mapd: disable map-based Smart Cruise Control and speed limit sources until mapd has a position source

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -8,6 +8,7 @@ from enum import IntEnum
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
@@ -29,6 +30,7 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
 ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
 
 
 class CruiseLayout(Widget):
@@ -54,7 +56,8 @@ class CruiseLayout(Widget):
 
     self.scc_m_toggle = toggle_item_sp(
       title=tr("Smart Cruise Control - Map"),
-      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
+                  tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
     self.custom_acc_toggle = toggle_item_sp(
@@ -139,7 +142,7 @@ class CruiseLayout(Widget):
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
-        self.scc_m_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
       else:
         ui_state.params.remove("CustomAccIncrementsEnabled")
         ui_state.params.remove("SmartCruiseControlVision")

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py

@@ -8,6 +8,8 @@ from collections.abc import Callable
 
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
 from openpilot.system.ui.widgets.network import NavButton
@@ -43,6 +45,8 @@ class SpeedLimitPolicyLayout(Widget):
       param="SpeedLimitPolicy",
       button_width=250,
     )
+    if not MAPD_AVAILABLE:
+      self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
 
     items = [
       self._speed_limit_policy
@@ -51,6 +55,8 @@ class SpeedLimitPolicyLayout(Widget):
 
   @staticmethod
   def _get_policy_description():
+    if not MAPD_AVAILABLE:
+      return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
     return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
 
   def _render(self, rect):

openpilot/sunnypilot/mapd/__init__.py

@@ -3,3 +3,7 @@ from openpilot.common.basedir import BASEDIR
 
 MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
+# map-based features stay off until mapd is rebuilt
+MAPD_AVAILABLE = False

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py

@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.navd.helpers import Coordinate
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
@@ -75,7 +76,7 @@ class SmartCruiseControlMap:
   def __init__(self):
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
-    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
     self.long_enabled = False
     self.long_override = False
     self.is_enabled = False
@@ -101,7 +102,7 @@ class SmartCruiseControlMap:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+      self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
 
   def update_calculations(self, sm: messaging.SubMaster) -> None:
     gps = sm[self.gps_location_service]

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py

@@ -8,7 +8,7 @@ import json
 import math
 import platform
 from types import SimpleNamespace
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
@@ -23,6 +23,8 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
+    self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
+    self.mapd_patch.start()
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
     self.reset_params()
@@ -30,6 +32,9 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     self.sm = MagicMock()
     self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
 
+  def teardown_method(self):
+    self.mapd_patch.stop()
+
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
@@ -50,6 +55,14 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     assert self.scc_m.state == VisionState.disabled
     assert not self.scc_m.is_active
 
+  def test_mapd_unavailable(self):
+    self.mapd_patch.stop()
+    self.scc_m = SmartCruiseControlMap()
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    self.mapd_patch.start()
+
   def test_disabled(self):
     for _ in range(int(10. / DT_MDL)):
       self.scc_m.update(self.sm, False, False, 0., 0., 0.)

openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -13,6 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -48,6 +49,8 @@ class SpeedLimitResolver:
       Policy.max().value,
       self.params
     )
+    if not MAPD_AVAILABLE:
+      self.policy = Policy.car_state_only
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -91,7 +94,7 @@ class SpeedLimitResolver:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
       self.is_metric = self.params.get_bool("IsMetric")
       self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
       self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -15,6 +15,7 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -43,6 +44,7 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "mapd_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,6 +67,7 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "mapd_available": "Map data available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -132,6 +135,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+  caps["mapd_available"] = MAPD_AVAILABLE
 
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -857,19 +857,47 @@
                     },
                     {
                       "value": 1,
-                      "label": "Map Data Only"
+                      "label": "Map Data Only",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 2,
-                      "label": "Car State Priority"
+                      "label": "Car State Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 3,
-                      "label": "Map Data Priority"
+                      "label": "Map Data Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 4,
-                      "label": "Combined"
+                      "label": "Combined",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     }
                   ]
                 },
@@ -1001,6 +1029,11 @@
                 }
               ],
               "enablement": [
+                {
+                  "type": "capability",
+                  "field": "mapd_available",
+                  "equals": true
+                },
                 {
                   "type": "any",
                   "conditions": [

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -167,12 +167,28 @@ sections:
         label: Car State Only
       - value: 1
         label: Map Data Only
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 2
         label: Car State Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 3
         label: Map Data Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 4
         label: Combined
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
     - key: SpeedLimitOffsetType
       widget: multiple_button
       title: Speed Limit Offset Type
@@ -246,6 +262,9 @@ sections:
         field: has_icbm
         equals: true
     enablement:
+    - type: capability
+      field: mapd_available
+      equals: true
     - type: any
       conditions:
       - type: capability