE, MAX_CURVATURE_CAN / CURVATURE_TO_CAN, 0)))
+
+  def test_signals_zero_when_steer_disabled(self):
+    """With LatCtl_D2_Rq = 0 every signal must be zero (path_angle/path_offset_cmd_checks, the
+    curvature-rate check and ford_bp_curvature_cmd_checks), each on its own and in combination."""
+    self.set_meas(0, 15.0)
+    self.assertFalse(self.tx(self.lat(False, 0.1, 0, 0, 0)))
+    self.assertFalse(self.tx(self.lat(False, 0, 0, 0, 0.0001)))
+    self.assertFalse(self.tx(self.lat(False, 0, 0.01, 0, 0)))
+    self.assertFalse(self.tx(self.lat(False, 0.1, 0.01, 0, 0)))
+    self.assertFalse(self.tx(self.lat(False, 0, 0.01, 0, 0.0001)))
+    self.assertFalse(self.tx(self.lat(False, 0, 0, 0.001, 0)))
+    self.assertFalse(self.tx(self.lat(False, 0.1, 0, 0.001, 0)))
+    self.assertFalse(self.tx(self.lat(False, 0, 0, 0.001, 0.0001)))
+    # one CAN unit of curvature: the curvature-must-be-0 check is the only one that blocks it
+    for sign in (1, -1):
+      self.assertFalse(self.tx(self.lat(False, 0, 0, sign / CURVATURE_TO_CAN, 0)))
+    # the all-zero disabled frame is the one thing allowed
+    self.assertTrue(self.tx(self.lat(False, 0, 0, 0, 0)))
+
+  def test_controls_not_allowed_blocks_steering(self):
+    """steer enabled with controls not allowed is blocked whatever the signals carry: a real
+    curvature command (ford_bp_curvature_cmd_checks), in curvature mode and with the angle-mode
+    flag set. Upstream's test_steer_allowed asserts this for the stock path; this is the BP path."""
+    self.set_meas(0, 15.0)
+    for angle_mode in (False, True):
+      self.tx(self.lka_bp_status_msg(angle_mode, 0.0))
+      self.safety.set_controls_allowed(True)
+      self.assertTrue(self._probe(20, 10))
+      self.safety.set_controls_allowed(False)
+      host.set_controls_allowed_lat(self.safety, False)
+      with self.subTest(angle_mode=angle_mode):
+        self.assertFalse(self._probe(20, 10))
+        self.assertFalse(self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0)))
+      self.safety.set_controls_allowed(True)
+    self.tx(self.lka_bp_status_msg(False, 0.0))
+
+  def test_newest_speed_sample_gates_the_band(self):
+    """The error band switches on vehicle_speed.values[0], the newest sample, not the window's
+    min or max, and only strictly above 10 m/s. Six samples at 9 m/s then one at 11: band on;
+    the reverse: band off; a newest sample of exactly 10.0: band off."""
+    meas_can = 200
+    last = meas_can + MAX_CURVATURE_ERROR_CAN  # inside the band, so only the band decides
+    below, above, gate = CURVATURE_ERROR_MIN_SPEED - 1, CURVATURE_ERROR_MIN_SPEED + 1, CURVATURE_ERROR_MIN_SPEED
+    # outside the band (its edge is meas + band + 1), inside the rate delta from 'last' at the slowest window
+    out_of_band = last + self.model.rate_delta(below) // 2
+    self.assertGreater(out_of_band, meas_can + MAX_CURVATURE_ERROR_CAN + 1)
+    for window, newest, expect_blocked in ((below, above, True), (above, below, False), (above, gate, False), (below, gate, False)):
+      self.set_meas(meas_can / CURVATURE_TO_CAN, window)
+      self.rx(self.stock._speed_msg(newest))
+      v_min, v_max = self.speeds()
+      m_min, m_max = self.meas()
+      with self.subTest(window=window, newest=newest):
+        self.assertEqual(not expect_blocked, self.model.allowed(out_of_band, last, m_min, m_max, v_min, v_max, newest))
+        self.assertEqual(not expect_blocked, self._probe(out_of_band, last))
+
+  def test_newest_speed_sample_gates_the_shadow_check(self):
+    """Angle mode's shadow-curvature check (ford_shadow_curvature_error_check) also switches on
+    vehicle_speed.values[0], the newest sample: older samples at 9.5 m/s and the newest at 10.5: on;
+    the reverse: off. 0.5 m/s either side keeps clear of speed_mismatch_check's 2 m/s limit."""
+    below, above = CURVATURE_ERROR_MIN_SPEED - 0.5, CURVATURE_ERROR_MIN_SPEED + 0.5
+    for window, newest, expect_blocked in ((below, above, True), (above, below, False)):
+      self.set_meas(0, window)
+      self.rx(self.stock._speed_msg(newest))
+      _, m_max = self.meas()
+      out_of_band = m_max + MAX_CURVATURE_ERROR_CAN + 2  # one past highest_allowed in the C
+      self.tx(self.lka_bp_status_msg(True, out_of_band / CURVATURE_TO_CAN))
+      with self.subTest(window=window, newest=newest):
+        self.assertEqual(not expect_blocked, self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0)))
+    self.tx(self.lka_bp_status_msg(False, 0.0))
+
+  def test_zero_curvature_skips_curvature_checks(self):
+    """Curvature == 0 (angle mode's sentinel) skips the curvature value checks (cap, rate tables,
+    error band); the controls-allowed gate and the message-rate check remain
+    (ford_bp_curvature_cmd_checks). Pins current behavior, see #10 and #60."""
+    self.set_meas(0.01, 15.0)  # measured 500 CAN: a real curvature command of 0 would be far outside the band
+    self.assertTrue(self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0)))
+    self.safety.set_controls_allowed(False)
+    host.set_controls_allowed_lat(self.safety, False)
+    self.assertFalse(self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0)))
+    self.safety.set_controls_allowed(True)
+
+  # --- the reset frame: curvature 0 and path_angle 0 (#9) ---
+
+  def test_reset_frame_accepted_mid_curve(self):
+    """Curvature mode's human-turn reset: steering enabled, curvature 0 and path_angle 0 while the
+    car is mid-curve. Curvature 0 skips the error band, so the frame is accepted; the
+    controller depends on this."""
+    self.set_meas(0.01, 20.0)  # measured 500 CAN: a real curvature command of 0 would be far outside the band
+    self.set_prev_curvature_can(500)
+    self.assertTrue(self.tx(self.lat(True, 0, 0, 0, 0)))
+
+  def test_reset_frame_then_jump_blocked(self):
+    """The repro in #9, steps A-C: at 25 m/s a jump from 0.001 to 0.02 rad/m is blocked (A); a
+    curvature 0 / path_angle 0 frame is accepted (B); the same jump right after it is still
+    blocked (C). With the latch, C passed."""
+    self.set_meas(0, 25.0)
+    jump, last = 0.02, int(0.001 * CURVATURE_TO_CAN)
+    self.set_prev_curvature_can(last)
+    self.assertFalse(self.tx(self.lat(True, 0, 0, jump, 0)))  # A
+    self.assertTrue(self.tx(self.lat(True, 0, 0, 0, 0)))  # B
+    self.set_prev_curvature_can(last)
+    self.assertFalse(self.tx(self.lat(True, 0, 0, jump, 0)))  # C
+
+  def _walk(self, reset_frame) -> list[bool]:
+    """Re-init, send reset_frame (if any), then a seeded random walk of curvature, path_angle and
+    path_offset steps up to 1.3 ROC steps each, so some frames pass and some are blocked by the
+    rate limits and the error band. Returns each frame's tx result. curvature_rate stays 0: its ROC
+    check can never fire (#22), so varying it would show nothing."""
+    self.reinit()
+    self.safety.set_controls_allowed(True)
+    self.set_meas(0, 12.0)  # band on around 0
+    if reset_frame is not None:
+      self.assertTrue(self.tx(reset_frame))
+    v_min, _ = self.speeds()
+    steps = (self.model.rate_delta(v_min),
+             angle_roc_delta(PATH_ANGLE_LOOKUP_X, PATH_ANGLE_LOOKUP_Y, PATH_ANGLE_TO_CAN, v_min),
+             angle_roc_delta(PATH_OFFSET_LOOKUP_X, PATH_OFFSET_LOOKUP_Y, PATH_OFFSET_TO_CAN, v_min))
+    bounds = (150, 300, 80)  # CAN units: past the band (101), inside the path_angle / path_offset ranges
+    rng = random.Random(9)
+    pos = [self.TINY_CURVATURE_CAN, 0, 0]
+    results = []
+    for _ in range(FORMER_LATCH_WINDOW_FRAMES):
+      pos = [max(-b, min(b, p + round(rng.uniform(-1.3, 1.3) * s))) for p, s, b in zip(pos, steps, bounds, strict=True)]
+      pos[0] = pos[0] or self.TINY_CURVATURE_CAN  # curvature 0 would skip the value checks
+      curvature, angle, offset = pos
+      results.append(self.tx(self.lat(True, offset / PATH_OFFSET_TO_CAN, angle / PATH_ANGLE_TO_CAN, curvature / CURVATURE_TO_CAN, 0)))
+    return results
+
+  def test_reset_frame_leaves_no_state(self):
+    """After a reset frame, enabled (curvature mode's human-turn reset) or disabled (angle mode's
+    mode 0), every check gives the same result, frame for frame, as without it, across the whole
+    window the removed bypass latch used to cover (#9)."""
+    baseline = self._walk(None)
+    self.assertTrue(any(baseline))  # some frames pass
+    self.assertFalse(all(baseline))  # and some are blocked
+    for enabled in (True, False):
+      with self.subTest(enabled=enabled):
+        self.assertEqual(baseline, self._walk(self.lat(enabled, 0, 0, 0, 0)))
+
+  def test_init_resets_bp_state(self):
+    """ford_bp_init (from ford_init) clears the BP path_angle / path_offset last values and the angle-mode flag, the
+    way set_safety_hooks clears upstream's lateral state: after a re-init the first frame is
+    checked against 0, not against the previous session. (The curvature_rate last value is reset
+    too, but its ROC can never fire, so that is not observable; see #22.)"""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    for stale in ("path_angle", "path_offset", "angle_mode"):
+      with self.subTest(stale=stale):
+        self.set_meas(0, speed)
+        v_min, _ = self.speeds()
+        angle_delta = angle_roc_delta(PATH_ANGLE_LOOKUP_X, PATH_ANGLE_LOOKUP_Y, PATH_ANGLE_TO_CAN, v_min)
+        offset_delta = angle_roc_delta(PATH_OFFSET_LOOKUP_X, PATH_OFFSET_LOOKUP_Y, PATH_OFFSET_TO_CAN, v_min)
+        # leave the one piece of state 3 ROC steps away from 0 (or angle mode engaged, with a
+        # shadow value that fails the window), then re-init
+        for step in (1, 2, 3):
+          angle = step * angle_delta if stale == "path_angle" else 0
+          offset = step * offset_delta if stale == "path_offset" else 0
+          self.set_prev_curvature_can(self.TINY_CURVATURE_CAN)
+          self.assertTrue(self.tx(self.lat(True, offset / PATH_OFFSET_TO_CAN, angle / PATH_ANGLE_TO_CAN,
+                                           self.TINY_CURVATURE_CAN / CURVATURE_TO_CAN, 0)))
+        if stale == "angle_mode":
+          self.tx(self.lka_bp_status_msg(True, 0.02))
+        self.reinit()
+        self.safety.set_controls_allowed(True)
+        self.set_meas(0.005 if stale == "angle_mode" else 0, speed)
+        self.set_prev_curvature_can(self.TINY_CURVATURE_CAN)
+        if stale == "angle_mode":
+          # the flag is cleared, so a curvature-0 frame is not checked against the shadow value
+          # (ford_bp_init leaves the raw shadow value alone; the flag gates its use)
+          self.assertTrue(self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0)))
+        else:
+          # one full ROC step below 0: within the ROC only if the last value is exactly 0 (from the
+          # stale value it is 4 steps, from 1 it is one unit too many)
+          angle = -angle_delta if stale == "path_angle" else 0
+          offset = -offset_delta if stale == "path_offset" else 0
+          self.assertTrue(self.tx(self.lat(True, offset / PATH_OFFSET_TO_CAN, angle / PATH_ANGLE_TO_CAN,
+                                           self.TINY_CURVATURE_CAN / CURVATURE_TO_CAN, 0)))
+
+  # --- the other three signals ---
+
+  # the three non-curvature probes carry 1 CAN unit of curvature (measured 0, last 1), which
+  # passes the curvature checks, so only the signal under test decides
+  TINY_CURVATURE_CAN = 1
+
+  def _angle_probe(self, angle_can: int) -> bool:
+    self.set_prev_curvature_can(self.TINY_CURVATURE_CAN)
+    return self.tx(self.lat(True, 0, angle_can / PATH_ANGLE_TO_CAN, self.TINY_CURVATURE_CAN / CURVATURE_TO_CAN, 0))
+
+  def test_path_angle_range_and_roc(self):
+    """Per-frame ROC from the {10,15,25} table (path_angle_cmd_checks) and the +-0.25 rad range in curvature
+    mode. A frame always becomes the new 'last' even when blocked, so each probe re-baselines."""
+    for speed in (8.0, 12.0, 20.0, 25.0):
+      self.set_meas(0, speed)
+      v_min, _ = self.speeds()
+      delta = angle_roc_delta(PATH_ANGLE_LOOKUP_X, PATH_ANGLE_LOOKUP_Y, PATH_ANGLE_TO_CAN, v_min)
+      for base in (0, 200, -200):
+        for sign in (1, -1):
+          with self.subTest(speed=speed, base=base, sign=sign):
+            self._angle_probe(base)
+            self.assertTrue(self._angle_probe(base + sign * delta))
+            self._angle_probe(base)
+            self.assertFalse(self._angle_probe(base + sign * (delta + 1)))
+      # range: step from just inside so the ROC allows it
+      if delta > 2:
+        for sign in (1, -1):
+          self._angle_probe(sign * (PATH_ANGLE_MAX_CAN - 1))
+          self.assertTrue(self._angle_probe(sign * PATH_ANGLE_MAX_CAN))
+          self.assertFalse(self._angle_probe(sign * (PATH_ANGLE_MAX_CAN + 1)))
+
+  def test_path_angle_dbc_range_in_angle_mode(self):
+    """With angle mode engaged (Lane_Assist_Data1 bit) the range widens to the DBC's [-0.5, 0.5235]."""
+    self.set_meas(0, 8.0)  # below the shadow-check speed gate so only the range matters
+    self.tx(self.lka_bp_status_msg(True, 0.0))
+    v_min, _ = self.speeds()
+    delta = angle_roc_delta(PATH_ANGLE_LOOKUP_X, PATH_ANGLE_LOOKUP_Y, PATH_ANGLE_TO_CAN, v_min)
+    self.assertGreater(delta, 60)
+    for target, over in ((PATH_ANGLE_DBC_MAX_CAN, PATH_ANGLE_DBC_MAX_CAN + 1), (PATH_ANGLE_DBC_MIN_CAN, PATH_ANGLE_DBC_MIN_CAN - 1)):
+      # walk up in ROC-sized steps (the signal can pack these values)
+      pos = 0
+      while abs(target - pos) > delta:
+        pos += delta if target > pos else -delta
+        self._angle_probe(pos)
+      self.assertTrue(self._angle_probe(target))
+      self.assertFalse(self._angle_probe(over))
+      self._angle_probe(pos)
+    self.tx(self.lka_bp_status_msg(False, 0.0))
+
+  def _offset_probe(self, offset_can: int) -> bool:
+    self.set_prev_curvature_can(self.TINY_CURVATURE_CAN)
+    return self.tx(self.lat(True, offset_can / PATH_OFFSET_TO_CAN, SMALL_ANGLE, self.TINY_CURVATURE_CAN / CURVATURE_TO_CAN, 0))
+
+  def test_path_offset_range_and_roc(self):
+    """Per-frame ROC from the {5,15,25} table (path_offset_cmd_checks) and the +-1.0 m range.
+    At 9 m/s the speed fudge's sign decides the limit (5 with v - 1, 4 with v + 1)."""
+    for speed in (3.0, 8.0, 9.0, 12.0, 20.0, 25.0):
+      self.set_meas(0, speed)
+      v_min, _ = self.speeds()
+      delta = angle_roc_delta(PATH_OFFSET_LOOKUP_X, PATH_OFFSET_LOOKUP_Y, PATH_OFFSET_TO_CAN, v_min)
+      for base in (0, 50, -50):
+        for sign in (1, -1):
+          with self.subTest(speed=speed, base=base, sign=sign):
+            self._offset_probe(base)
+            self.assertTrue(self._offset_probe(base + sign * delta))
+            self._offset_probe(base)
+            self.assertFalse(self._offset_probe(base + sign * (delta + 1)))
+      for sign in (1, -1):
+        self._offset_probe(sign * (PATH_OFFSET_MAX_CAN - 1))
+        self.assertTrue(self._offset_probe(sign * PATH_OFFSET_MAX_CAN))
+        self.assertFalse(self._offset_probe(sign * (PATH_OFFSET_MAX_CAN + 1)))
+
+  RATE_TO_CAN = CURVATURE_RATE_TO_CAN_CANFD
+
+  def _rate_probe(self, rate_can: int) -> bool:
+    self.set_prev_curvature_can(self.TINY_CURVATURE_CAN)
+    return self.tx(self.lat(True, 0, SMALL_ANGLE, self.TINY_CURVATURE_CAN / CURVATURE_TO_CAN, rate_can / self.RATE_TO_CAN))
+
+  def test_curvature_rate_must_be_zero(self):
+    """Curvature rate must be 0, the rule stock Ford applies (#22): one wire unit either way is
+    blocked at any speed, steer enabled or disabled. The disabled frame carries only the rate, so
+    the rate check is the one deciding (the all-zero disabled frame passes)."""
+    for speed in (3.0, 12.0, 30.0):
+      self.set_meas(0, speed)
+      for rate_can in (1, -1, 1023, -1024):
+        with self.subTest(speed=speed, rate_can=rate_can):
+          self.assertTrue(self._rate_probe(0))
+          self.assertFalse(self._rate_probe(rate_can))
+    # disabled frames last: their path_angle of 0 would make the next enabled probe's path_angle step decide
+    for speed in (3.0, 12.0, 30.0):
+      self.set_meas(0, speed)
+      for rate_can in (1, -1, 1023, -1024):
+        with self.subTest(speed=speed, rate_can=rate_can, enabled=False):
+          self.assertTrue(self.tx(self.lat(False, 0, 0, 0, 0)))
+          self.assertFalse(self.tx(self.lat(False, 0, 0, 0, rate_can / self.RATE_TO_CAN)))
+
+  def test_curvature_zero_frames_are_rate_limited(self):
+    """#24: angle mode sends curvature 0 on every frame. Those frames are held to the same message-rate
+    window as the rest (upstream's rolling 250 ms window, split in two halves): sent faster than 20 Hz,
+    every frame past the limit is blocked until the window rolls over. Path angle carries the command,
+    so these frames never arm the reset latch."""
+    self.set_meas(0, 15.0)
+    max_rt_msgs = int(20 * common.RT_INTERVAL / 1e6 * 1.2 + 1)
+    half = common.RT_INTERVAL // 2
+
+    def send():
+      return self.tx(self.lat(True, 0, SMALL_ANGLE, 0, 0, increment_timer=False))
+
+    self.safety.set_timer(0)
+    for i in range(max_rt_msgs * 2):
+      self.assertEqual(i <= max_rt_msgs, send(), i)
+    self.safety.set_timer(half)
+    self.assertFalse(send())  # the overflow moves into the previous half
+    self.safety.set_timer(half + common.RT_INTERVAL)
+    self.assertFalse(send())
+    self.safety.set_timer(half + 2 * common.RT_INTERVAL)
+    for _ in range(max_rt_msgs):
+      self.assertTrue(send())
+
+class TestFordBPLimitsCAN(TestFordBPLimitsCANFD):
+  """Same checks on the CAN (non-FD) LateralMotionControl message: no lateral-accel cap, and the
+  curvature-rate signal has 4x the wire resolution."""
+  CANFD = False
+  RATE_TO_CAN = CURVATURE_RATE_TO_CAN_CAN
+
+  def test_lateral_accel_cap(self):
+    """CAN: no cap. A curvature well above the CAN FD cap is accepted up to the 0.02 hard limit."""
+    self.set_meas(MAX_CURVATURE_CAN / CURVATURE_TO_CAN, 25.0)
+    v_min, _ = self.speeds()
+    self.assertLess(self.model.accel_cap(v_min), MAX_CURVATURE_CAN)  # the FD cap would bite here
+    self.assertTrue(self._probe(MAX_CURVATURE_CAN, MAX_CURVATURE_CAN))
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/test_ford_bluepilot_matrix.py

@@ -0,0 +1,129 @@
+#!/usr/bin/env python3
+"""
+BluePilot Ford lateral: upstream's whole Ford safety matrix with the BP_LATERAL bit set.
+
+Subclasses the three stock test classes so relay-malfunction, forwarding, button, longitudinal,
+rx-hook and every other upstream test runs against the BluePilot tx hook. Only the tests whose
+stock assertions the 4-signal lateral changes on purpose are replaced:
+
+  * test_steer_allowed, test_curvature_rate_limits: assert upstream's single-signal limits; the
+    BluePilot equivalents are in test_ford_bluepilot_limits.py (every signal, exact boundaries).
+  * test_max_lateral_acceleration: BluePilot caps at ISO_LATERAL_ACCEL - g*roll (~2.41 m/s^2)
+    with a speed fudge, not upstream's ~3.6 m/s^2; CAN FD only.
+  * test_rt_limits runs unchanged: it sends curvature-0 frames, which still get the message-rate
+    check in ford_bp_curvature_cmd_checks (#24, #60). test_rt_limits_nonzero_curvature pins it for
+    curvature mode.
+"""
+import unittest
+
+from ....safety.tests import common
+from ...core.values_ext import FordSafetyFlagsSP
+from ....safety.tests import test_ford
+from ....safety.tests.libsafety import libsafety_py
+from .ford_bluepilot_common import (
+  BPFordLateralModel, CURVATURE_TO_CAN, MAX_CURVATURE_ERROR_CAN, CURVATURE_SIGNAL_MAX_CAN,
+)
+from ...tests import host
+
+SKIP_REASON = "BluePilot 4-signal limits are asserted in test_ford_bluepilot_limits.py"
+
+
+class BPLateralMatrixMixin:
+  """Set the bit before ford_init runs, clear it after, and swap the host's stock lateral tests
+  (skipped below, or replaced).
+
+  Class names must start with 'TestFord': common.py's cross-mode TX sweep only skips
+  Ford-vs-Ford comparisons by that prefix."""
+
+  CANFD = True
+  PARAM_SP = int(FordSafetyFlagsSP.BP_LATERAL)
+  MAX_CURVATURE_ERROR_CAN_BP = MAX_CURVATURE_ERROR_CAN  # FORD_LIMITS(_, 100); the pinion classes use MAX_CURVATURE_ERROR_CAN_PINION
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    host.set_safety_param(self.safety, self.PARAM_SP)
+    # StarPilot: the bits ride the Ford param. Only the upstream bases that define SAFETY_PARAM
+    # (sunnypilot, StarPilot) need this; IQ.Pilot's iqdbc base doesn't define it, and ford_param
+    # is a no-op for non-StarPilot hosts anyway.
+    if hasattr(self, "SAFETY_PARAM"):
+      self.SAFETY_PARAM = host.ford_param(self.SAFETY_PARAM, self.PARAM_SP)
+    super().setUp()  # stock setUp: packer, set_safety_hooks, init_tests
+    self.model = BPFordLateralModel(self.CANFD, self.MAX_CURVATURE_ERROR_CAN_BP)
+
+  def tearDown(self):
+    host.set_safety_param(self.safety, 0)
+    super().tearDown()  # the host's own resets (IQ.Pilot's AOL state)
+
+  @unittest.skip(SKIP_REASON)
+  def test_steer_allowed(self):
+    pass
+
+  @unittest.skip(SKIP_REASON)
+  def test_curvature_rate_limits(self):
+    pass
+
+  # IQ.Pilot's test_ford: its stock controller (CURVATURE_LIMITS.apply_limits) against the stock checks.
+  # With BP_LATERAL set the car controller sends the BluePilot commands instead, never these.
+  @unittest.skip(SKIP_REASON)
+  def test_controller_limits_pass_safety(self):
+    pass
+
+  def test_max_lateral_acceleration(self):
+    """BluePilot's cap (CAN FD only) at ISO_LATERAL_ACCEL - g*roll over the fudged speed squared."""
+    for speed in (12.0, 15.0, 20.0, 25.0, 30.0, 35.0):
+      self.safety.set_controls_allowed(True)
+      self._reset_curvature_measurement(0, speed)
+      v_min = float(self.safety.get_vehicle_speed_min())
+      cap = self.model.cap(v_min)
+      for sign in (1, -1):
+        for offset in (-5, -1, 0, 1, 5):
+          curvature_can = sign * (cap + offset)
+          if abs(curvature_can) > CURVATURE_SIGNAL_MAX_CAN:
+            continue
+          self._reset_curvature_measurement(curvature_can / CURVATURE_TO_CAN, speed)
+          self._set_prev_desired_angle(curvature_can / CURVATURE_TO_CAN)
+          should_tx = abs(curvature_can) <= cap
+          with self.subTest(speed=speed, curvature_can=curvature_can):
+            self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, curvature_can / CURVATURE_TO_CAN, 0)))
+
+  def test_rt_limits_nonzero_curvature(self):
+    """Upstream's rolling-window message-rate check, driven with a non-zero curvature (curvature mode)."""
+    self.safety.set_controls_allowed(True)
+    self._reset_curvature_measurement(0, 0)
+    curvature = 1 / CURVATURE_TO_CAN
+    max_rt_msgs = int(self.LATERAL_FREQUENCY * common.RT_INTERVAL / 1e6 * 1.2 + 1)
+    half = common.RT_INTERVAL // 2
+
+    def send():
+      self._set_prev_desired_angle(curvature)
+      return self._tx(self._lat_ctl_msg(True, 0, 0, curvature, 0, increment_timer=False))
+
+    self.safety.set_timer(0)
+    for i in range(max_rt_msgs * 2):
+      self.assertEqual(i <= max_rt_msgs, send())
+    self.safety.set_timer(half)
+    self.assertFalse(send())
+    self.safety.set_timer(half + 2 * common.RT_INTERVAL // 5)
+    self.assertFalse(send())
+    self.assertFalse(send())
+    self.safety.set_timer(half + common.RT_INTERVAL)
+    self.assertFalse(send())
+    self.safety.set_timer(half + 2 * common.RT_INTERVAL)
+    for _ in range(max_rt_msgs):
+      self.assertTrue(send())
+
+
+class TestFordBPCANFDStockSafety(BPLateralMatrixMixin, test_ford.TestFordCANFDStockSafety):
+  CANFD = True
+
+
+class TestFordBPCANFDLongitudinalSafety(BPLateralMatrixMixin, test_ford.TestFordCANFDLongitudinalSafety):
+  CANFD = True
+
+
+class TestFordBPLongitudinalSafety(BPLateralMatrixMixin, test_ford.TestFordLongitudinalSafety):
+  CANFD = False
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/bluepilot_lateral/safety/tests/test_ford_bluepilot_pinion.py

@@ -0,0 +1,262 @@
+#!/usr/bin/env python3
+"""
+BluePilot Ford lateral: the pinion-sourced curvature measurement (STEER_ANGLE_CURVATURE).
+
+With bit 0 of the SP safety param set (and BP_LATERAL, which it requires), the panda measures
+curvature from the PSCM steering pinion angle through the per-platform geometry table in
+bluepilot_lateral/safety/ford.h instead of the RCM yaw rate, and widens the error band to 150 CAN units.
+The geometry index rides bits 1-4. Ported from BluePilot's earlier vendored tests onto the
+BP matrix classes; the geometry-table check reads the C table from source (no libsafety
+getters), so no upstream harness file is touched.
+"""
+import unittest
+from types import SimpleNamespace
+
+import numpy as np
+
+from ....car.ford.values import CAR
+from ....car.vehicle_model import VehicleModel, calc_slip_factor
+from ...core.values_ext import (
+  FordSafetyFlagsSP, FORD_HOST_ONLY_PLATFORMS, FORD_NO_PINION_PLATFORMS, FORD_PINION_GEOMETRY_INDEX, FORD_PINION_GEOMETRY_SHIFT,
+  FORD_PINION_WHEELBASE,
+)
+from ...core.carcontroller_ext import pinion_vehicle_model, scale_tire_stiffness_per_mass
+from ....car.ford.interface import CarInterface
+from .ford_bluepilot_common import (
+  CURVATURE_TO_CAN, CURVATURE_ERROR_MIN_SPEED, MAX_CURVATURE_ERROR_CAN_PINION, pinion_geometry_table,
+)
+from . import test_ford_bluepilot_matrix as matrix
+
+
+def pinion_param_sp(geometry_index: int) -> int:
+  return int(FordSafetyFlagsSP.BP_LATERAL) | int(FordSafetyFlagsSP.STEER_ANGLE_CURVATURE) | (geometry_index << FORD_PINION_GEOMETRY_SHIFT)
+
+
+GEOMETRY = pinion_geometry_table()  # the C table, so the platform mixins can never drift from it
+
+
+class BPPinionMixin:
+  """Pinion-angle measurement source. The geometry comes from the C table row for GEOMETRY_INDEX;
+  TestFordBPPinionGeometryTable checks that row against CarSpecs."""
+
+  MAX_CURVATURE_ERROR_CAN_BP = MAX_CURVATURE_ERROR_CAN_PINION
+  MAX_CURVATURE_ERROR = MAX_CURVATURE_ERROR_CAN_PINION / CURVATURE_TO_CAN  # the host's own error-band tests (IQ.Pilot's test_ford)
+  GEOMETRY_INDEX = 0
+  PINION_SLIP_FACTOR, PINION_STEER_RATIO, PINION_WHEELBASE = GEOMETRY[0]
+  cnt_pinion = 0
+
+  def __init_subclass__(cls, **kwargs):
+    # a platform sets GEOMETRY_INDEX only; the geometry and the safety param follow from it
+    super().__init_subclass__(**kwargs)
+    cls.PINION_SLIP_FACTOR, cls.PINION_STEER_RATIO, cls.PINION_WHEELBASE = GEOMETRY[cls.GEOMETRY_INDEX]
+    cls.PARAM_SP = pinion_param_sp(cls.GEOMETRY_INDEX)
+
+  def _curvature_factor(self, speed: float) -> float:
+    speed = max(speed, 0.1)
+    return 1. / (1. - (self.PINION_SLIP_FACTOR * (speed ** 2))) / self.PINION_WHEELBASE
+
+  def _curvature_to_pinion_angle_deg(self, curvature: float, speed: float) -> float:
+    # inverse of ford_bp_rx_hook: curvature = angle_rad * curvature_factor(speed) / steer_ratio
+    return float(np.degrees(curvature * self.PINION_STEER_RATIO / self._curvature_factor(speed)))
+
+  def _pinion_quant_tol(self, speed: float) -> int:
+    # 0.1 deg DBC quantization in curvature CAN units at this speed, +2 for float rounding
+    return int(np.radians(0.1) * self._curvature_factor(speed) / self.PINION_STEER_RATIO * CURVATURE_TO_CAN) + 2
+
+  def _pinion_msg(self, curvature: float, speed: float, quality_flag=True, bus=0):
+    values = {"StePinComp_An_Est": self._curvature_to_pinion_angle_deg(curvature, speed),
+              "StePinCompAnEst_D_Qf": 3 if quality_flag else 0,
+              "StePinAn_No_Cnt": self.cnt_pinion % 16}
+    self.__class__.cnt_pinion += 1
+    return self.packer.make_can_msg_safety("SteeringPinion_Data", bus, values)
+
+  def _reset_curvature_measurement(self, curvature, speed):
+    # 14 frames, not 6: after a counter discontinuity (rejected bad-QF frames still advance the
+    # python-side counter) the rx counter check drops frames until it re-syncs
+    for _ in range(14):
+      self._rx(self._speed_msg(speed))
+      self._rx(self._speed_msg_2(speed))  # ford_bp_curvature_cmd_checks cross-checks the two speed sources
+      self._rx(self._pinion_msg(curvature, speed))
+
+  def test_rx_hook(self):
+    # checksum, counter and quality flag checks: the stock matrix plus the pinion message
+    for quality_flag in (True, False):
+      for msg_type in ("speed", "speed_2", "yaw", "pinion"):
+        self.safety.set_controls_allowed(True)
+        for _ in range(10):
+          if msg_type == "speed":
+            msg = self._speed_msg(0, quality_flag=quality_flag)
+          elif msg_type == "speed_2":
+            msg = self._speed_msg_2(0, quality_flag=quality_flag)
+          elif msg_type == "yaw":
+            msg = self._yaw_rate_msg(0, 0, quality_flag=quality_flag)
+          else:
+            msg = self._pinion_msg(0, 0, quality_flag=quality_flag)
+          self.assertEqual(quality_flag, self._rx(msg))
+          self.assertEqual(quality_flag, self.safety.get_controls_allowed())
+
+        # corrupt the checksum byte; not checked on the 2nd speed source or the pinion message
+        # (unknown OEM checksum: integrity is counter + quality flag)
+        msg[0].data[3] = 0
+        should_rx = msg_type in ("speed_2", "pinion") and quality_flag
+        self.assertEqual(should_rx, self._rx(msg))
+        self.assertEqual(should_rx, self.safety.get_controls_allowed())
+
+  def test_angle_measurements(self):
+    """The rx hook converts pinion angle to curvature through the geometry row, within the
+    signal's 0.1 deg quantization."""
+    for speed in np.arange(0.5, 40, 0.5):
+      for curvature in np.arange(0, 0.02 * 2, 2e-3):
+        self._rx(self._speed_msg(speed))
+        for c in (curvature, -curvature, 0, 0, 0, 0):
+          self._rx(self._pinion_msg(c, speed))
+        tol = self._pinion_quant_tol(speed)
+        self.assertAlmostEqual(self.safety.get_curvature_meas_min(), round(-curvature * CURVATURE_TO_CAN), delta=tol)
+        self.assertAlmostEqual(self.safety.get_curvature_meas_max(), round(curvature * CURVATURE_TO_CAN), delta=tol)
+        self._rx(self._pinion_msg(0, speed))
+        self.assertAlmostEqual(self.safety.get_curvature_meas_min(), round(-curvature * CURVATURE_TO_CAN), delta=tol)
+        self.assertAlmostEqual(self.safety.get_curvature_meas_max(), 0, delta=tol)
+        self._rx(self._pinion_msg(0, speed))
+        self.assertAlmostEqual(self.safety.get_curvature_meas_min(), 0, delta=tol)
+        self.assertAlmostEqual(self.safety.get_curvature_meas_max(), 0, delta=tol)
+
+  def test_pinion_quality_flag_gates_measurement(self):
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    self._reset_curvature_measurement(0.005, speed)
+    before = self.safety.get_curvature_meas_max()
+    self.assertGreater(before, 0)
+    for _ in range(6):
+      self.assertFalse(self._rx(self._pinion_msg(0, speed, quality_flag=False)))
+    self.assertEqual(self.safety.get_curvature_meas_max(), before)
+
+  def test_pinion_other_bus_ignored(self):
+    # only the main bus pinion frame feeds the measurement (its rx check entry is bus 0; ford_bp_rx_hook also matches the bus)
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    self._reset_curvature_measurement(0.005, speed)
+    before = self.safety.get_curvature_meas_max()
+    for _ in range(6):
+      self._rx(self._pinion_msg(-0.005, speed, bus=2))
+    self.assertEqual(self.safety.get_curvature_meas_max(), before)
+
+  def test_pinion_sign_convention(self):
+    """A command matching the measured sign passes the error band; a sign-inverted command (the
+    broken-yaw failure mode this source exists for) is blocked above the gate speed."""
+    speed = CURVATURE_ERROR_MIN_SPEED + 5
+    curvature = 0.005  # well above the 150-unit band
+    for sign in (1, -1):
+      with self.subTest(sign=sign):
+        self.safety.set_controls_allowed(True)
+        self._reset_curvature_measurement(sign * curvature, speed)
+        self._set_prev_desired_angle(sign * curvature)
+        self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, sign * curvature, 0)))
+        self._set_prev_desired_angle(-sign * curvature)
+        self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, -sign * curvature, 0)))
+
+  def test_pinion_check_inert_below_gate_speed(self):
+    self.safety.set_controls_allowed(True)
+    speed = CURVATURE_ERROR_MIN_SPEED - 2
+    self._reset_curvature_measurement(0.005, speed)
+    inverted = -0.005
+    self._set_prev_desired_angle(inverted)
+    self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, inverted, 0)))
+
+
+class FordExplorerPinionGeometry:  # GEOMETRY_INDEX only; BPPinionMixin.__init_subclass__ fills in the rest
+  """FORD_EXPLORER_MK6, the on-road-validated primary platform."""
+  GEOMETRY_INDEX = 5
+
+
+class FordBroncoSportPinionGeometry:  # GEOMETRY_INDEX only; BPPinionMixin.__init_subclass__ fills in the rest
+  """FORD_BRONCO_SPORT_MK1, smallest wheelbase in the table."""
+  GEOMETRY_INDEX = 1
+
+
+class FordF150PinionGeometry:  # GEOMETRY_INDEX only; BPPinionMixin.__init_subclass__ fills in the rest
+  """FORD_F_150_MK14, largest wheelbase in the table."""
+  GEOMETRY_INDEX = 8
+
+
+class TestFordBPPinionLongitudinalSafety(FordExplorerPinionGeometry, BPPinionMixin, matrix.TestFordBPLongitudinalSafety):
+  pass
+
+
+class TestFordBPPinionCANFDStockSafety(FordExplorerPinionGeometry, BPPinionMixin, matrix.TestFordBPCANFDStockSafety):
+  pass
+
+
+class TestFordBPPinionCANFDLongitudinalSafety(FordExplorerPinionGeometry, BPPinionMixin, matrix.TestFordBPCANFDLongitudinalSafety):
+  pass
+
+
+class TestFordBPPinionBroncoSportSafety(FordBroncoSportPinionGeometry, BPPinionMixin, matrix.TestFordBPLongitudinalSafety):
+  pass
+
+
+class TestFordBPPinionF150Safety(FordF150PinionGeometry, BPPinionMixin, matrix.TestFordBPCANFDLongitudinalSafety):
+  pass
+
+
+class TestFordBPPinionGeometryTable(unittest.TestCase):
+  """The C geometry table must match CarSpecs + calc_slip_factor(VehicleModel(CP)) for every
+  platform in FORD_PINION_GEOMETRY_INDEX, so it cannot rot as platforms change. Where BluePilot
+  deliberately uses another wheelbase (FORD_PINION_WHEELBASE), the row uses that one, and so does
+  the Python pinion path."""
+
+  def _assert_row_matches_carspecs(self, car, idx):
+    specs = car.config.specs
+    wheelbase = FORD_PINION_WHEELBASE.get(car, specs.wheelbase)
+    center_to_front = wheelbase * specs.centerToFrontRatio
+    front, rear = scale_tire_stiffness_per_mass(wheelbase, center_to_front, specs.tireStiffnessFactor)
+    # both VehicleModel signatures, as pinion_vehicle_model builds it (slip factor doesn't read inertia)
+    CP = SimpleNamespace(wheelbase=wheelbase, steerRatio=specs.steerRatio, centerToFront=center_to_front,
+                         tireStiffnessFrontPerMass=front, tireStiffnessRearPerMass=rear, rotationalInertiaPerMass=1.0,
+                         mass=1.0, tireStiffnessFront=front, tireStiffnessRear=rear, rotationalInertia=1.0, steerRatioRear=0.)
+    slip_factor = calc_slip_factor(VehicleModel(CP))
+
+    slip, sr, wb = GEOMETRY[idx]
+    self.assertAlmostEqual(sr, specs.steerRatio, places=3, msg=str(car))
+    self.assertAlmostEqual(wb, wheelbase, places=3, msg=str(car))
+    self.assertAlmostEqual(slip, slip_factor, delta=abs(slip_factor) * 1e-4, msg=str(car))
+
+  def test_geometry_matches_carspecs(self):
+    rows = GEOMETRY
+    # the index rides bits 1-4 of current_safety_param_sp; growing past 15 would silently
+    # disable the firmware side while the control side still enables
+    self.assertLessEqual(len(rows) - 1, 15)
+    # every supported platform has a row unless it can't take the pinion source (FORD_NO_PINION_PLATFORMS), every
+    # Python index entry points at a C row. A row for a platform this host's CAR doesn't have
+    # (FORD_HOST_ONLY_PLATFORMS) has no CarSpecs here
+    self.assertEqual({n for n in FORD_PINION_GEOMETRY_INDEX if n in set(CAR)}, set(CAR) - FORD_NO_PINION_PLATFORMS,
+                     "every Ford platform needs a geometry row")
+    self.assertTrue(set(FORD_PINION_GEOMETRY_INDEX) - set(CAR) <= FORD_HOST_ONLY_PLATFORMS)
+    self.assertTrue(set(FORD_PINION_GEOMETRY_INDEX.values()) <= set(rows) - {0})
+    self.assertEqual(len(set(FORD_PINION_GEOMETRY_INDEX.values())), len(FORD_PINION_GEOMETRY_INDEX), "duplicate index")
+
+    for name, idx in FORD_PINION_GEOMETRY_INDEX.items():
+      if name in set(CAR):
+        self._assert_row_matches_carspecs(CAR(name), idx)
+
+  def test_f150_uses_the_average_wheelbase(self):
+    """#21: F-150s with lane centering come in 3.68 and 3.99 m wheelbases and nothing tells them
+    apart, so pinion mode uses the average on both sides: the C row and the Python model."""
+    self.assertEqual(FORD_PINION_WHEELBASE[CAR.FORD_F_150_MK14], 3.84)
+    self.assertAlmostEqual(GEOMETRY[FORD_PINION_GEOMETRY_INDEX[CAR.FORD_F_150_MK14]][2], 3.84, places=3)
+    CP = CarInterface.get_non_essential_params(CAR.FORD_F_150_MK14)
+    VM = pinion_vehicle_model(CP)
+    self.assertAlmostEqual(VM.l, 3.84, places=3)
+    self.assertAlmostEqual(VM.aF / VM.l, CP.centerToFront / CP.wheelbase, places=6)  # the platform's weight split is kept
+
+  def test_other_platforms_use_carspecs(self):
+    for car in FORD_PINION_GEOMETRY_INDEX:
+      if car in FORD_PINION_WHEELBASE or car not in set(CAR):
+        continue
+      CP = CarInterface.get_non_essential_params(car)
+      with self.subTest(car=car):
+        self.assertAlmostEqual(pinion_vehicle_model(CP).l, CP.wheelbase, places=6)
+
+  def test_invalid_index_row_is_inert(self):
+    self.assertEqual(GEOMETRY[0], (0.0, 1.0, 1.0))
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/bluepilot_lateral/tests/host.py

@@ -0,0 +1,79 @@
+"""The host's own names, for the tests that touch them: what carries the per-frame inputs and settings, where
+its safety bits ride, its adapter (hosts/), and its libsafety setters. Detected from the host's opendbc, so
+the same tests run on every host (HOSTS.md, "Running the tests")."""
+import importlib.util
+
+from ...car import structs
+
+if hasattr(structs, "CarControlSP"):  # sunnypilot
+  from ..hosts.sunnypilot.lateral import BluePilotLateral, params_from_cc_sp as params_from_cc
+  from ..hosts.sunnypilot.safety_param import init_ford_safety_param_sp
+
+  NAME = "sunnypilot"
+  CarControlX = structs.CarControlSP
+  SET_SAFETY_PARAM = "set_current_safety_param_sp"
+  SET_CONTROLS_ALLOWED_LAT = "set_controls_allowed_lateral"
+
+  def _init(CP, params_dict):
+    CP_SP = structs.CarParamsSP()
+    init_ford_safety_param_sp(CP, CP_SP, params_dict)
+    return CP_SP.safetyParam, CP_SP.lateralInputsRequired
+elif hasattr(structs, "IQCarControl"):  # IQ.Pilot
+  from ..hosts.iqpilot.lateral import BluePilotLateral, params_from_cc_iq as params_from_cc
+  from ..hosts.iqpilot.safety_param import init_ford_safety_param_iq
+
+  NAME = "iqpilot"
+  CarControlX = structs.IQCarControl
+  SET_SAFETY_PARAM = "set_current_safety_param_iq"
+  SET_CONTROLS_ALLOWED_LAT = "set_controls_allowed_lat"
+
+  def _init(CP, params_dict):
+    CP_IQ = structs.IQCarParams()
+    init_ford_safety_param_iq(CP, CP_IQ, params_dict)
+    return CP_IQ.iqSafetyFlags, CP_IQ.lateralInputsRequired
+elif importlib.util.find_spec(__package__.rsplit(".", 2)[0] + ".car.ford.aol"):  # StarPilot: its Ford AOL
+  from ..hosts.starpilot.lateral import BluePilotLateral, FrameInputs as CarControlX, params_from_frame as params_from_cc
+  from ..hosts.starpilot.safety_param import (BP_SAFETY_PARAM_SHIFT, bp_safety_param, init_ford_safety_param_starpilot,
+                                              lateral_inputs_required as lateral_inputs_required_starpilot)
+
+  NAME = "starpilot"
+  SET_SAFETY_PARAM = None  # no second param: the bits ride the Ford param (ford_param)
+  SET_CONTROLS_ALLOWED_LAT = None  # no lateral-only setter: AOL is off in these tests, so lateral follows controls_allowed
+
+  def _init(CP, params_dict):
+    CP.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford)]
+    init_ford_safety_param_starpilot(CP, params_dict)
+    return bp_safety_param(CP), lateral_inputs_required_starpilot(CP)
+else:
+  raise ImportError("unknown host: add it to tests/host.py and hosts/")
+
+__all__ = ["BluePilotLateral", "CarControlX", "params_from_cc"]
+
+
+def startup_bits(CP, params_dict: dict[str, str]) -> int:
+  """What the host's car-init hook gives ford_bp_init (values_ext.ford_safety_param's bits)."""
+  return _init(CP, params_dict)[0]
+
+
+def lateral_inputs_required(CP, params_dict: dict[str, str]) -> bool:
+  """Whether the host fills the per-frame inputs and settings for this car."""
+  return _init(CP, params_dict)[1]
+
+
+def set_safety_param(safety, bits: int) -> None:
+  """libsafety: the second safety param, the one ford_bp_init reads (current_safety_param_sp / _iq). A host
+  without one carries the bits in the Ford param instead (ford_param)."""
+  if SET_SAFETY_PARAM is not None:
+    getattr(safety, SET_SAFETY_PARAM)(bits)
+
+
+def ford_param(base: int, bits: int) -> int:
+  """The Ford safety param set_safety_hooks takes for these startup bits: unchanged on a host with a second
+  param, the bits shifted in on StarPilot."""
+  return base | (bits << BP_SAFETY_PARAM_SHIFT) if NAME == "starpilot" else base
+
+
+def set_controls_allowed_lat(safety, allowed: bool) -> None:
+  """libsafety: the host's lateral-only engagement (sunnypilot MADS, IQ.Pilot AOL)."""
+  if SET_CONTROLS_ALLOWED_LAT is not None:
+    getattr(safety, SET_CONTROLS_ALLOWED_LAT)(allowed)

opendbc_repo/opendbc/bluepilot_lateral/tests/reference.py

@@ -1,101 +0,0 @@
-"""Hash-bound upstream angle execution and current-curvature controller oracle.
-
-Only imports are removed from the upstream angle/human module AST; every other
-statement and function remains exact. Glue supplies current ABI types, source
-fixed defaults and the source's no-op lazy-init/yaw-default adapter. No BluePilot
-curvature strategy is loaded. Its diagnostic limiter cannot affect angle output.
-"""
-import ast
-from collections import namedtuple
-import hashlib
-import json
-from pathlib import Path
-from types import SimpleNamespace
-
-import numpy as np
-from opendbc.car import structs, DT_CTRL
-from opendbc.car.ford.values import CAR, CarControllerParams
-from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.lateral import AngleSteeringLimits, apply_std_steer_angle_limits
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-ROOT = Path(__file__).with_name("reference")
-MANIFEST = json.loads((ROOT / "manifest.json").read_text())
-
-
-def source(name):
-  raw = (ROOT / (name + ".py.txt")).read_bytes()
-  if hashlib.sha256(raw).hexdigest() != MANIFEST[name]["sha256"]:
-    raise AssertionError("Reference source differs from its pinned manifest: " + name)
-  return ast.parse(raw.decode(), filename=MANIFEST[name]["origin"])
-
-
-def execute(tree, namespace, *, names=None):
-  body = []
-  for node in tree.body:
-    if isinstance(node, (ast.Import, ast.ImportFrom)):
-      continue
-    if names is not None:
-      assigned = [target.id for target in node.targets if isinstance(target, ast.Name)] if isinstance(node, ast.Assign) else []
-      if getattr(node, "name", None) not in names and not any(name in names for name in assigned):
-        continue
-    body.append(node)
-  exec(compile(ast.Module(body=body, type_ignores=[]), "<pinned source>", "exec"), namespace)
-
-
-def angle():
-  LateralResult = namedtuple("LateralResult", "apply_curvature curvature_rate path_offset path_angle ramp_type precision_type lateralUncertainty")
-  namespace = {"np": np, "clip": np.clip, "interp": np.interp, "DT_CTRL": DT_CTRL,
-               "CAR": CAR, "CarControllerParams": CarControllerParams, "ModelConstants": ModelConstants,
-               "LateralResult": LateralResult, "AngleSteeringLimits": AngleSteeringLimits,
-               "apply_std_steer_angle_limits": apply_std_steer_angle_limits}
-  execute(source("human"), namespace)
-  execute(source("values"), namespace, names={"_BP_ANGLE_RATE_UP", "_BP_ANGLE_RATE_DOWN", "BP_ANGLE_LIMITS"})
-  execute(source("angle"), namespace)
-  return namespace["LateralAngleExt"]
-
-
-def builders():
-  namespace = {"CanBus": CanBus, "structs": structs}
-  execute(source("fordcan"), namespace, names={"calculate_lat_ctl2_checksum"})
-  execute(source("builders"), namespace, names={"create_lka_msg", "create_lat_ctl_msg", "create_lat_ctl2_msg", "_BP_LKA_SHADOW_CURVATURE_SCALE"})
-  return namespace
-
-
-def curvature_controller():
-  # Full exact pre-angle production controller, with unchanged current imports.
-  namespace = {"__name__": "ford_curvature_pre_angle_reference"}
-  exec(compile(source("starpilot_curvature_controller"), "<current pre-angle controller>", "exec"), namespace)
-  return namespace["CarController"]
-
-
-class Angle:
-  def __init__(self, identity):
-    self.controller = angle()()
-    self.controller.CP = SimpleNamespace(carFingerprint=identity)
-    self.controller._ensure_lateral_curv_initialized = lambda _cp: None  # Exact source guard is a no-op.
-    self.controller.get_current_curvature = lambda cs: -cs.out.yawRate / max(cs.out.vEgoRaw, .1)
-    self.controller.path_angle_last = 0.
-    self.controller.lp = None  # Read but unused by the source angle strategy.
-    self.controller.lane_change_factor_bp = [0., 50.]
-    self.controller.lane_change_factor_low = 1.
-    self.controller.model = None
-    self.controller.update_angle_params(None)
-
-  def step(self, inputs):
-    c = self.controller
-    c.sm = {"liveDelay": SimpleNamespace(lateralDelay=inputs.lateral_delay)}
-    c.model = SimpleNamespace(orientationRate=SimpleNamespace(z=list(inputs.yaw_predictions)),
-                             meta=SimpleNamespace(laneChangeState=1 if inputs.lane_change else 0,
-                                                  laneChangeDirection=inputs.lane_direction)) if inputs.yaw_predictions else None
-    cc = SimpleNamespace(latActive=inputs.active)
-    cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=inputs.speed, yawRate=-inputs.measured_curvature * inputs.speed,
-                                            steeringPressed=inputs.steering_pressed, steeringAngleDeg=inputs.steering_angle),
-                         lat_ctl_lim_stat=inputs.limit_status)
-    return c.update_angle_strategy(cc, cs, SimpleNamespace(curvature=inputs.desired_curvature), c.CP)
-
-
-def trim():
-  namespace = {"np": np, "interp": np.interp}
-  execute(source("bpdev_trim"), namespace)
-  return namespace["LaneCenterTrim"]

opendbc_repo/opendbc/bluepilot_lateral/tests/reference/builders.py.txt

@@ -1,377 +0,0 @@
-"""
-BluePilot Ford CAN message builder extensions.
-
-Provides extended versions of the stock fordcan.py message builders with additional
-parameters for BluePilot features:
-  - Dynamic ramp_type and precision_type for lateral control
-  - Split brake_actuate / precharge_actuate for smoother deceleration
-  - BlueCruise cluster HUD status, TJA warnings, and hands-free messaging
-  - Independent left/right lane line logic for LKAS UI
-  - ICBM button injection for intelligent cruise button management
-
-Each function mirrors the stock fordcan.py function it replaces, with an extended
-parameter list. When stock carcontroller.py is refactored, it will import these
-functions instead of the stock versions.
-"""
-
-from opendbc.car import structs
-from opendbc.car.ford.fordcan import CanBus, calculate_lat_ctl2_checksum
-
-HUDControl = structs.CarControl.HUDControl
-
-
-_BP_LKA_SHADOW_CURVATURE_SCALE = 1e-6  # 1/meter per raw unit, matches ford.h's decode
-
-
-def create_lka_msg(packer, CAN: CanBus, lat_active: bool, hud_control,
-                    angle_mode_engaged: bool = False, shadow_curvature: float = 0.0):
-  """
-  Creates a CAN message for the Ford LKA Command.
-
-  BluePilot extension: accepts lat_active and hud_control parameters for future
-  lane departure warning integration (unused so far).
-
-  Also carries angle_mode_engaged + shadow_curvature packed into bits with no DBC signal mapped to
-  them -- confirmed unused (always 0, no cabana signal) on real F-150 dashcam routes. This message
-  is one openpilot itself originates every cycle, and ford_tx_hook already reads other fields
-  (LkaActvStats_D2_Req) directly out of these same bytes synchronously, in the same tx_hook call --
-  no separate CAN ID, no RX round-trip needed (panda does not self-receive its own TX, confirmed
-  2026-07-09 investigating a controlsMismatch caused by an earlier dedicated-message design).
-
-  Byte layout (bits not covered by any Lane_Assist_Data1 DBC signal):
-    byte 4 bit 0:     angle_mode_engaged
-    byte 4 bits 1-4:  reserved (future bools)
-    byte 5-6:         shadow_curvature (int16, scale 1e-6 1/m)
-    byte 7:           reserved (future value)
-  Must match the decode in ford.h's FORD_Lane_Assist_Data1 tx_hook check exactly.
-
-  Frequency is 33Hz.
-  """
-  addr, dat, bus = packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
-  dat = bytearray(dat)
-
-  shadow_curvature_raw = int(round(shadow_curvature / _BP_LKA_SHADOW_CURVATURE_SCALE))
-  shadow_curvature_raw = max(-32768, min(32767, shadow_curvature_raw)) & 0xFFFF
-
-  dat[4] |= 1 if angle_mode_engaged else 0
-  dat[5] = (shadow_curvature_raw >> 8) & 0xFF
-  dat[6] = shadow_curvature_raw & 0xFF
-
-  return addr, bytes(dat), bus
-
-
-def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, ramp_type: int, precision_type: int,
-                       path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
-  """
-  Creates a CAN message for the Ford TJA/LCA Command (non-CAN FD).
-
-  BluePilot extension: dynamic ramp_type and precision_type parameters.
-  Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise).
-
-  Ford lane centering uses a third-order polynomial to describe the road centerline:
-    c0 (path_offset): lateral offset between vehicle and centerline (positive is right)
-    c1 (path_angle): heading angle between vehicle and centerline (positive is right)
-    c2 (curvature): curvature of the centerline (positive is left)
-    c3 (curvature_rate): rate of change of curvature
-
-  Frequency is 20Hz.
-  """
-  values = {
-    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
-                                                 #       3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,           # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision_type,     # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
-  }
-  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
-
-
-def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, ramp_type: int, precision_type: int,
-                        path_offset: float, path_angle: float, curvature: float,
-                        curvature_rate: float, counter: int):
-  """
-  Creates a CAN message for the Ford Lane Centering command (CAN FD).
-
-  BluePilot extension: dynamic ramp_type and precision_type parameters.
-  Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise).
-
-  This message replaces LateralMotionControl on CAN FD platforms and includes
-  counter and checksum fields.
-
-  Frequency is 20Hz.
-  """
-  values = {
-    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
-                                                 #       3=SafeRampOut, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,           # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision_type,     # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
-    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
-    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
-    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
-    "LatCtlPath_No_Cnt": counter,               # [0|15]
-    "LatCtlPath_No_Cs": 0,                      # [0|255]
-  }
-
-  # Calculate checksum (reuse stock function)
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
-  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
-
-  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
-
-
-def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, accel_pred: float,
-                   stopping: bool, brake_actuate: bool, precharge_actuate: bool, v_ego_kph: float):
-  """
-  Creates a CAN message for the Ford ACC Command.
-
-  BluePilot extension: split brake control into brake_actuate and precharge_actuate
-  (each with independent hysteresis thresholds) for smoother deceleration. Also
-  accepts accel_pred as a parameter instead of hardcoding -5.0.
-
-  Precharge engages slightly before full brake for smoother initial decel feel.
-  Both use configurable hysteresis to avoid binary on/off feel.
-
-  Frequency is 50Hz.
-  """
-  values = {
-    "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
-    "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
-    "AccPrpl_A_Rq": gas,                               # Acceleration request: [-5|5.23] m/s^2
-    "AccPrpl_A_Pred": accel_pred,                      # Predicted accel (from carcontroller, not hardcoded)
-    "AccResumEnbl_B_Rq": 1 if long_active else 0,
-    "AccVeh_V_Trg": v_ego_kph,                         # Target speed: [0|255] km/h
-    "AccBrkPrchg_B_Rq": 1 if precharge_actuate else 0, # Pre-charge brake request (independent hysteresis)
-    "AccBrkDecel_B_Rq": 1 if brake_actuate else 0,     # Deceleration request (independent hysteresis)
-    "AccStopStat_B_Rq": 1 if stopping else 0,
-  }
-  return packer.make_can_msg("ACCDATA", CAN.main, values)
-
-
-def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool,
-                      standstill: bool, hud_control, stock_values: dict, send_hands_free_msg: bool,
-                      send_ui: bool, send_bars: bool, tja_warn: int, tja_msg: int):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, FCW and TJA status.
-
-  BluePilot extension: replaces stock show_distance_bars with explicit send_ui,
-  send_bars, and TJA parameters. Adds BlueCruise status 7 for hands-free cluster
-  UI. TJA warn/msg are set from DM state computation rather than stock passthrough.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 5Hz.
-  """
-
-  # Tja_D_Stat: TJA status for cluster display
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    elif send_hands_free_msg:
-      status = 7  # BlueCruise UI in the cluster
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  elif standstill:
-    status = 0  # Off
-  else:
-    status = 1  # Standby
-
-  values = {s: stock_values[s] for s in [
-    "HaDsply_No_Cs",
-    "HaDsply_No_Cnt",
-    "AccStopStat_D_Dsply",       # ACC stopped status message
-    "AccTrgDist2_D_Dsply",       # ACC target distance
-    "AccStopRes_B_Dsply",
-    # TjaWarn_D_Rq and TjaMsgTxt_D_Dsply are set explicitly below, not passed through
-    "IaccLamp_D_Rq",             # iACC status icon
-    "AccMsgTxt_D2_Rq",           # ACC text
-    "FcwDeny_B_Dsply",           # FCW disabled
-    "FcwMemStat_B_Actl",         # FCW enabled setting
-    "AccTGap_B_Dsply",           # ACC time gap display setting
-    "CadsAlignIncplt_B_Actl",
-    "AccFllwMde_B_Dsply",        # ACC follow mode display setting
-    "CadsRadrBlck_B_Actl",
-    "CmbbPostEvnt_B_Dsply",      # AEB event status
-    "AccStopMde_B_Dsply",        # ACC stop mode display setting
-    "FcwMemSens_D_Actl",         # FCW sensitivity setting
-    "FcwMsgTxt_D_Rq",            # FCW text
-    "AccWarn_D_Dsply",           # ACC warning
-    "FcwVisblWarn_B_Rq",         # FCW visible alert
-    "FcwAudioWarn_B_Rq",         # FCW audio alert
-    "AccTGap_D_Dsply",           # ACC time gap
-    "AccMemEnbl_B_RqDrv",        # ACC adaptive/normal setting
-    "FdaMem_B_Stat",             # FDA enabled setting
-  ]}
-
-  values.update({
-    "Tja_D_Stat": status,         # TJA status
-    "TjaWarn_D_Rq": tja_warn,    # TJA warning (from DM state, not stock passthrough)
-    "TjaMsgTxt_D_Dsply": tja_msg, # TJA text (from DM state, not stock passthrough)
-  })
-
-  if CP.openpilotLongitudinalControl:
-    values.update({
-      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
-      "AccMsgTxt_D2_Rq": 0,                                       # ACC text
-      "AccTGap_B_Dsply": 1 if send_bars else 0,                   # Show time gap control UI
-      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
-      "AccStopMde_B_Dsply": 1 if standstill else 0,
-      "AccWarn_D_Dsply": 0,                                        # ACC warning
-      "AccTGap_D_Dsply": hud_control.leadDistanceBars,            # Time gap
-    })
-
-  # Forward FCW alert from IPMA
-  if fcw_alert:
-    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
-    values["FcwAudioWarn_B_Rq"] = 1  # FCW audio alert
-
-  return packer.make_can_msg("ACCDATA_3", CAN.main, values)
-
-
-def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, hands: int,
-                       hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC IPMA/LKAS status.
-
-  BluePilot extension: replaces stock steer_alert bool with hands int (0-3),
-  and uses independent left/right lane line status logic.
-
-  hands values:
-    0 = HandsOn
-    1 = Level1 (warning without chime)
-    2 = Level2 (warning with chime)
-    3 = Suppressed
-
-  LaActvStats_D_Dsply value table (left \\ right):
-    Right →    | Intervene | Warning | Suppress | Available | None
-    Intervene  | 24        | 19      | 14       | 9         | 4
-    Warning    | 23        | 18      | 13       | 8         | 3
-    Suppress   | 22        | 17      | 12       | 7         | 2
-    Available  | 21        | 16      | 11       | 6         | 1
-    None       | 20        | 15      | 10       | 5         | 0
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 1Hz.
-  """
-
-  lines = 0
-
-  if hud_control is not None:
-    # Determine left lane status independently
-    if hud_control.leftLaneDepart:
-      left_status = 4   # Intervene (Yellow)
-    elif hud_control.leftLaneVisible:
-      left_status = 1   # Available
-    else:
-      left_status = 2   # Suppress
-
-    # Determine right lane status independently
-    if hud_control.rightLaneDepart:
-      right_status = 20  # Intervene (Yellow)
-    elif hud_control.rightLaneVisible:
-      right_status = 5   # Available
-    else:
-      right_status = 10  # Suppress
-
-    # Combine left and right lane status
-    lines = left_status + right_status
-
-  values = {s: stock_values[s] for s in [
-    "FeatConfigIpmaActl",
-    "FeatNoIpmaActl",
-    "PersIndexIpma_D_Actl",
-    "AhbcRampingV_D_Rq",     # AHB ramping
-    "LaDenyStats_B_Dsply",   # LKAS error
-    "CamraDefog_B_Req",      # Windshield heater?
-    "CamraStats_D_Dsply",    # Camera status
-    "DasAlrtLvl_D_Dsply",    # DAS alert level
-    "DasStats_D_Dsply",      # DAS status
-    "DasWarn_D_Dsply",       # DAS warning
-    "AhbHiBeam_D_Rq",       # AHB status
-    "Passthru_63",
-    "Passthru_48",
-  ]}
-
-  values.update({
-    "LaActvStats_D_Dsply": lines,  # LKAS status (lane lines) [0|31]
-    "LaHandsOff_D_Dsply": hands,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-  })
-  return packer.make_can_msg("IPMA_Data", CAN.main, values)
-
-
-def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False,
-                      tja_toggle=False, icbm_button=None):
-  """
-  Creates a CAN message for the Ford SCCM buttons/switches.
-
-  BluePilot extension: adds icbm_button parameter for Intelligent Cruise Button
-  Management. When set, the specified CAN signal is set to 1 in the outgoing
-  message, enabling openpilot to emulate cruise button presses for speed adjustment.
-
-  Args:
-    icbm_button: Optional string signal name (e.g., "CcAslButtnSetIncPress",
-                 "CcAslButtnSetDecPress") for ICBM button injection.
-
-  Frequency is 10Hz.
-  """
-  values = {s: stock_values[s] for s in [
-    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
-    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
-    "WiprFront_D_Stat",
-    "LghtAmb_D_Sns",
-    "AccButtnGapDecPress",
-    "AccButtnGapIncPress",
-    "AslButtnOnOffCnclPress",
-    "AslButtnOnOffPress",
-    "LaSwtchPos_D_Stat",
-    "CcAslButtnCnclResPress",
-    "CcAslButtnDeny_B_Actl",
-    "CcAslButtnIndxDecPress",
-    "CcAslButtnIndxIncPress",
-    "CcAslButtnOffCnclPress",
-    "CcAslButtnOnOffCncl",
-    "CcAslButtnOnPress",
-    "CcAslButtnResDecPress",
-    "CcAslButtnResIncPress",
-    "CcAslButtnSetDecPress",
-    "CcAslButtnSetIncPress",
-    "CcAslButtnSetPress",
-    "CcButtnOffPress",
-    "CcButtnOnOffCnclPress",
-    "CcButtnOnOffPress",
-    "CcButtnOnPress",
-    "HeadLghtHiFlash_D_Actl",
-    "HeadLghtHiOn_B_StatAhb",
-    "AhbStat_B_Dsply",
-    "AccButtnGapTogglePress",
-    "WiprFrontSwtch_D_Stat",
-    "HeadLghtHiCtrl_D_RqAhb",
-  ]}
-
-  values.update({
-    "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
-    "CcAsllButtnResPress": 1 if resume else 0,       # CC resume button
-    "TjaButtnOnOffPress": 1 if tja_toggle else 0,    # LCA/TJA toggle button
-  })
-
-  # ICBM button support — set the specified button signal to 1
-  if icbm_button is not None:
-    values[icbm_button] = 1
-
-  return packer.make_can_msg("Steering_Data_FD1", bus, values)

opendbc_repo/opendbc/bluepilot_lateral/tests/reference/fordcan.py.txt

@@ -1,342 +0,0 @@
-from opendbc.car import CanBusBase, structs
-
-HUDControl = structs.CarControl.HUDControl
-
-
-class CanBus(CanBusBase):
-  def __init__(self, CP=None, fingerprint=None) -> None:
-    super().__init__(CP, fingerprint)
-
-  @property
-  def main(self) -> int:
-    return self.offset
-
-  @property
-  def radar(self) -> int:
-    return self.offset + 1
-
-  @property
-  def camera(self) -> int:
-    return self.offset + 2
-
-
-def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
-  curvature = (dat[2] << 3) | ((dat[3]) >> 5)
-  curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
-  path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
-  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
-
-  checksum = mode + counter
-  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
-    checksum += sig_val + (sig_val >> 8)
-
-  return 0xFF - (checksum & 0xFF)
-
-
-def create_lka_msg(packer, CAN: CanBus):
-  """
-  Creates an empty CAN message for the Ford LKA Command.
-
-  This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout.
-
-  Frequency is 33Hz.
-  """
-
-  return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
-
-
-def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
-                       curvature_rate: float):
-  """
-  Creates a CAN message for the Ford TJA/LCA Command.
-
-  This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway
-  driving. It is not subject to the PSCM lockout.
-
-  Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
-  by the following coefficients:
-    c0: lateral offset between the vehicle and the centerline (positive is right)
-    c1: heading angle between the vehicle and the centerline (positive is right)
-    c2: curvature of the centerline (positive is left)
-    c3: rate of change of curvature of the centerline
-  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
-  angle cannot be easily controlled.
-
-  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
-  using tools such as Forscan.
-
-  Frequency is 20Hz.
-  """
-
-  values = {
-    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
-                                                #       3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": 0,                   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-                                                #             Makes no difference with curvature control
-    "LatCtlPrecision_D_Rq": 1,                  # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-                                                #            The stock system always uses comfortable
-    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
-  }
-  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
-
-
-def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
-                        curvature_rate: float, counter: int):
-  """
-  Create a CAN message for the new Ford Lane Centering command.
-
-  This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
-  additional signals for a counter and checksum.
-
-  Frequency is 20Hz.
-  """
-
-  values = {
-    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
-                                                #       3=SafeRampOut, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": 0,                   # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": 1,                  # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
-    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
-    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
-    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
-    "LatCtlPath_No_Cnt": counter,               # [0|15]
-    "LatCtlPath_No_Cs": 0,                      # [0|255]
-  }
-
-  # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
-  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
-
-  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
-
-
-def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, brake_request, v_ego_kph: float):
-  """
-  Creates a CAN message for the Ford ACC Command.
-
-  This command can be used to enable ACC, to set the ACC gas/brake/decel values
-  and to disable ACC.
-
-  Frequency is 50Hz.
-  """
-  values = {
-    "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
-    "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
-    "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    # No observed acceleration seen from this signal alone. During stock system operation, it appears to
-    # be the raw acceleration request (AccPrpl_A_Rq when positive, AccBrkTot_A_Rq when negative)
-    "AccPrpl_A_Pred": -5.0,                           # Acceleration request: [-5|5.23] m/s^2
-    "AccResumEnbl_B_Rq": 1 if long_active else 0,
-    # No observed acceleration seen from this signal alone
-    "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
-    # TODO: we may be able to improve braking response by utilizing pre-charging better
-    # When setting these two bits without AccBrkTot_A_Rq, an initial jerk is observed and car may be able to brake temporarily with AccPrpl_A_Rq
-    "AccBrkPrchg_B_Rq": 1 if brake_request else 0,            # Pre-charge brake request: 0=No, 1=Yes
-    "AccBrkDecel_B_Rq": 1 if brake_request else 0,            # Deceleration request: 0=Inactive, 1=Active
-    "AccStopStat_B_Rq": 1 if stopping else 0,
-  }
-  return packer.make_can_msg("ACCDATA", CAN.main, values)
-
-
-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):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
-  assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 5Hz.
-  """
-
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
-
-  values = {s: stock_values[s] for s in [
-    "HaDsply_No_Cs",
-    "HaDsply_No_Cnt",
-    "AccStopStat_D_Dsply",       # ACC stopped status message
-    "AccTrgDist2_D_Dsply",       # ACC target distance
-    "AccStopRes_B_Dsply",
-    "TjaWarn_D_Rq",              # TJA warning
-    "TjaMsgTxt_D_Dsply",         # TJA text
-    "IaccLamp_D_Rq",             # iACC status icon
-    "AccMsgTxt_D2_Rq",           # ACC text
-    "FcwDeny_B_Dsply",           # FCW disabled
-    "FcwMemStat_B_Actl",         # FCW enabled setting
-    "AccTGap_B_Dsply",           # ACC time gap display setting
-    "CadsAlignIncplt_B_Actl",
-    "AccFllwMde_B_Dsply",        # ACC follow mode display setting
-    "CadsRadrBlck_B_Actl",
-    "CmbbPostEvnt_B_Dsply",      # AEB event status
-    "AccStopMde_B_Dsply",        # ACC stop mode display setting
-    "FcwMemSens_D_Actl",         # FCW sensitivity setting
-    "FcwMsgTxt_D_Rq",            # FCW text
-    "AccWarn_D_Dsply",           # ACC warning
-    "FcwVisblWarn_B_Rq",         # FCW visible alert
-    "FcwAudioWarn_B_Rq",         # FCW audio alert
-    "AccTGap_D_Dsply",           # ACC time gap
-    "AccMemEnbl_B_RqDrv",        # ACC adaptive/normal setting
-    "FdaMem_B_Stat",             # FDA enabled setting
-  ]}
-
-  values.update({
-    "Tja_D_Stat": status,        # TJA status
-  })
-
-  if CP.openpilotLongitudinalControl:
-    values.update({
-      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
-      "AccMsgTxt_D2_Rq": 0,                                       # ACC text
-      "AccTGap_B_Dsply": 1 if show_distance_bars else 0,          # Show time gap control UI
-      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
-      "AccStopMde_B_Dsply": 1 if standstill else 0,
-      "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": hud_control.leadDistanceBars,            # Time gap
-    })
-
-  # Forwards FCW alert from IPMA
-  if fcw_alert:
-    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
-
-  return packer.make_can_msg("ACCDATA_3", CAN.main, values)
-
-
-def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
-                       stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC IPMA/LKAS status.
-
-  Show the LKAS status with the "driver assist" lines in the IPC.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 1Hz.
-  """
-
-  # LaActvStats_D_Dsply
-  #    R  Intvn Warn Supprs Avail No
-  # L
-  # Intvn  24    19    14     9   4
-  # Warn   23    18    13     8   3
-  # Supprs 22    17    12     7   2
-  # Avail  21    16    11     6   1
-  # No     20    15    10     5   0
-  #
-  # TODO: test suppress state
-  if enabled:
-    lines = 0  # NoLeft_NoRight
-    if hud_control.leftLaneDepart:
-      lines += 4
-    elif hud_control.leftLaneVisible:
-      lines += 1
-    if hud_control.rightLaneDepart:
-      lines += 20
-    elif hud_control.rightLaneVisible:
-      lines += 5
-  elif main_on:
-    lines = 0
-  else:
-    if hud_control.leftLaneDepart:
-      lines = 3  # WarnLeft_NoRight
-    elif hud_control.rightLaneDepart:
-      lines = 15  # NoLeft_WarnRight
-    else:
-      lines = 30  # LA_Off
-
-  hands_on_wheel_dsply = 1 if steer_alert else 0
-
-  values = {s: stock_values[s] for s in [
-    "FeatConfigIpmaActl",
-    "FeatNoIpmaActl",
-    "PersIndexIpma_D_Actl",
-    "AhbcRampingV_D_Rq",     # AHB ramping
-    "LaDenyStats_B_Dsply",   # LKAS error
-    "CamraDefog_B_Req",      # Windshield heater?
-    "CamraStats_D_Dsply",    # Camera status
-    "DasAlrtLvl_D_Dsply",    # DAS alert level
-    "DasStats_D_Dsply",      # DAS status
-    "DasWarn_D_Dsply",       # DAS warning
-    "AhbHiBeam_D_Rq",        # AHB status
-    "Passthru_63",
-    "Passthru_48",
-  ]}
-
-  values.update({
-    "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
-    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-  })
-  return packer.make_can_msg("IPMA_Data", CAN.main, values)
-
-
-def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
-  """
-  Creates a CAN message for the Ford SCCM buttons/switches.
-
-  Includes cruise control buttons, turn lights and more.
-
-  Frequency is 10Hz.
-  """
-
-  values = {s: stock_values[s] for s in [
-    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
-    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
-    "WiprFront_D_Stat",
-    "LghtAmb_D_Sns",
-    "AccButtnGapDecPress",
-    "AccButtnGapIncPress",
-    "AslButtnOnOffCnclPress",
-    "AslButtnOnOffPress",
-    "LaSwtchPos_D_Stat",
-    "CcAslButtnCnclResPress",
-    "CcAslButtnDeny_B_Actl",
-    "CcAslButtnIndxDecPress",
-    "CcAslButtnIndxIncPress",
-    "CcAslButtnOffCnclPress",
-    "CcAslButtnOnOffCncl",
-    "CcAslButtnOnPress",
-    "CcAslButtnResDecPress",
-    "CcAslButtnResIncPress",
-    "CcAslButtnSetDecPress",
-    "CcAslButtnSetIncPress",
-    "CcAslButtnSetPress",
-    "CcButtnOffPress",
-    "CcButtnOnOffCnclPress",
-    "CcButtnOnOffPress",
-    "CcButtnOnPress",
-    "HeadLghtHiFlash_D_Actl",
-    "HeadLghtHiOn_B_StatAhb",
-    "AhbStat_B_Dsply",
-    "AccButtnGapTogglePress",
-    "WiprFrontSwtch_D_Stat",
-    "HeadLghtHiCtrl_D_RqAhb",
-  ]}
-
-  values.update({
-    "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
-    "CcAsllButtnResPress": 1 if resume else 0,      # CC resume button
-    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # LCA/TJA toggle button
-  })
-  return packer.make_can_msg("Steering_Data_FD1", bus, values)

opendbc_repo/opendbc/bluepilot_lateral/tests/reference/manifest.json

@@ -1,43 +0,0 @@
-{
-  "angle": {
-    "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/lateral_angle_ext.py",
-    "sha256": "18fa5290edade52137c7c6705a2eb2d42c94d39d1fa649eae06b7828c68207b3",
-    "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a"
-  },
-  "human": {
-    "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/human_turn.py",
-    "sha256": "82735e348c5ce3e7b2c6a28ea3e298cca71ae8867433c270f7b54a9ee315ef37",
-    "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a"
-  },
-  "builders": {
-    "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/fordcan_ext.py",
-    "sha256": "65ad2114db7210371fc5de06de962c0e29ce396a651c1dd2d58b07a80555a1bf",
-    "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a"
-  },
-  "fordcan": {
-    "origin": "opendbc_repo/opendbc/car/ford/fordcan.py",
-    "sha256": "0c35b8663afcaa3a58ab028a56f076c2c9f2f0296416c0abaf5905c674672956",
-    "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a"
-  },
-  "values": {
-    "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/values_ext.py",
-    "sha256": "74802d82314eaa27eb610810d2815d3da77003c4a1c62e0437e57e785ba25f52",
-    "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a"
-  },
-  "starpilot_curvature_controller": {
-    "origin": "opendbc_repo/opendbc/car/ford/carcontroller.py",
-    "sha256": "9838f258b7a4eef48c8c1ed4fb40d180939b86e22ac9079a734d1eabf4c0060e",
-    "revision": "d2ae98eb3959c88011ed537e7cbc033d91fd3efa",
-    "intentional_changes": [
-      {
-        "commit": "d60f2d7ada6cf6aa0f32e881aa916809686a65a6",
-        "contract": "Generic CAN-FD stock-idle and same-batch mode-before-bounded-command handoff. Retains the pre-angle curvature oracle and all full-byte comparisons."
-      }
-    ]
-  },
-  "bpdev_trim": {
-    "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/lane_center_trim.py",
-    "sha256": "1affc0abeaeeabaefca4741b0d75d8f249590c157340c5a9760a395d28f0a621",
-    "revision": "e22afa6be9b881fa784c92ebb316db47728a3d81"
-  }
-}

opendbc_repo/opendbc/bluepilot_lateral/tests/reference/starpilot_curvature_controller.py.txt

@@ -1,337 +0,0 @@
-import math
-import numpy as np
-from opendbc.can import CANPacker
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
-from opendbc.car.ford import fordcan
-from opendbc.car.ford.manual_turn import ManualTurnLatch
-from opendbc.car.ford.aol import qualified as qualified_aol
-from opendbc.car.ford.stock_cruise import FordStockCruiseButton, qualified as stock_switch_qualified
-from opendbc.car.ford.curvature_preview import blend_curvature
-from opendbc.car.ford import mache_can
-from opendbc.car.ford.extended_classic_can import create_extended_classic_lat_ctl_msg
-from opendbc.car.ford.classic_lateral import create_controller as create_classic_controller, bounded_command as classic_bounded_command
-from opendbc.car.ford.generic_canfd_can import create_extended_canfd_msg
-from opendbc.car.ford.generic_canfd_lateral import (
-  GenericCanfdLateralController, qualified as generic_canfd_qualified, bounded_command as generic_canfd_bounded_command,
-)
-from opendbc.car.ford.mache_lateral import MachELateralController, FordLateralResult, bounded_command, qualified as mache_qualified
-from opendbc.car.ford.values import CarControllerParams, FordFlags, FordSafetyFlags, CAR
-from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
-
-LongCtrlState = structs.CarControl.Actuators.LongControlState
-VisualAlert = structs.CarControl.HUDControl.VisualAlert
-
-def anti_overshoot(apply_curvature, apply_curvature_last, v_ego):
-  diff = 0.1
-  tau = 5  # 5s smooths over the overshoot
-  dt = DT_CTRL * CarControllerParams.STEER_STEP
-  alpha = 1 - np.exp(-dt / tau)
-
-  lataccel = apply_curvature * (v_ego ** 2)
-  last_lataccel = apply_curvature_last * (v_ego ** 2)
-  last_lataccel = apply_hysteresis(lataccel, last_lataccel, diff)
-  last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel
-
-  output_curvature = last_lataccel / (max(v_ego, 1) ** 2)
-
-  return float(np.interp(v_ego, [5, 10], [apply_curvature, output_curvature]))
-
-
-def apply_creep_compensation(accel: float, v_ego: float, car_fingerprint: str, *, standstill: bool, stopping: bool) -> float:
-  if car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not (standstill and stopping):
-    return accel
-  creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
-  creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
-  accel -= creep_accel
-  return float(accel)
-
-
-def apply_brake_rate_limit(accel: float, gas: float, accel_last: float, v_ego: float, car_fingerprint: str,
-                          *, stopping: bool, standstill: bool, fcw: bool) -> tuple[float, float]:
-  mild_mach_e_braking = (
-    car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and
-    -1.0 < gas < 0.0 and v_ego >= 5.0 and not (stopping or standstill or fcw)
-  )
-  if mild_mach_e_braking:
-    accel = max(accel, min(accel_last, 0.0) - 2.0 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL)
-    gas = accel
-  else:
-    accel = max(accel, accel_last - 3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL)
-  return float(accel), float(gas)
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_names, CP):
-    super().__init__(dbc_names, CP)
-    self.packer = CANPacker(dbc_names[Bus.pt])
-    self.CAN = fordcan.CanBus(CP)
-
-    self.manual_turn = ManualTurnLatch() if CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not CP.flags & FordFlags.LKA_STEERING else None
-    self.stock_cruise_button = FordStockCruiseButton()
-    self.manual_turn_inputs = None
-    self.mache_lateral = MachELateralController(CP) if mache_qualified(CP) else None
-    self.mache_extended_announced = False
-    self.generic_canfd = generic_canfd_qualified(CP)
-    self.classic_lateral = GenericCanfdLateralController(CP) if self.generic_canfd else create_classic_controller(CP)
-    self.classic_extended_announced = False
-    self.classic_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and
-                                s.safetyParam & (FordSafetyFlags.CLASSIC_EXTENDED | FordSafetyFlags.GENERIC_CANFD_EXTENDED) for s in CP.safetyConfigs)
-    self.mache_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and
-                             s.safetyParam & FordSafetyFlags.MACH_E_EXTENDED for s in CP.safetyConfigs)
-    self.apply_curvature_last = 0
-    self.anti_overshoot_curvature_last = 0
-    self.accel = 0.0
-    self.gas = 0.0
-    self.brake_request = False
-    self.main_on_last = False
-    self.lkas_enabled_last = False
-    self.steer_alert_last = False
-    self.lead_distance_bars_last = None
-    self.distance_bar_frame = 0
-    self.apply_lka_angle_last = 0.
-    self.apply_lka_curvature_last = 0.
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-    if (self.mache_lateral is not None or self.classic_lateral is not None) and self.manual_turn_inputs is not None:
-      self.manual_turn_inputs.update()
-      self.manual_turn_inputs.apply_blend_settings(self)
-
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-
-    main_on = CS.out.cruiseState.available
-    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-
-    ### acc buttons ###
-    stock_cancel = False
-    stock_resume = False
-    if stock_switch_qualified(self.CP):
-      stock_cancel, stock_resume = self.stock_cruise_button.update(
-        bool(CS.buttons_stock_values["CcAslButtnCnclResPress"]),
-        CS.out.cruiseState.available, CS.out.cruiseState.enabled)
-
-    if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
-    elif (stock_cancel or stock_resume) and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(
-        self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
-      can_sends.append(fordcan.create_button_msg(
-        self.packer, self.CAN.main, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
-    elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
-    # if stock lane centering isn't off, send a button press to toggle it off
-    # the stock system checks for steering pressed, and eventually disengages cruise control
-    elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
-
-    ### lateral control ###
-    # send steer msg at 20Hz
-    if (self.frame % CarControllerParams.STEER_STEP) == 0 and self.CP.flags & FordFlags.LKA_STEERING:
-      # Preserve the stock LMC heartbeat without requesting lateral action.
-      can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, False, 0., 0., 0., 0.,
-                                                  stock_lmc=CS.lateral_motion_control))
-    elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.mache_lateral is not None:
-      permission = getattr(self.manual_turn_inputs, "assist_permission", None)
-      self.mache_lateral.set_assist_permission(*(permission() if permission is not None else ((), False)))
-      inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None
-      if inputs is not None:
-        self.mache_lateral.set_inputs(*inputs)
-      else:
-        # Withdraw stale preview while retaining current actuator/manual-turn control.
-        self.mache_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True)
-      previous = self.mache_lateral.curvature_last
-      previous_path_angle = self.mache_lateral.path_angle_last
-      demanded = self.mache_lateral.update(CC, CS, actuators) if self.mache_extended_announced else FordLateralResult()
-      lateral = bounded_command(self.mache_lateral, demanded, previous, CS.out.vEgoRaw, previous_path_angle)
-      self.mache_lateral_demand = demanded
-      self.apply_curvature_last = lateral.curvature
-      counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-      can_sends.append(mache_can.create_lat_ctl2_msg(
-        self.packer, self.CAN, int(lateral.active), lateral.ramp_type, lateral.precision_type,
-        -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle))
-    elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.classic_lateral is not None:
-      inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None
-      if inputs is not None:
-        self.classic_lateral.set_inputs(*inputs)
-      else:
-        self.classic_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True)
-      previous = self.classic_lateral.curvature_last
-      demanded = self.classic_lateral.update(CC, CS, actuators) if self.classic_extended_announced or self.generic_canfd else FordLateralResult()
-      bound = generic_canfd_bounded_command if self.generic_canfd else classic_bounded_command
-      lateral = bound(self.classic_lateral, demanded, previous, CS.out.vEgoRaw,
-                                         -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1))
-      self.classic_lateral_demand = demanded
-      self.apply_curvature_last = lateral.curvature
-      if self.generic_canfd:
-        if self.classic_extended_announced != bool(lateral.active):
-          can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN) if lateral.active else
-                           fordcan.create_lka_msg(self.packer, self.CAN))
-          self.classic_extended_announced = bool(lateral.active)
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(create_extended_canfd_msg(
-          self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type,
-          -lateral.curvature, -lateral.curvature_rate, counter))
-      else:
-        can_sends.append(create_extended_classic_lat_ctl_msg(
-          self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type,
-          -lateral.curvature, -lateral.curvature_rate))
-    elif (self.frame % CarControllerParams.STEER_STEP) == 0:
-      lateral_active = CC.latActive and not self.mache_profile and not self.classic_profile
-      manual_turn = False
-      if self.manual_turn is not None and self.manual_turn_inputs is not None:
-        detection_enabled, lane_change, model_ready = self.manual_turn_inputs.update()
-        manual_turn = self.manual_turn.update(CC, CS, float(actuators.curvature), detection_enabled, lane_change, model_ready)
-        if manual_turn:
-          lateral_active = False
-          self.apply_curvature_last = 0.
-      # Bronco and some other cars consistently overshoot curv requests
-      # Apply some deadzone + smoothing convergence to avoid oscillations
-      if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
-        self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
-        apply_curvature = self.anti_overshoot_curvature_last
-      else:
-        apply_curvature = actuators.curvature
-
-      # apply rate limits, curvature error limit, and clip to signal range
-      current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-      if self.manual_turn is not None and self.manual_turn_inputs is not None and lateral_active:
-        prediction = getattr(self.manual_turn_inputs, "preview_curvature", None)
-        preview = prediction(CS.out.vEgoRaw) if prediction is not None else None
-        if preview is not None:
-          apply_curvature = blend_curvature(apply_curvature, preview, current_curvature)
-      # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
-      if CS.out.vEgoRaw > 9:
-        apply_curvature = float(np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
-                                        current_curvature + CarControllerParams.CURVATURE_ERROR))
-      apply_curvature = CarControllerParams.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw,
-                                                                          0., lateral_active, CarControllerParams.STEER_STEP)
-      self.apply_curvature_last = 0. if manual_turn else apply_curvature
-
-      if self.CP.flags & FordFlags.CANFD:
-        # TODO: extended mode
-        # Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02 m^-1)
-        # can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
-        # steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
-        # A detailed explanation on ford control can be found here:
-        # https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
-        mode = 1 if lateral_active else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
-      else:
-        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, lateral_active, 0., 0., -self.apply_curvature_last, 0.))
-
-    # send lka msg at 33Hz
-    if (self.frame % CarControllerParams.LKA_STEP) == 0 and not any(
-        address == 0x3CA for address, _, _ in can_sends):
-      if self.CP.flags & FordFlags.LKA_STEERING:
-        source_age_ns = now_nanos - CS.lkas_available_ts_nanos
-        lka_active = (CC.latActive and CS.lkas_available and 0 <= source_age_ns <= 100_000_000 and
-                      (CS.out.cruiseState.enabled or qualified_aol(self.CP, marked_only=True)) and
-                      not CS.out.steerFaultTemporary and
-                      not CS.out.vehicleSensorsInvalid)
-        if lka_active:
-          desired_angle = float(np.clip(actuators.steeringAngleDeg - CS.out.steeringAngleDeg, -5.8, 5.8))
-          self.apply_lka_angle_last = float(np.clip(desired_angle, self.apply_lka_angle_last - 1.,
-                                                    self.apply_lka_angle_last + 1.))
-          desired_curvature = -actuators.curvature
-          current_curvature = CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-          if CS.out.vEgoRaw > 9.:
-            desired_curvature = float(np.clip(desired_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
-                                              current_curvature + CarControllerParams.CURVATURE_ERROR))
-          self.apply_lka_curvature_last = CarControllerParams.LKA_CURVATURE_LIMITS.apply_limits(
-            desired_curvature, self.apply_lka_curvature_last, CS.out.vEgoRaw, 0., True, CarControllerParams.LKA_STEP)
-        else:
-          self.apply_lka_angle_last = 0.
-          self.apply_lka_curvature_last = 0.
-        self.apply_curvature_last = -self.apply_lka_curvature_last
-        direction = 2 if self.apply_lka_angle_last >= 0. else 4
-        can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN, lka_active, self.apply_lka_angle_last,
-                                                direction, self.apply_lka_curvature_last, transit=True))
-      elif self.mache_lateral is not None:
-        can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN))
-        self.mache_extended_announced = True
-      elif self.classic_lateral is not None:
-        if self.generic_canfd and not self.classic_extended_announced:
-          can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
-        else:
-          can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN))
-          self.classic_extended_announced = True
-      else:
-        can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
-
-    ### longitudinal control ###
-    # send acc msg at 50Hz
-    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
-      accel = actuators.accel
-      gas = accel
-      stopping = actuators.longControlState == LongCtrlState.stopping
-
-      if CC.longActive:
-        accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint,
-                                         standstill=CS.out.standstill, stopping=stopping)
-
-        accel, gas = apply_brake_rate_limit(
-          accel, gas, self.accel, CS.out.vEgo, self.CP.carFingerprint,
-          stopping=stopping, standstill=CS.out.standstill,
-          fcw=fcw_alert or CS.out.stockFcw or CS.out.stockAeb,
-        )
-
-      accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
-      gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
-
-      # Both gas and accel are in m/s^2, accel is used solely for braking
-      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
-        gas = CarControllerParams.INACTIVE_GAS
-
-      # PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
-      accel_due_to_pitch = 0.0
-      if len(CC.orientationNED) == 3:
-        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
-
-      accel_pitch_compensated = accel + accel_due_to_pitch
-      if accel_pitch_compensated > 0.3 or not CC.longActive:
-        self.brake_request = False
-      elif accel_pitch_compensated < 0.0:
-        self.brake_request = True
-
-      # TODO: look into using the actuators packet to send the desired speed
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
-
-      self.accel = accel
-      self.gas = gas
-
-    ### ui ###
-    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
-    # send lkas ui msg at 1Hz or if ui state changes
-    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
-
-    # send acc ui msg at 5Hz or if ui state changes
-    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
-      send_ui = True
-      self.distance_bar_frame = self.frame
-
-    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      show_distance_bars = self.frame - self.distance_bar_frame < 400
-      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))
-
-    self.main_on_last = main_on
-    self.lkas_enabled_last = CC.latActive
-    self.steer_alert_last = steer_alert
-    self.lead_distance_bars_last = hud_control.leadDistanceBars
-
-    new_actuators = actuators.as_builder()
-    new_actuators.curvature = self.apply_curvature_last
-    if self.CP.flags & FordFlags.LKA_STEERING:
-      new_actuators.steeringAngleDeg = CS.out.steeringAngleDeg + self.apply_lka_angle_last
-    new_actuators.accel = self.accel
-    new_actuators.gas = self.gas
-
-    self.frame += 1
-    return new_actuators, can_sends

opendbc_repo/opendbc/bluepilot_lateral/tests/reference/values.py.txt

@@ -1,125 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from collections import namedtuple
-
-from opendbc.car import structs
-from opendbc.car.docs_definitions import CarParts, Device
-from opendbc.car.ford.values import CAR
-from opendbc.car.lateral import AngleSteeringLimits
-
-ButtonType = structs.CarState.ButtonEvent.Type
-Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-
-# Ford cruise control buttons are in the Steering_Data_FD1 message (CAN ID 131)
-# These signals are 1-bit flags: 1 = pressed, 0 = not pressed
-#
-# Note: Some buttons are combo buttons that emit multiple ButtonEvent types:
-# - CcAslButtnSetIncPress emits both accelCruise (type 3) and setCruise (type 9)
-# - CcAslButtnCnclResPress emits both cancel (type 5) and resumeCruise (type 10)
-#
-# There is also a separate CcAslButtnSetPress signal for the standalone "Set" button,
-# but based on user mapping, setCruise is mapped to the combo button instead.
-BUTTONS = [
-  # Combo button: Set + Increase (emits accelCruise when enabled, setCruise when disabled)
-  Button(ButtonType.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]),
-  Button(ButtonType.setCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]),
-
-  # Combo button: Set + Decrease (emits decelCruise when enabled, setCruise when disabled)
-  Button(ButtonType.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]),
-  Button(ButtonType.setCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]),
-
-  # Combo button: Cancel/Resume (emits cancel when enabled, resumeCruise when disabled)
-  Button(ButtonType.cancel, "Steering_Data_FD1", "CcAslButtnCnclResPress", [1]),
-  Button(ButtonType.resumeCruise, "Steering_Data_FD1", "CcAslButtnCnclResPress", [1]),
-
-  # Main cruise button (on/off toggle)
-  Button(ButtonType.mainCruise, "Steering_Data_FD1", "CcButtnOnOffPress", [1]),
-]
-
-
-class FordSafetyFlagsSP:
-  """Sunnypilot-level safety flags for Ford.
-
-  Carried in CP_SP.safetyParam and delivered to the safety firmware as
-  current_safety_param_sp (the separate SP uint16, USB control 0xdf) -- NOT the main
-  safetyConfigs[].safetyParam. ford_init reads it with GET_FLAG(current_safety_param_sp,
-  ...), same pattern as Subaru STOP_AND_GO (subaru_common.h). Plain int constants, not
-  IntFlag: CP_SP.safetyParam must stay a plain int through capnp serialization in card.
-  """
-  STEER_ANGLE_CURVATURE = 1
-
-
-# Geometry-table index for the steering-angle curvature measurement, packed into
-# CP_SP.safetyParam bits 1-4 when STEER_ANGLE_CURVATURE is set. Must match the
-# ford_pinion_geometry table in safety/modes/ford.h row for row (enforced by
-# test_ford.py's geometry-consistency test against CarSpecs + calc_slip_factor).
-# Index 0 is reserved as invalid: the firmware treats flag-set-but-no-index as feature
-# off, so a half-configured param can never select the wrong geometry silently.
-# FORD_EDGE_MK2 is deliberately absent: ALT_STEER_ANGLE platforms read a RELATIVE pinion
-# angle (SteeringPinion_Data_Alt + learned offset) and lack the absolute measurement
-# this feature needs -- the toggle no-ops there and yaw behavior is kept.
-FORD_PINION_GEOMETRY_SHIFT = 1
-FORD_PINION_GEOMETRY_INDEX = {
-  CAR.FORD_BRONCO_SPORT_MK1: 1,
-  CAR.FORD_ESCAPE_MK4: 2,
-  CAR.FORD_ESCAPE_MK4_5: 3,
-  CAR.FORD_EXPEDITION_MK4: 4,
-  CAR.FORD_EXPLORER_MK6: 5,
-  CAR.FORD_FOCUS_MK4: 6,
-  CAR.FORD_F_150_LIGHTNING_MK1: 7,
-  CAR.FORD_F_150_MK14: 8,
-  CAR.FORD_MAVERICK_MK1: 9,
-  CAR.FORD_MONDEO_MK5: 10,
-  CAR.FORD_MUSTANG_MACH_E_MK1: 11,
-  CAR.FORD_RANGER_MK2: 12,
-}
-
-
-# BluePilot: Max curvature for steering command (m^-1), from DBC file limits
-CURVATURE_MAX = 0.02
-
-# BluePilot: Curvature rate limits — 3-point breakpoints for smoother lateral control.
-# Upstream opendbc uses 2-point ([5, 25]) with more conservative values.
-# These allow higher rates at low speed for responsiveness, lower rates at mid-speed
-# for comfort, and very low rates at highway speed for stability.
-#
-# Control (Python) uses stricter windup than unwind so OP stays inside panda when apply_std
-# picks the wrong table vs steer_angle_cmd_checks. Safety firmware uses looser symmetric ROCs
-# (former “down” table for both up/down) — see ford.h FORD_LIMITS.
-# Tests: test_ford.py ANGLE_RATE_* match ford.h, not the stricter BP_ANGLE_LIMITS up row.
-_BP_ANGLE_RATE_UP = ([5, 16, 25], [0.0025, 0.0012, 0.00008])
-_BP_ANGLE_RATE_DOWN = ([5, 16, 25], [0.0025, 0.0014, 0.00018])
-BP_ANGLE_LIMITS = AngleSteeringLimits(
-  0.02,  # Max curvature for steering command, m^-1
-  _BP_ANGLE_RATE_UP,
-  _BP_ANGLE_RATE_DOWN,
-)
-
-
-def apply_bp_device_mount(car_docs, CP):
-  """BluePilot: Select comma3 mount type per vehicle.
-
-  Most Ford vehicles use the angled mount due to windshield angle.
-  Vehicles not in this list use the standard mount.
-  """
-  from opendbc.car.ford.values import CAR, CarHarness, FordFlags
-  harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
-  if CP.carFingerprint in (
-    CAR.FORD_BRONCO_SPORT_MK1,
-    CAR.FORD_MAVERICK_MK1,
-    CAR.FORD_F_150_MK14,
-    CAR.FORD_F_150_LIGHTNING_MK1,
-    CAR.FORD_ESCAPE_MK4_5,
-    CAR.FORD_MUSTANG_MACH_E_MK1,
-    CAR.FORD_RANGER_MK2,
-    CAR.FORD_EDGE_MK2,
-  ):
-    car_docs.car_parts = CarParts([Device.threex_angled_mount, harness])
-  else:
-    car_docs.car_parts = CarParts([Device.threex, harness])
-