Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test

Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 )
Source commit: 13cb725652 Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to afde277 * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)
2026-06-23 23:12:07 +08:00 · 2025-01-18 19:39:08 +01:00 · 2025-01-18 19:39:07 +01:00 · 2025-01-18 19:35:46 +01:00 · 2025-01-18 19:35:46 +01:00 · 2025-01-15 21:42:38 +01:00
206 changed files with 883 additions and 4273 deletions
@@ -1,3 +1,2 @@
 Wen
 REGIST
-PullRequest
@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES
@@ -1,29 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master-new
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,162 +0,0 @@
-name: Nightly Branch Reset and PR Squash
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
-  PR_LABEL: "dev-c3"
-
-on:
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master-new'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev-c3-new'
-        type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-          
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-          
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
-          
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -86,7 +86,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
          A=($scenes)

          DIFF=""
@@ -29,50 +29,6 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
-    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
-    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
---
-
 Example
 ---
 ```python
@@ -7,26 +7,24 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.

-# DO rename the structs
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-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;
-  }
-}
-
+# you can rename the struct, but don't change the identifier
 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 ModelManagerSP @0xaedffd8f31e7b55d {
@@ -66,7 +64,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    progress @1 :Float32;
    eta @2 :UInt32;
  }
-
+  
  enum Runner {
    snpe @0;
    tinygrad @1;
@@ -81,73 +79,19 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    generation @5 :UInt32;
    environment @6 :Text;
    runner @7 :Runner;
-    is20hz @8 :Bool;
  }
 }

-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
-  accelPersonality @1 :AccelerationPersonality;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
-
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-    stock @3;
-  }
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }

-struct OnroadEventSP @0xda96579883444c35 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  enum EventName {
-    lkasEnable @0;
-    lkasDisable @1;
-    manualSteeringRequired @2;
-    manualLongitudinalRequired @3;
-    silentLkasEnable @4;
-    silentLkasDisable @5;
-    silentBrakeHold @6;
-    silentWrongGear @7;
-    silentReverseGear @8;
-    silentDoorOpen @9;
-    silentSeatbeltNotLatched @10;
-    silentParkBrake @11;
-    controlsMismatchLateral @12;
-    hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
-  }
+struct CustomReserved3 @0xda96579883444c35 {
 }

-struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
+struct CustomReserved4 @0x80ae746ee2596b11 {
 }

-struct CarControlSP @0xa5cd762cd951a455 {
-  mads @0 :ModularAssistiveDrivingSystem;
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }

 struct CustomReserved6 @0xf98d843bfd7004a3 {
@@ -161,33 +105,3 @@ struct CustomReserved8 @0xf416ec09499d9d19 {

 struct CustomReserved9 @0xa1680744031fdb2d {
 }
-
-struct CustomReserved10 @0xcb9fd56c7057593a {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct CustomReserved17 @0xa30662f84033036c {
-}
-
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
-}
-
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
-}
@@ -125,6 +125,81 @@ 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;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
+    hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;

    soundsUnavailableDEPRECATED @47;
  }
@@ -590,6 +665,7 @@ struct PandaState @0xa7649e2575e4591e {

  # safety stuff
  controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
  safetyRxInvalid @19 :UInt32;
  safetyTxBlocked @24 :UInt32;
  safetyModel @14 :Car.CarParams.SafetyModel;
@@ -697,7 +773,6 @@ struct PandaState @0xa7649e2575e4591e {
  }

  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
  hasGpsDEPRECATED @6 :Bool;
  gmlanSendErrsDEPRECATED @9 :UInt32;
  fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2554,37 +2629,21 @@ struct Event {
    livestreamWideRoadEncodeData @121 :EncodeData;
    livestreamDriverEncodeData @122 :EncodeData;

-    # *********** Custom: reserved for forks ***********
-
-    # DO change the name of the field
-    # DON'T change anything after the "@"
    customReservedRawData0 @124 :Data;
    customReservedRawData1 @125 :Data;
    customReservedRawData2 @126 :Data;

-    # DO change the name of the field and struct
-    # DON'T change the ID (e.g. @107)
-    # DON'T change which struct it points to
+    # *********** Custom: reserved for forks ***********
    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
    modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :List(Custom.OnroadEventSP);
-    carParamsSP @111 :Custom.CarParamsSP;
-    carControlSP @112 :Custom.CarControlSP;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
    customReserved6 @113 :Custom.CustomReserved6;
    customReserved7 @114 :Custom.CustomReserved7;
    customReserved8 @115 :Custom.CustomReserved8;
    customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
-    customReserved11 @137 :Custom.CustomReserved11;
-    customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
-    customReserved14 @140 :Custom.CustomReserved14;
-    customReserved15 @141 :Custom.CustomReserved15;
-    customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -77,10 +77,6 @@ _services: dict[str, tuple] = {
  # sunnypilot
  "modelManagerSP": (False, 1., 1),
  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
-  "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),

  # debug
  "uiDebug": (True, 0., 1),
@@ -202,13 +202,8 @@ std::unordered_map<std::string, uint32_t> keys = {

    // --- sunnypilot params --- //
    {"ApiCache_DriveStats", PERSISTENT},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsSPPersistent", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-    {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},

    // MADS params
    {"Mads", PERSISTENT | BACKUP},
@@ -234,9 +229,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"HyundaiRadarTracksConfirmed", PERSISTENT},
    {"HyundaiRadarTracksPersistent", PERSISTENT},
    {"HyundaiRadarTracksToggle", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
-    {"AccelPersonality", PERSISTENT},
 };

 } // namespace
@@ -294,17 +294,4 @@ std::string check_output(const std::string& command) {
  return result;
 }

-bool system_time_valid() {
-  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
-  time_t min_date = mktime(&min_tm);
-
-  struct stat st;
-  if (stat("/lib/systemd/systemd", &st) == 0) {
-    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
-  }
-
-  return time(nullptr) > min_date;
-}
-
 }  // namespace util
@@ -96,8 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);

 std::string check_output(const std::string& command);

-bool system_time_valid();
-
 inline void sleep_for(const int milliseconds) {
  if (milliseconds > 0) {
    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
@@ -117,7 +117,7 @@ def workspace_manager(original_branch: str):
        if temp_branch:
          run_command(f"git branch -D {temp_branch}")
        print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(3)
+        sys.exit(1)

      # First, switch back to original branch
      current = get_current_branch()
@@ -139,12 +139,12 @@ def workspace_manager(original_branch: str):

      if signum:
        print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(4)
+        sys.exit(1)

    except Exception as e:
      print(f"Error during cleanup: {e}")
      if signum:
-        sys.exit(5)
+        sys.exit(1)

  try:
    # Set up signal handlers
@@ -275,7 +275,7 @@ def squash_and_merge(source_branch: str, target_branch: str, manual_title: str |
        return False

      print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git rebase {temp_branch}")
+      code, _, error = run_command(f"git merge {temp_branch}")

      if code != 0:
        print(f"\nMerge failed with error: {error}")
@@ -344,7 +344,7 @@ def main():
  parser.add_argument('--push', action='store_true',
                      help='Push changes to remote after squashing')

-  args, unknown = parser.parse_known_args()
+  args = parser.parse_args()

  # Determine source branch early
  source_branch = args.source
@@ -354,7 +354,7 @@ def main():
      sys.exit(1)

  if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(2)
+    sys.exit(1)


 if __name__ == "__main__":
@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-import sys
-import os
-import argparse
-import json
-from datetime import datetime
-
-
-def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
-
-
-def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
-
-
-def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
-
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
-
-
-def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
-
-
-def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
-
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
-
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
-
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
-
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
-
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
-
-    return True, None
-
-
-def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
-
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
-
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠️ This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
-
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
-
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
-
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
-
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠️ Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
-
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
-
-
-def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
-
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
-
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
-
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
@@ -191,7 +191,7 @@ class CarSpecificEvents:
      events.add(EventName.speedTooHigh)
    if CS.cruiseState.nonAdaptive:
      events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
      events.add(EventName.brakeHold)
    if CS.parkingBrake:
      events.add(EventName.parkBrake)
@@ -5,7 +5,7 @@ import threading

 import cereal.messaging as messaging

-from cereal import car, log, custom
+from cereal import car, log

 from panda import ALTERNATIVE_EXPERIENCE

@@ -21,10 +21,9 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 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.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp

 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car import interfaces
+from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp

 REPLAY = "REPLAY" in os.environ

@@ -67,13 +66,11 @@ class Car:
  CI: CarInterfaceBase
  RI: RadarInterfaceBase
  CP: car.CarParams
-  CP_SP: structs.CarParamsSP
-  CP_SP_capnp: custom.CarParamsSP

  def __init__(self, CI=None, RI=None) -> None:
    self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])

    self.can_rcv_cum_timeout_counter = 0

@@ -105,15 +102,14 @@ class Car:
          cached_params = _cached_params

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
-      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
+      setup_car_interface_sp(self.CI.CP, self.params)
+      self.RI = get_radar_interface(self.CI.CP)
      self.CP = self.CI.CP
-      self.CP_SP = self.CI.CP_SP

      # continue onto next fingerprinting step in pandad
      self.params.put_bool("FirmwareQueryDone", True)
    else:
-      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
+      self.CI, self.CP = CI, CI.CP
      self.RI = RI

    # set alternative experiences from parameters
@@ -124,10 +120,7 @@ class Car:

    # mads
    MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
-
-    # Dynamic Experimental Control
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+    MadsParams().set_car_specific_params(self.CP)

    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")

@@ -140,15 +133,6 @@ class Car:
      self.CP.safetyConfigs = [safety_config]

    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
-      # Copy user key if available
-      try:
-        with open("/cache/params/SecOCKey") as f:
-          user_key = f.readline().strip()
-          if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
-      except Exception:
-        pass
-
      secoc_key = self.params.get("SecOCKey", encoding='utf8')
      if secoc_key is not None:
        saved_secoc_key = bytes.fromhex(secoc_key.strip())
@@ -171,14 +155,6 @@ class Car:
    self.params.put_nonblocking("CarParamsCache", cp_bytes)
    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)

-    # Write CarParamsSP for controls
-    # convert to pycapnp representation for caching and logging
-    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
-    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
-
    self.mock_carstate = MockCarState()
    self.v_cruise_helper = VCruiseHelper(self.CP)

@@ -188,9 +164,6 @@ class Car:
    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    # log fingerprint in sentry
-    interfaces.log_fingerprint(self.CP)
-
  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
    """carState update loop, driven by can"""

@@ -219,7 +192,7 @@ class Car:
    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
      # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)

    # TODO: mirror the carState.cruiseState struct?
    CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -257,28 +230,21 @@ class Car:
      tracks_msg.liveTracks = RD
      self.pm.send('liveTracks', tracks_msg)

-    # carParamsSP - logged every 50 seconds (> 1 per segment)
-    if self.sm.frame % int(50. / DT_CTRL) == 0:
-      cp_sp_send = messaging.new_message('carParamsSP')
-      cp_sp_send.valid = True
-      cp_sp_send.carParamsSP = self.CP_SP_capnp
-      self.pm.send('carParamsSP', cp_sp_send)
-
-  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
    """control update loop, driven by carControl"""

    if not self.initialized_prev:
      # Initialize CarInterface, once controls are ready
      # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
+      self.CI.init(self.CP, *self.can_callbacks)
+      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
      # signal pandad to switch to car safety mode
      self.params.put_bool_nonblocking("ControlsReady", True)

    if self.sm.all_alive(['carControl']):
      # send car controls over can
      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))

      self.CC_prev = CC
@@ -291,7 +257,7 @@ class Car:
    initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                   self.sm.seen['onroadEvents'])
    if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
+      self.controls_update(CS, self.sm['carControl'])

    self.initialized_prev = initialized
    self.CS_prev = CS
@@ -300,10 +266,6 @@ class Car:
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-
-      # sunnypilot
-      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
      time.sleep(0.1)

  def card_thread(self):
@@ -120,13 +120,12 @@ class VCruiseHelper:
        self.button_timers[b.type.raw] = 1 if b.pressed else 0
        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}

-  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
    # initializing is handled by the PCM
    if self.CP.pcmCruise:
      return

-    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL

    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
      self.v_cruise_kph = self.v_cruise_kph_last
@@ -1,59 +0,0 @@
-import capnp
-from typing import Any
-
-from cereal import custom
-from opendbc.car import structs
-
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
-
-
-def is_dataclass(obj):
-  """Similar to dataclasses.is_dataclass without instance type check checking"""
-  return hasattr(obj, _FIELDS)
-
-
-def _asdictref_inner(obj) -> dict[str, Any] | Any:
-  if is_dataclass(obj):
-    ret = {}
-    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
-      ret[field] = _asdictref_inner(getattr(obj, field))
-    return ret
-  elif isinstance(obj, (tuple, list)):
-    return type(obj)(_asdictref_inner(v) for v in obj)
-  else:
-    return obj
-
-
-def asdictref(obj) -> dict[str, Any]:
-  """
-  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
-  Note that the resulting dict will contain references to the original struct as a result
-  """
-  if not is_dataclass(obj):
-    raise TypeError("asdictref() should be called on dataclass instances")
-
-  return _asdictref_inner(obj)
-
-
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
-  struct_dict = asdictref(struct)
-
-  if isinstance(struct, structs.CarParamsSP):
-    struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
-  else:
-    raise ValueError(f"Unsupported struct type: {type(struct)}")
-
-  return struct_capnp
-
-
-def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-
-  return struct_dataclass
@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized

-from cereal import car, custom
+from cereal import car
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,12 +40,9 @@ class TestCarInterfaces:

    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                         experimental_long=args['experimental_long'], docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                                           experimental_long=args['experimental_long'], docs=False)
    car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
+    car_interface = CarInterface(car_params, CarController, CarState)
    assert car_params
-    assert car_params_sp
    assert car_interface

    assert car_params.mass > 1
@@ -73,16 +69,13 @@ class TestCarInterfaces:
        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0

    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
    # Run car interface
    now_nanos = 0
    CC = car.CarControl.new_message(**cc_msg)
    CC = CC.as_reader()
-    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
-    CC_SP = convert_carControlSP(CC_SP.as_reader())
    for _ in range(10):
      car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
      now_nanos += DT_CTRL * 1e9  # 10 ms

    CC = car.CarControl.new_message(**cc_msg)
@@ -90,7 +83,7 @@ class TestCarInterfaces:
    CC = CC.as_reader()
    for _ in range(10):
      car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
      now_nanos += DT_CTRL * 1e9  # 10ms

    # Test controller initialization
@@ -57,16 +57,16 @@ class TestVCruiseHelper:
    for _ in range(2):
      self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)

-  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
+  def enable(self, v_ego, experimental_mode):
    # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)

  def test_adjust_speed(self):
    """
    Asserts speed changes on falling edges of buttons.
    """

-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

    for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
      for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
      self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
      if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

      # Expected diff on enabling. Speed should not change on falling edge of pressed
      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
    Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
    """

-    self.enable(0, False, False)
+    self.enable(0, False)

    for standstill in (True, False):
      for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:

    for v_ego in np.linspace(0, 100, 101):
      self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

      # first decrement speed, then perform gas pressed logic
      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,11 +142,10 @@ class TestVCruiseHelper:
    """

    for experimental_mode in (True, False):
-      for dynamic_experimental_control in (True, False):
-        for v_ego in np.linspace(0, 100, 101):
-          self.reset_cruise_speed_state()
-          assert not self.v_cruise_helper.v_cruise_initialized
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        assert not self.v_cruise_helper.v_cruise_initialized

-          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
-          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-          assert self.v_cruise_helper.v_cruise_initialized
+        self.enable(float(v_ego), experimental_mode)
+        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+        assert self.v_cruise_helper.v_cruise_initialized
@@ -1,5 +1,4 @@
 import capnp
-import copy
 import os
 import pytest
 import random
@@ -159,9 +158,7 @@ class TestCarModelBase(unittest.TestCase):

    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
    assert cls.CP
-    assert cls.CP_SP
    assert cls.CP.carFingerprint == cls.platform

    os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -171,7 +168,7 @@ class TestCarModelBase(unittest.TestCase):
    del cls.can_msgs

  def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
    assert self.CI

    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -205,11 +202,10 @@ class TestCarModelBase(unittest.TestCase):
    can_invalid_cnt = 0
    can_valid = False
    CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()

    for i, msg in enumerate(self.can_msgs):
      CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, CC_SP, msg.logMonoTime)
+      self.CI.apply(CC, msg.logMonoTime)

      if CS.canValid:
        can_valid = True
@@ -221,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
    self.assertEqual(can_invalid_cnt, 0)

  def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP, self.CP_SP)
+    RI = self.RadarInterface(self.CP)
    assert RI

    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -278,13 +274,13 @@ class TestCarModelBase(unittest.TestCase):
    if self.CP.notCar:
      self.skipTest("Skipping test for notCar")

-    def test_car_controller(car_control, car_control_sp):
+    def test_car_controller(car_control):
      now_nanos = 0
      msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
        CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
+        _, sendcan = CI.apply(car_control, now_nanos)

        now_nanos += DT_CTRL * 1e9
        msgs_sent += len(sendcan)
@@ -297,18 +293,17 @@ class TestCarModelBase(unittest.TestCase):

    # Make sure we can send all messages while inactive
    CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())

    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
    self.safety.set_cruise_engaged_prev(True)
    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())

    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
    self.safety.set_controls_allowed(True)
    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())

  # Skip stdout/stderr capture with pytest, causes elevated memory usage
  @pytest.mark.nocapture
@@ -392,7 +387,7 @@ class TestCarModelBase(unittest.TestCase):
    controls_allowed_prev = False
    CS_prev = car.CarState.new_message()
    checks = defaultdict(int)
-    selfdrived = SelfdriveD(CP=self.CP, CP_SP=self.CP_SP)
+    selfdrived = SelfdriveD(CP=self.CP)
    selfdrived.initialized = True
    for idx, can in enumerate(self.can_msgs):
      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat

-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,6 +19,8 @@ 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
 LaneChangeDirection = log.LaneChangeDirection
@@ -32,17 +34,12 @@ class Controls:
    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
    cloudlog.info("controlsd got CarParams")

-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
-
-    self.CI = get_car_interface(self.CP, self.CP_SP)
+    self.CI = get_car_interface(self.CP)

    self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
-                                  poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'])

    self.steer_limited = False
    self.desired_curvature = 0.0
@@ -60,6 +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"]:
@@ -94,7 +94,9 @@ class Controls:
    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.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
@@ -137,12 +139,9 @@ class Controls:
        cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
        setattr(actuators, p, 0.0)

-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log

-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
    CS = self.sm['carState']

    # Orientation and angle rates can be useful for carcontroller
@@ -218,18 +217,12 @@ class Controls:
    cc_send.carControl = CC
    self.pm.send('carControl', cc_send)

-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
  def run(self):
    rk = Ratekeeper(100, print_delay_threshold=None)
    while True:
      self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
      rk.monitor_time()

 def main():
@@ -15,8 +15,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog

-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -68,11 +66,10 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
  return a_target, should_stop


-class LongitudinalPlanner(LongitudinalPlannerSP):
+class LongitudinalPlanner:
  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -107,10 +104,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    LongitudinalPlannerSP.update(self, sm)
    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode

    if len(sm['carControl'].orientationNED) == 3:
      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -141,9 +135,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      accel_limits = [ACCEL_MIN, ACCEL_MAX]
      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]

-    if (accel_control := self.compute_accel_limits(v_ego, sm, self.CP)):
-      accel_limits, accel_limits_turns = accel_control
-
    if reset_state:
      self.v_desired_filter.x = v_ego
      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
@@ -214,5 +205,3 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    longitudinalPlan.allowThrottle = bool(self.allow_throttle)

    pm.send('longitudinalPlan', plan_send)
-
-    self.publish_longitudinal_plan_sp(sm, pm)
@@ -19,8 +19,7 @@ class TestLatControl:
  def test_saturation(self, car_name, controller):
    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
-    CI = CarInterface(CP, CP_SP, CarController, CarState)
+    CI = CarInterface(CP, CarController, CarState)
    VM = VehicleModel(CP)

    controller = controller(CP.as_reader(), CI)
@@ -18,7 +18,7 @@ def main():

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

@@ -1,5 +0,0 @@
-from pathlib import Path
-
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
@@ -2,33 +2,13 @@ import os
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

 ConfidenceClass = log.ModelDataV2.ConfidenceClass


-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2 * curv_from_psi - psi_rate / vego
-
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
-
-
 class PublishState:
  def __init__(self):
    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -79,14 +59,12 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
                   publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                   frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool, model_meta) -> None:
+                   valid: bool) -> None:
  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
  frame_drop_perc = frame_drop * 100
  extended_msg.valid = valid
  base_msg.valid = valid

-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
  driving_model_data = base_msg.drivingModelData

  driving_model_data.frameId = vipc_frame_id
@@ -95,7 +73,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.modelExecutionTime = model_execution_time

  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -130,7 +108,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D

  # lateral planning
  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -181,25 +159,23 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  meta = modelV2.meta
  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
  meta.init('disengagePredictions')
  disengage_predictions = meta.disengagePredictions
  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
-
-  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()

  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
  meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -207,9 +183,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  # confidence
  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
    # independent disengage prob for each 2s slice
    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
@@ -1,11 +1,21 @@
 #!/usr/bin/env python3
+import os
 from openpilot.system.hardware import TICI

 #
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
+import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -23,11 +33,13 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext

-from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner

 PROCESS_NAME = "selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

 class FrameMeta:
  frame_id: int = 0
@@ -45,35 +57,39 @@ class ModelState:
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

  def __init__(self, context: CLContext):
-    try:
-      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
-    except Exception as e:
-      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
-
-    buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
+    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)

    # img buffers are managed in openCL transform code
-    self.numpy_inputs = {}
+    self.numpy_inputs = {
+      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+    }

-    for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.frames: # Managed by opencl
-        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes =  model_metadata['input_shapes']

+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
    self.parser = Parser()

-    if self.model_runner.is_20hz:
-      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-      self.output = np.zeros(net_output_size, dtype=np.float32)
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)

-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs

  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -82,53 +98,40 @@ class ModelState:
    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
    self.prev_desire[:] = inputs['desire']

-    if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
-    else:
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
-
-    for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
-        self.numpy_inputs[key][:] = inputs[key]
+    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+    self.numpy_inputs['desire'][0,-1] = new_desire

+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}

-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      for key in imgs_cl:
+        if key not in self.tensor_inputs:
+          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
+    else:
+      for key in imgs_cl:
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)

    if prepare_only:
      return None

-    # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
-
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+    if TICI:
+      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
    else:
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()

-    if "desired_curvature" in outputs:
-      input_name_prev = None
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))

-      if "prev_desired_curvs" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curv'
+    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]

-      if input_name_prev is not None:
-        length = outputs['desired_curvature'][0].size
-        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+
+    # TODO model only uses last value now
+    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
+    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
    return outputs


@@ -239,6 +242,7 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -269,10 +273,8 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-    }
-
-    if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      'lateral_control_params': lateral_control_params,
+      }

    mt1 = time.perf_counter()
    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -285,7 +287,7 @@ def main(demo=False):
      posenet_send = messaging.new_message('cameraOdometry')
      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)

      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -5,14 +5,13 @@

 #include "common/clutil.h"

-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
  input_frames = std::make_unique<uint8_t[]>(buf_size);
  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
-  region.origin = (buffer_length - 1)  * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
+  region.origin = 1 * frame_size_bytes;
  region.size = frame_size_bytes;
  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);

  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
@@ -21,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context,
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);

-  for (int i = 0; i < (buffer_length - 1); i++) {
+  for (int i = 0; i < 1; i++) {
    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
  }
  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
@@ -64,7 +64,7 @@ protected:

 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
  ~DrivingModelFrame();
  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);

@@ -73,7 +73,6 @@ public:
  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
  const int buf_size = MODEL_FRAME_SIZE * 2;
  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-  const uint8_t buffer_length;

 private:
  LoadYUVState loadyuv;
@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":

  cppclass DrivingModelFrame:
    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
+    DrivingModelFrame(cl_device_id, cl_context)

  cppclass MonitoringModelFrame:
    int buf_size
@@ -4,7 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t, uint8_t
+from libc.stdint cimport uintptr_t

 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -59,8 +59,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
  cdef cppDrivingModelFrame * _frame

-  def __cinit__(self, CLContext context, int buffer_length=2):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
    self.frame = <cppModelFrame*>(self._frame)
    self.buf_size = self._frame.buf_size

@@ -81,8 +81,3 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
    pandas_[i]->set_safety_model(safety_model, safety_param);
  }
 }
-
-bool PandaSafety::getOffroadMode() {
-  auto offroad_mode = params_.getBool("OffroadMode");
-  return offroad_mode;
-}
@@ -158,6 +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);
@@ -205,7 +206,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }

-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
  bool ignition_local = false;
  const uint32_t pandas_cnt = pandas.size();

@@ -253,7 +254,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
      health.ignition_line_pkt = 0;
    }

-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));

    pandaStates.push_back(health);
  }
@@ -340,7 +341,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
  pm->send("peripheralState", msg);
 }

-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});

  std::vector<std::string> connected_serials;
@@ -349,7 +350,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
  }

  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
    if (!ignition_opt) {
      LOGE("Failed to get ignition_opt");
      return;
@@ -461,7 +462,7 @@ void pandad_run(std::vector<Panda *> &pandas) {

    // Process panda state at 10 Hz
    if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
+      process_panda_state(pandas, &pm, spoofing_started);
      panda_safety.configureSafetyMode();
    }

@@ -12,7 +12,6 @@ class PandaSafety {
 public:
  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
  void configureSafetyMode();
-  bool getOffroadMode();

 private:
  void updateMultiplexingMode();
@@ -6,8 +6,7 @@ from dataclasses import dataclass

 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert
-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert


 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
@@ -44,9 +44,5 @@
  "Offroad_Recalibration": {
    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
    "severity": 0
-  },
-  "OffroadMode_Status": {
-    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
-    "severity": 1
  }
 }
@@ -1,6 +1,9 @@
 #!/usr/bin/env python3
+import bisect
 import math
 import os
+from enum import IntEnum
+from collections.abc import Callable

 from cereal import log, car
 import cereal.messaging as messaging
@@ -9,11 +12,6 @@ from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER

-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
-
-
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -21,23 +19,201 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 EventName = log.OnroadEvent.EventName


+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}


-class Events(EventsBase):
+class Events:
  def __init__(self):
-    super().__init__()
+    self.events: list[int] = []
+    self.static_events: list[int] = []
    self.event_counters = dict.fromkeys(EVENTS.keys(), 0)

-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
-    return EVENTS
+  @property
+  def names(self) -> list[int]:
+    return self.events

-  def get_event_name(self, event: int):
-    return EVENT_NAME[event]
+  def __len__(self) -> int:
+    return len(self.events)

-  def get_event_msg_type(self):
-    return log.OnroadEvent
+  def add(self, event_name: int, static: bool=False) -> None:
+    if static:
+      bisect.insort(self.static_events, event_name)
+    bisect.insort(self.events, event_name)
+
+  def clear(self) -> None:
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+    self.events = self.static_events.copy()
+
+  def contains(self, event_type: str) -> bool:
+    return any(event_type in EVENTS.get(e, {}) for e in self.events)
+
+  def create_alerts(self, event_types: list[str], callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = EVENTS[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = EVENTS[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      bisect.insort(self.events, e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = log.OnroadEvent.new_message()
+      event.name = event_name
+      for event_type in EVENTS.get(event_name, {}):
+        setattr(event, event_type, True)
+      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,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = int(duration / DT_CTRL)
+
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type: str | None = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
+    return self.priority > alert2.priority
+
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2: str,
+               alert_text_1: str = "openpilot Unavailable",
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AudibleAlert.refuse, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.userPrompt, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.warningSoft, 2.),
+
+
+# less harsh version of SoftDisable, where the condition is user-triggered
+class UserSoftDisableAlert(SoftDisableAlert):
+  def __init__(self, alert_text_2: str):
+    super().__init__(alert_text_2),
+    self.alert_text_1 = "openpilot will disengage"
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.warningImmediate, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+
+
+class StartupAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    super().__init__(alert_text_1, alert_text_2,
+                     alert_status, AlertSize.mid,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),


 # ********** helper functions **********
@@ -49,6 +225,8 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:

 # ********** alert callback functions **********

+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+

 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -474,11 +652,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.brakeHold: {
-    ET.WARNING: Alert(
-      "Press Resume to Exit Brake Hold",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
  },

  EventName.parkBrake: {
@@ -794,6 +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.),
+  },
+
+  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"),
+  },
+
+  EventName.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
 }


@@ -5,7 +5,7 @@ import threading

 import cereal.messaging as messaging

-from cereal import car, log, custom
+from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from panda import ALTERNATIVE_EXPERIENCE

@@ -25,8 +25,7 @@ from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
-from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.car.experimental_switcher import ExperimentalSwitcher

 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -46,8 +45,8 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)


-class SelfdriveD(CruiseHelper):
-  def __init__(self, CP=None, CP_SP=None):
+class SelfdriveD(ExperimentalSwitcher):
+  def __init__(self, CP=None):
    self.params = Params()

    # Ensure the current branch is cached, otherwise the first cycle lags
@@ -60,18 +59,11 @@ class SelfdriveD(CruiseHelper):
    else:
      self.CP = CP

-    if CP_SP is None:
-      cloudlog.info("selfdrived is waiting for CarParamsSP")
-      self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-      cloudlog.info("selfdrived got CarParamsSP")
-    else:
-      self.CP_SP = CP_SP
-
    self.car_events = CarSpecificEvents(self.CP)
    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)

    # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])

    self.gps_location_service = get_gps_location_service(self.params)
    self.gps_packets = [self.gps_location_service]
@@ -143,20 +135,18 @@ class SelfdriveD(CruiseHelper):
    elif self.CP.passive:
      self.events.add(EventName.dashcamMode, static=True)

-    self.events_sp = EventsSP()
-    self.events_sp_prev = []
-
    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)

    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)

-    CruiseHelper.__init__(self, self.CP)
+    ExperimentalSwitcher.__init__(self, self.params)

  def update_events(self, CS):
    """Compute onroadEvents from carState"""

    self.events.clear()
-    self.events_sp.clear()

    if self.sm['controlsState'].lateralControlState.which() == 'debugState':
      self.events.add(EventName.joystickDebug)
@@ -194,7 +184,7 @@ class SelfdriveD(CruiseHelper):
      self.events.add_from_msg(car_events)

      car_events_sp = self.car_events_sp.update().to_msg()
-      self.events_sp.add_from_msg(car_events_sp)
+      self.events.add_from_msg(car_events_sp)

      if self.CP.notCar:
        # wait for everything to init first
@@ -380,7 +370,9 @@ class SelfdriveD(CruiseHelper):
      if self.sm['modelV2'].frameDropPerc > 20:
        self.events.add(EventName.modeldLagging)

-    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      ExperimentalSwitcher.update(self, CS, self.events, self.experimental_mode)

    # decrement personality on distance button press
    if self.CP.openpilotLongitudinalControl:
@@ -446,13 +438,9 @@ class SelfdriveD(CruiseHelper):
      clear_event_types.add(ET.NO_ENTRY)

    pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
-    callback_args = [self.CP, CS, self.sm, self.is_metric,
-                     self.state_machine.soft_disable_timer, pers]
-
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
-    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
-
-    self.AM.add_many(self.sm.frame, alerts + alerts_sp)
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
+                                                                                self.state_machine.soft_disable_timer, pers])
+    self.AM.add_many(self.sm.frame, alerts)
    self.AM.process_alerts(self.sm.frame, clear_event_types)

  def publish_selfdriveState(self, CS):
@@ -497,21 +485,13 @@ class SelfdriveD(CruiseHelper):

    self.pm.send('selfdriveStateSP', ss_sp_msg)

-    # onroadEventsSP - logged every second or on change
-    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
-      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
-      ce_send_sp.valid = True
-      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
-      self.pm.send('onroadEventsSP', ce_send_sp)
-    self.events_sp_prev = self.events_sp.names.copy()
-
  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.mads.update(CS, self.sm)
    self.update_alerts(CS)

    self.publish_selfdriveState(CS)
@@ -1,10 +1,8 @@
 import random

-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager

-from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
-

 class TestAlertManager:

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Author	SHA1	Message	Date
DevTekVE	a3201845f2	Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test	2025-01-18 19:39:08 +01:00
DevTekVE	9567c074c1	Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 ) Source commit: `13cb725652` Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to `afde277` * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)	2025-01-18 19:39:07 +01:00
DevTekVE	a79a2ac494	Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test	2025-01-18 19:35:46 +01:00
DevTekVE	e6055d68be	Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 ) Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to `afde277` * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)	2025-01-18 19:35:46 +01:00
DevTekVE	3b907acfe7	Longitudinal: Distance button hold to toggle Chill/Experimental Mode Original commits: * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode	2025-01-15 21:42:38 +01:00