Merge branch 'master-new-merge-test' into mads-new-test-onroad-ui

# Conflicts:
#	common/params.cc
#	selfdrive/ui/qt/offroad/developer_panel.cc
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_de.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts

cereal/custom.capnp

@@ -8,7 +8,23 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    available @3 :Bool;
+
+    enum ModularAssistiveDrivingSystemState {
+      disabled @0;
+      paused @1;
+      enabled @2;
+      softDisabling @3;
+      overriding @4;
+    }
+  }
 }
 
 struct CustomReserved1 @0xaedffd8f31e7b55d {

cereal/log.capnp

@@ -125,6 +125,80 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentPedalPressed @155;
+    silentLkasEnable @156;
+    silentLkasDisable @157;
+    silentBrakeHold @158;
+    silentWrongGear @159;
+    silentReverseGear @160;
+    silentDoorOpen @161;
+    silentSeatbeltNotLatched @162;
+    silentParkBrake @163;
+    controlsMismatchLateral @164;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -589,6 +663,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +771,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2558,7 +2632,7 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     customReserved1 @108 :Custom.CustomReserved1;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;

cereal/services.py

@@ -74,6 +74,9 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # sunnypilot
+  "selfdriveStateSP": (True, 100., 10),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/params.cc

@@ -200,6 +200,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // sunnypilot params
+    {"Mads", PERSISTENT},
+    {"MadsMainCruiseAllowed", PERSISTENT},
+    {"MadsPauseLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
+    {"HyundaiLongitudinalMainCruiseToggleable", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT},
 };
 

pyproject.toml

@@ -163,6 +163,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]

selfdrive/car/card.py

@@ -22,6 +22,8 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 
+from openpilot.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,10 @@ class Car:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    # mads
+    MadsParams().set_alternative_experience(self.CP)
+    MadsParams().set_car_specific_params(self.CP)
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly

selfdrive/controls/controlsd.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -56,6 +57,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -88,7 +92,16 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+
+    ss_sp = self.sm['selfdriveStateSP']
+    CC.madsEnabled = ss_sp.mads.enabled
+    if ss_sp.mads.available:
+      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
+      _lat_active = ss_sp.mads.active
+    else:
+      _lat_active = self.sm['selfdriveState'].active
+
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/pandad/panda.cc

@@ -137,8 +137,8 @@ void Panda::enable_deepsleep() {
   handle->control_write(0xfb, 0, 0);
 }
 
-void Panda::send_heartbeat(bool engaged) {
-  handle->control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  handle->control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {

selfdrive/pandad/panda.h

@@ -75,7 +75,7 @@ public:
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);

selfdrive/pandad/pandad.cc

@@ -41,6 +41,8 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+
 ExitHandler do_exit;
 
 bool check_all_connected(const std::vector<Panda *> &pandas) {
@@ -53,6 +55,18 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
+bool process_mads_heartbeat(SubMaster *sm) {
+  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+
+  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
+  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
+
+  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
+
+  return engaged;
+}
+
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
@@ -144,6 +158,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
@@ -327,7 +342,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
 }
 
 void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"selfdriveState"});
+  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
@@ -366,8 +381,9 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+    const bool engaged_mads = process_mads_heartbeat(&sm);
     for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged);
+      panda->send_heartbeat(engaged, engaged_mads);
     }
   }
 }

selfdrive/selfdrived/events.py

@@ -105,6 +105,24 @@ class Events:
       ret.append(event)
     return ret
 
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
+    self.remove(prev_event_name, static)
+    self.add(cur_event_name, static)
+
 
 class Alert:
   def __init__(self,
@@ -951,6 +969,106 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  # TODO-SP: remove prior merging
+  EventName.silentPedalPressed: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventName.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventName.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -23,6 +23,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 
 from openpilot.system.version import get_build_metadata
 
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -131,6 +133,10 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -451,11 +457,25 @@ class SelfdriveD:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
+    # selfdriveStateSP
+    ss_sp_msg = messaging.new_message('selfdriveStateSP')
+    ss_sp_msg.valid = True
+    ss_sp = ss_sp_msg.selfdriveStateSP
+    mads = ss_sp.mads
+    mads.state = self.mads.state_machine.state
+    mads.enabled = self.mads.enabled
+    mads.active = self.mads.active
+    mads.available = self.mads.enabled_toggle
+
+    self.pm.send('selfdriveStateSP', ss_sp_msg)
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
+    if not self.CP.notCar:
+      self.mads.update(CS, self.sm)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

selfdrive/selfdrived/tests/test_alerts.py

@@ -41,7 +41,7 @@ class TestAlerts:
     events = log.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
-      if not name.endswith("DEPRECATED"):
+      if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
         fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 

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