maybe it does not need to be complicated ?

hahaha
Update long_mpc.py
2026-06-21 19:02:06 +08:00 · 2025-03-06 06:30:26 -07:00 · 2025-03-05 18:07:06 -07:00 · 2025-03-04 17:20:34 -07:00 · 2025-03-04 17:17:01 -07:00 · 2025-03-04 08:19:53 -07:00
342 changed files with 7592 additions and 2139 deletions
@@ -24,4 +24,4 @@ multilanguage:

 autonomy:
  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
@@ -322,7 +322,7 @@ jobs:
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"

  create_ui_report:
    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
@@ -74,9 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld/thneed/compile
-sunnypilot/modeld/models/*.thneed
-sunnypilot/modeld/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl

 *.bz2
 *.zst
@@ -1,9 +1,11 @@
 [submodule "panda"]
  path = panda
  url = https://github.com/sunnyhaibin/panda.git
+  branch = tn
 [submodule "opendbc"]
  path = opendbc_repo
  url = https://github.com/sunnypilot/opendbc.git
+  branch = tn
 [submodule "msgq"]
  path = msgq_repo
  url = https://github.com/sunnypilot/msgq.git
@@ -103,7 +103,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
            def diffPaths = args.diffPaths ?: []
            def cmdTimeout = args.timeout ?: 9999

-            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
              println "Skipping ${name}: no changes in ${diffPaths}."
              return
            } else {
@@ -170,7 +170,7 @@ node {
                         'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

-  if (env.BRANCH_NAME != 'master') {
+  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
    properties([
        disableConcurrentBuilds(abortPrevious: true)
    ])
@@ -1,23 +1,22 @@
-Version 0.9.9 (2025-03-30)
+Version 0.9.8 (2025-02-27)
 ========================
+* New driving model
+  * Model now gates applying positive acceleration in Chill mode
+* New driving monitoring model
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for bigger driving models
+  * Power draw reduced 0.5W, which means your device runs cooler
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* FIREHOSE mode
+  * Allows you to maximize your training data uploads to improve the models
+* Enable openpilot longitudinal control for Ford Q3 vehicles
+* New Toyota TSS2 longitudinal tune
 * Coming soon
  * Rivian support
  * F-150 & Mach-E support
  * Tesla Model 3 support

-Version 0.9.8 (2025-01-30)
-========================
-* New driving monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
-* Coming soon
-  * New driving model with gas gating
-  * Training data upload mode

 Version 0.9.7 (2024-06-13)
 ========================
@@ -361,7 +361,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])

 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
 Export('messaging')


@@ -373,7 +373,6 @@ SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/ui/SConscript',
  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
@@ -70,6 +70,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
  enum Runner {
    snpe @0;
    tinygrad @1;
+    stock @2;
  }

  struct ModelBundle {
@@ -6,12 +6,12 @@

 ExitHandler do_exit;

-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
  for (const auto& it : services) {
    std::string name = it.second.name;
    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
      continue;
    }
    service_list.push_back(name);
@@ -29,7 +29,7 @@ _services: dict[str, tuple] = {
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
+  "roadEncodeIdx": (False, 20., 20),
  "liveTracks": (True, 20.),
  "sendcan": (True, 100., 139),
  "logMessage": (True, 0.),
@@ -53,15 +53,15 @@ _services: dict[str, tuple] = {
  "livePose": (True, 20., 4),
  "liveParameters": (True, 20., 5),
  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 0.2, 1),
+  "thumbnail": (True, 1 / 60., 1),
  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "driverEncodeIdx": (False, 20., 20),
  "driverStateV2": (True, 20., 10),
  "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadEncodeIdx": (False, 20., 20),
  "wideRoadCameraState": (True, 20., 20),
  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20.),
@@ -1,6 +1,10 @@
+import io
 import os
 import tempfile
 import contextlib
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change


 class CallbackReader:
@@ -35,3 +39,20 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
    yield tmp_file
    tmp_file_name = tmp_file.name
  os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
@@ -8,6 +8,7 @@ import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -15,6 +16,8 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ

 def json_handler(obj):
+  if isinstance(obj, np.bool_):
+    return bool(obj)
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
  return repr(obj)
@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Not Too Shabby (Default)"
@@ -89,6 +89,7 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AdbEnabled", PERSISTENT},
    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
@@ -119,6 +120,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
    {"ExperimentalMode", PERSISTENT | BACKUP},
    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
+    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ForcePowerDown", PERSISTENT},
    {"GitBranch", PERSISTENT},
@@ -205,6 +207,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
    {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
    {"OffroadMode", CLEAR_ON_MANAGER_START},
@@ -236,7 +239,13 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"HyundaiRadarTracksToggle", PERSISTENT},

    {"DynamicExperimentalControl", PERSISTENT},
+    {"ToyotaAutoHold", PERSISTENT},
+    {"ToyotaEnhancedBsm", PERSISTENT},
+    {"ToyotaTSS2Long", PERSISTENT},
+    {"FastTakeOff", PERSISTENT},
    {"AccelPersonality", PERSISTENT},
+    {"ToyotaDriveMode", PERSISTENT},
+    {"RainbowMode", PERSISTENT},
 };

 } // namespace
@@ -27,11 +27,6 @@ class Priority:
  CTRL_HIGH = 53


-def set_realtime_priority(level: int) -> None:
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
-
-
 def set_core_affinity(cores: list[int]) -> None:
  if not PC:
    os.sched_setaffinity(0, cores)
@@ -39,7 +34,8 @@ def set_core_affinity(cores: list[int]) -> None:

 def config_realtime_process(cores: int | list[int], priority: int) -> None:
  gc.disable()
-  set_realtime_priority(priority)
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
  c = cores if isinstance(cores, list) else [cores, ]
  set_core_affinity(c)

@@ -19,6 +19,7 @@ collect_ignore = [
 collect_ignore_glob = [
  "selfdrive/debug/*.py",
  "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]


@@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -128,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -184,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -260,7 +260,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -63,3 +63,12 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
+
+## Contributing Training Data
+
+### A guide for forks
+
+In order for your fork's data to be eligible for the training set:
+* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
+* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
@@ -29,6 +29,22 @@ Here's an example command for connecting to your device using its tethered conne

 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).

+
+## ADB
+
+In order to use ADB on your device, you'll need to enable it in the device's settings.
+
+* Enable ADB in your device's settings
+* Connect to your device
+    * `adb shell` over USB
+    * `adb connect` over WiFi
+    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
+
+> [!NOTE]
+> The default port for ADB is 5555 on the comma 3/3X.
+
+For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
+
 ### Notes

 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.4"
+  export AGNOS_VERSION="11.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -111,6 +111,7 @@ dev = [
  "tabulate",
  "types-requests",
  "types-tabulate",
+  "raylib",
 ]

 tools = [
@@ -165,7 +166,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"

@@ -75,6 +75,7 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
+rm sunnypilot/modeld*/models/supercombo.onnx

 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
@@ -67,8 +67,6 @@ trap remount_ro EXIT

 setup_runner_user() {
    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
-    export BASE_DIR
-    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }

 create_sudoers_entry() {
@@ -77,8 +75,8 @@ create_sudoers_entry() {

 set_directory_permissions() {
    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod g+rwx "$BASE_DIR"
-    sudo chmod g+s "$BASE_DIR"
+    sudo chmod -R g+rwx "$BASE_DIR"
+    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
 }

 setup_directories() {
@@ -86,30 +84,42 @@ setup_directories() {
    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
    mkdir -p "/data/openpilot"
    sudo chown -R comma:comma "/data/openpilot"
+    sync
+}
+
+wipe_bash_logout() {
+  export BASE_DIR
+  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
+  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }

 # System configuration functions (depends on basic utility functions)
 setup_system_configs() {
    echo "Setting up system configurations..."
+    remount_rw
    setup_runner_user
    create_sudoers_entry
+    remount_ro
    set_directory_permissions
+    wipe_bash_logout
 }

 # Runner setup functions
 install_runner() {
    echo "Downloading and setting up runner..."
    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
-    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
-    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
-    chmod +x ./config.sh
+    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo chmod +x ./config.sh
 }

 configure_runner() {
+    remount_rw
    echo "Configuring runner..."
    cd "$RUNNER_DIR"
    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+    remount_ro
 }

 create_service_template() {
@@ -139,6 +149,7 @@ EOL
 }

 install_service() {
+    remount_rw
    echo "Installing systemd service..."
    cd "$RUNNER_DIR"
    sudo ./svc.sh install $RUNNER_USER
@@ -152,6 +163,7 @@ install_service() {
        fi
        sudo systemctl disable "${service_name}"
    fi
+    remount_ro
 }

 check_restore_prerequisites() {
@@ -203,23 +215,20 @@ check_restore_prerequisites() {
 perform_restore() {
    echo "Starting runner restoration..."
    setup_directories
-    remount_rw
    setup_system_configs
    install_service
-    remount_ro
    echo "Runner restoration completed successfully"
 }

 perform_install() {
    echo "Starting fresh installation..."
    setup_directories
-    install_runner
-    create_service_template
-    remount_rw
    setup_system_configs
+    install_runner
+    set_directory_permissions
+    create_service_template
    configure_runner
    install_service
-    remount_ro
    echo "Installation completed successfully"
 }

@@ -0,0 +1,145 @@
+#!/usr/bin/env bash
+set -e
+
+YELLOW='\033[0;33m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+BRANCH="master"
+RUNS="20"
+
+COOKIE_JAR=/tmp/cookies
+CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
+
+function loop() {
+  JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
+  API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
+
+  for run in $(seq 1 $((RUNS / 2))); do
+
+    N=2
+    TEST_BUILDS=()
+
+    # Try to find previous builds
+    ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) )
+
+    # No builds. Create branch
+    if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then
+      TEMP_DIR=$(mktemp -d)
+      GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
+      git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
+      echo "TESTING" >> $TEMP_DIR/testing_jenkins
+      git -C $TEMP_DIR add testing_jenkins
+      git -C $TEMP_DIR commit --quiet -m "testing"
+      git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
+      rm -rf $TEMP_DIR
+      FIRST_BUILD=1
+      echo ''
+      echo 'waiting on Jenkins...'
+      echo ''
+      sleep 90
+    else
+      # Found some builds. Wait for them to end if they are still running
+      for i in ${ALL_BUILDS[@]}; do
+        running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress)
+        if [[ $running == "false" ]]; then
+          continue
+        fi
+        TEST_BUILDS=( ${ALL_BUILDS[@]} )
+        N=${#TEST_BUILDS[@]}
+        break
+      done
+    fi
+
+    # No running builds found
+    if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then
+      FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
+      LAST_BUILD=$((FIRST_BUILD+N-1))
+      TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
+
+      # Start N new builds
+      for i in ${TEST_BUILDS[@]};
+      do
+        echo "Starting build $i"
+        curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
+        sleep 5
+      done
+      echo ""
+    fi
+
+    # Wait for all builds to end
+    while true; do
+      sleep 30
+
+      count=0
+      for i in ${TEST_BUILDS[@]};
+      do
+        RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json)
+        HTTP_CODE=$(tail -n1 <<< "$RES")
+        JSON=$(sed '$ d' <<< "$RES")
+
+        if [[ $HTTP_CODE == "200" ]]; then
+          STILL_RUNNING=$(echo $JSON | jq .inProgress)
+          if [[ $STILL_RUNNING == "true" ]]; then
+            echo -e "Build $i: ${YELLOW}still running${NC}"
+            continue
+          else
+            count=$((count+1))
+            echo -e "Build $i: ${GREEN}done${NC}"
+          fi
+        else
+          echo "No status for build $i"
+        fi
+      done
+      echo "See live results: ${API_ROUTE}/buildTimeTrend"
+      echo ""
+
+      if [[ $count -ge $N ]]; then
+        break
+      fi
+    done
+
+  done
+}
+
+function usage() {
+  echo ""
+  echo "Run the Jenkins tests multiple times on a specific branch"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-n, --n${NC}"
+  echo -e "          Specify how many runs to do (default to ${BOLD}20${NC})"
+  echo -e "  ${BOLD}-b, --branch${NC}"
+  echo -e "          Specify which branch to run the tests against (default to ${BOLD}master${NC})"
+  echo ""
+}
+
+function _looper() {
+  if [[ $# -eq 0 ]]; then
+    usage
+    exit 0
+  fi
+
+  # parse Options
+  while [[ $# -gt 0 ]]; do
+    case $1 in
+      -n | --n ) shift 1; RUNS="$1"; shift 1 ;;
+      -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;;
+      * ) usage; exit 0 ;;
+    esac
+  done
+
+  echo ""
+  echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch."
+  echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before."
+  echo ""
+  read -p "Press (y/Y) to confirm: " choice
+  if [[ "$choice" == "y" || "$choice" == "Y" ]]; then
+    loop
+  fi
+
+}
+
+_looper $@
@@ -53,7 +53,6 @@ function run_tests() {
  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
-  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES

  if [[ -z "$FAST" ]]; then
    run "mypy" mypy $PYTHON_FILES
@@ -42,19 +42,16 @@ class CarSpecificEvents:
    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)

  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
      events = Events()

-    elif self.CP.carName in ('subaru', 'mazda'):
-      events = self.create_common_events(CS, CS_prev)
-
-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])

-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])

-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])

      # Low speed steer alert hysteresis logic
@@ -65,7 +62,7 @@ class CarSpecificEvents:
      if self.low_speed_alert:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
      events = self.create_common_events(CS, CS_prev, pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +83,7 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
      events = self.create_common_events(CS, CS_prev)

      if self.CP.openpilotLongitudinalControl:
@@ -101,14 +98,10 @@ class CarSpecificEvents:
            # while in standstill, send a user alert
            events.add(EventName.manualRestart)

-    elif self.CP.carName == 'gm':
-      # The ECM allows enabling on falling edge of set, but only rising edge of resume
+    elif self.CP.brand == 'gm':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                   GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
-      if not self.CP.pcmCruise:
-        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
-          events.add(EventName.buttonEnable)
+                                         pcm_enable=self.CP.pcmCruise)

      # Enabling at a standstill with brake is allowed
      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -120,10 +113,9 @@ class CarSpecificEvents:
      if CS.vEgo < self.CP.minSteerSpeed:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise,
-                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
+                                         pcm_enable=self.CP.pcmCruise)

      # Low speed steer alert hysteresis logic
      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -143,7 +135,7 @@ class CarSpecificEvents:
      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
      #   events.add(EventName.steerTimeLimit)

-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
@@ -160,12 +152,12 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      events = self.create_common_events(CS, CS_prev)

    return events

  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, allow_button_cancel=True):
    events = Events()

    if CS.doorOpen:
@@ -209,12 +201,11 @@ class CarSpecificEvents:
      events.add(EventName.invalidLkasSetting)
    if CS.lowSpeedAlert:
      events.add(EventName.belowSteerSpeed)
+    if CS.buttonEnable:
+      events.add(EventName.buttonEnable)

-    # Handle button presses
+    # Handle cancel button presses
    for b in CS.buttonEvents:
-      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
-      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
-        events.add(EventName.buttonEnable)
      # Disable on rising and falling edge of cancel for both stock and OP long
      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -7,17 +8,17 @@ import cereal.messaging as messaging

 from cereal import car, log, custom

-from panda import ALTERNATIVE_EXPERIENCE
-
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler

-from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 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
@@ -104,7 +105,9 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
      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)
      self.CP = self.CI.CP
@@ -118,9 +121,13 @@ class Car:

    # set alternative experiences from parameters
    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
    if not disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+

    # mads
    MadsParams().set_alternative_experience(self.CP)
@@ -199,7 +206,7 @@ class Car:

    # Update carState from CAN
    CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
      CS = self.mock_carstate.update(CS)

    # Update radar tracks from CAN
@@ -1,3 +1,4 @@
+import time
 import capnp
 import copy
 import os
@@ -10,17 +11,15 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class

-from cereal import messaging, log, car
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.fingerprints import all_known_cars, MIGRATION
+from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from opendbc.car.fingerprints import all_known_cars, MIGRATION
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.values import Platform
+from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.selfdrived.events import ET
-from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
+from opendbc.car.values import Platform
+from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -30,8 +29,6 @@ from openpilot.tools.lib.route import SegmentName

 from panda.tests.libpanda import libpanda_py

-EventName = log.OnroadEvent.EventName
-PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel

 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
@@ -174,8 +171,6 @@ class TestCarModelBase(unittest.TestCase):
    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
    assert self.CI

-    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
-
    # TODO: check safetyModel is in release panda build
    self.safety = libpanda_py.libpanda

@@ -344,10 +339,8 @@ class TestCarModelBase(unittest.TestCase):
      to_send = libpanda_py.make_CANPacket(address, bus, dat)
      self.safety.safety_rx_hook(to_send)

-      can = messaging.new_message('can', 1)
-      can.can = [log.CanData(address=address, dat=dat, src=bus)]
-
-      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
+      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
+      CS = self.CI.update(can)

      if self.safety.get_gas_pressed_prev() != prev_panda_gas:
        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -367,11 +360,11 @@ class TestCarModelBase(unittest.TestCase):
      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())

-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())

@@ -392,8 +385,6 @@ 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.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()
      for msg in filter(lambda m: m.src in range(64), can.can):
@@ -426,7 +417,7 @@ class TestCarModelBase(unittest.TestCase):
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
          # only the rising edges are expected to match
          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -437,18 +428,15 @@ class TestCarModelBase(unittest.TestCase):
        if not self.CP.notCar:
          checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
      else:
-        # Check for enable events on rising edge of controls allowed
-        selfdrived.update_events(CS)
-        selfdrived.CS_prev = CS
-        button_enable = (selfdrived.events.contains(ET.ENABLE) and
-                         EventName.pedalPressed not in selfdrived.events.names)
+        # Check for user button enable on rising edge of controls allowed
+        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
        mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
        checks['controlsAllowed'] += mismatch
        controls_allowed_prev = self.safety.get_controls_allowed()
        if button_enable and not mismatch:
          self.safety.set_controls_allowed(False)

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()

      CS_prev = CS
@@ -3,12 +3,14 @@ import os
 import time
 import numpy as np
 from cereal import log
-from opendbc.car.interfaces import ACCEL_MIN
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
+from openpilot.common.conversions import Conversions as CV
+

 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -55,6 +57,8 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
+CRUISE_MIN_ACCEL = -1.2
+CRUISE_MAX_ACCEL = 1.6

 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
  if personality==log.LongitudinalPersonality.relaxed:
@@ -62,24 +66,48 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
  elif personality==log.LongitudinalPersonality.standard:
    return 1.0
  elif personality==log.LongitudinalPersonality.aggressive:
-    return 0.5
+    return 0.3
  else:
    raise NotImplementedError("Longitudinal personality not supported")


 def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
  if personality==log.LongitudinalPersonality.relaxed:
-    return 1.75
+    return 1.80
  elif personality==log.LongitudinalPersonality.standard:
-    return 1.45
-  elif personality==log.LongitudinalPersonality.aggressive:
    return 1.25
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 1.10
  else:
    raise NotImplementedError("Longitudinal personality not supported")

 def get_stopped_equivalence_factor(v_lead):
  return (v_lead**2) / (2 * COMFORT_BRAKE)

+def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
+  v_diff_offset = 0
+  v_diff_offset_max = 12
+  speed_to_reach_max_v_diff_offset = 26 * CV.KPH_TO_MS  # in m/s
+  delta_speed = v_lead - v_ego
+
+  if np.any(delta_speed > 0):
+    # Scale v_diff_offset with a hybrid approach: linear with a smooth transition
+    v_diff_offset = np.clip(delta_speed * 1.5, 0, v_diff_offset_max)
+    scaling_factor = np.clip((speed_to_reach_max_v_diff_offset - v_ego) / speed_to_reach_max_v_diff_offset, 0, 1)
+    # Apply a stronger decay at higher speeds to avoid pulling too close
+    smooth_scaling = scaling_factor ** 3 * (10 - 9 * scaling_factor)
+    v_diff_offset *= smooth_scaling
+
+  stopping_distance = (v_lead ** 2) / (2 * COMFORT_BRAKE) + v_diff_offset
+  return stopping_distance
+
+
+
+
+
+
+
+
 def get_safe_obstacle_distance(v_ego, t_follow):
  return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE

@@ -281,7 +309,7 @@ class LongitudinalMpc:
    elif self.mode == 'blended':
      a_change_cost = 40.0 if prev_accel_constraint else 0
      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
    else:
      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
    self.set_cost_weights(cost_weights, constraint_cost_weights)
@@ -325,13 +353,7 @@ class LongitudinalMpc:
    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
    return lead_xv

-  def set_accel_limits(self, min_a, max_a):
-    # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
-    # needs refactor
-    self.cruise_min_a = min_a
-    self.max_a = max_a
-
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, fast_take_off = False):
    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -342,12 +364,16 @@ class LongitudinalMpc:
    # To estimate a safe distance from a moving lead, we calculate how much stopping
    # distance that lead needs as a minimum. We can add that to the current distance
    # and then treat that as a stopped car/obstacle at this new distance.
-    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+    if fast_take_off:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
+    else:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+

    self.params[:,0] = ACCEL_MIN
-    # negative accel constraint causes problems because negative speed is not allowed
-    self.params[:,1] = max(0.0, self.max_a)
+    self.params[:,1] = ACCEL_MAX

    # Update in ACC mode or ACC/e2e blend
    if self.mode == 'acc':
@@ -355,9 +381,9 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
      # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
+      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                 v_lower,
                                 v_upper)
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-
+from openpilot.common.params import Params
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -18,7 +18,6 @@ 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]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -79,13 +78,29 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    self.a_desired = init_a
    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
+    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
    self.v_model_error = 0.0
+    self.output_a_target = 0.0
+    self.output_should_stop = False

    self.v_desired_trajectory = np.zeros(CONTROL_N)
    self.a_desired_trajectory = np.zeros(CONTROL_N)
    self.j_desired_trajectory = np.zeros(CONTROL_N)
    self.solverExecutionTime = 0.0

+    self.params = Params()
+    self.param_read_counter = 0
+    self.read_param()
+
+    self.fast_take_off = False
+
+
+  def read_param(self):
+    try:
+      self.fast_take_off = self.params.get_bool("FastTakeOff")
+    except AttributeError:
+      pass
+
  @staticmethod
  def parse_model(model_msg, model_error):
    if (len(model_msg.position.x) == ModelConstants.IDX_N and
@@ -108,6 +123,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

  def update(self, sm):
    LongitudinalPlannerSP.update(self, sm)
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
+    self.param_read_counter += 1
    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
    if dec_mpc_mode := self.get_mpc_mode():
      self.mpc.mode = dec_mpc_mode
@@ -134,20 +152,45 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if self.mpc.mode == 'acc':
-      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
+      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
-      accel_limits = [ACCEL_MIN, ACCEL_MAX]
-      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
+      accel_clip = [ACCEL_MIN, ACCEL_MAX]
+
+    # Override accel using Accel Controller if enabled
+    if self.accel_controller.is_enabled:
+      max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
+
+      # Ensure max_limit is a single float value
+      if isinstance(max_limit, list):
+        max_limit = max_limit[1]
+
+      # If needed, ensure braking is allowed
+      # if not self.allow_throttle:
+      #     max_limit = min(max_limit, -3.5)  # Ensure braking is allowed if needed
+      #     print(f"allow_throttle={self.allow_throttle}, max_limit before={max_limit:.2f}")
+
+      print(f"Accel Controller: max_limit={max_limit:.2f}")
+
+      if self.mpc.mode == 'acc':
+        # Use the accel controller limits directly
+        accel_clip = [ACCEL_MIN, max_limit]
+        # Recalculate limit turn according to the new max limit
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+        print(f"ACC Mode Final: v_ego={v_ego:.2f}, accel_clip={accel_clip}")
+      else:
+        print(f"Blended Mode (Accel Controller Enabled): accel_clip={accel_clip}")
+    else:
+      print(f"Accel Controller Disabled: accel_clip={accel_clip}")
+

-    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
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -158,20 +201,19 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED

    if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
+      clipped_accel_coast = max(accel_coast, accel_clip[0])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
+      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)

    if force_slow_decel:
      v_cruise = 0.0
-    # clip limits, cannot init MPC outside of bounds
-    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
-    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)

    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
+    #print("Fast take off status:", self.fast_take_off)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, fast_take_off=self.fast_take_off)
+
+

    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -187,6 +229,15 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+
+    for idx in range(2):
+      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
+    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
+    self.prev_accel_clip = accel_clip
+
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

@@ -205,11 +256,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    longitudinalPlan.longitudinalPlanSource = self.mpc.source
    longitudinalPlan.fcw = self.fcw

-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
-                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = float(a_target)
-    longitudinalPlan.shouldStop = bool(should_stop)
+    longitudinalPlan.aTarget = float(self.output_a_target)
+    longitudinalPlan.shouldStop = bool(self.output_should_stop)
    longitudinalPlan.allowBrake = True
    longitudinalPlan.allowThrottle = bool(self.allow_throttle)

@@ -14,7 +14,7 @@ def main():
  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
    "vRel": float(lead_v_rel_pred),
    "vLead": float(v_ego + lead_v_rel_pred),
    "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": 0.0,
+    "aLeadK": float(lead_msg.a[0]),
    "aLeadTau": 0.3,
    "fcw": False,
    "modelProb": float(lead_msg.prob),
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-PORT=5555
-
-setprop service.adb.tcp.port $PORT
-sudo systemctl start adbd
-
-IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
-echo "then, connect on your computer:"
-echo "adb connect $IP:$PORT"
@@ -11,5 +11,5 @@ if __name__ == "__main__":
  time.sleep(1)

  # honda bosch radar disable
-  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
  print(f"disabled: {disabled}")
@@ -2,6 +2,7 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
@@ -15,6 +16,9 @@ if __name__ == "__main__":
  parser.add_argument('--timeout', type=float, default=1.0)
  args = parser.parse_args()

+  if args.debug:
+    carlog.setLevel('DEBUG')
+
  logcan = messaging.sub_sock('can')
  sendcan = messaging.pub_sock('sendcan')
  can_callbacks = can_comm_callbacks(logcan, sendcan)
@@ -29,7 +33,7 @@ if __name__ == "__main__":
  obd_callback(params)(not args.no_obd)

  print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)

  print()
  print("Found ECUs on rx addresses:")
@@ -3,6 +3,7 @@ import time
 import argparse
 import cereal.messaging as messaging
 from cereal import car
+from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
 from openpilot.common.params import Params
@@ -18,6 +19,9 @@ if __name__ == "__main__":
  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
  args = parser.parse_args()

+  if args.debug:
+    carlog.setLevel('DEBUG')
+
  logcan = messaging.sub_sock('can')
  pandaStates_sock = messaging.sub_sock('pandaStates')
  sendcan = messaging.pub_sock('sendcan')
@@ -46,13 +50,13 @@ if __name__ == "__main__":
  t = time.time()
  print("Getting vin...")
  set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
  print(f"Getting VIN took {time.time() - t:.3f} s")
  print()

  t = time.time()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
  _, candidates = match_fw_to_car(fw_vers, vin)

  print()
@@ -2,6 +2,7 @@
 import argparse
 import time
 import cereal.messaging as messaging
+from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks

@@ -13,10 +14,13 @@ if __name__ == "__main__":
  parser.add_argument('--retry', type=int, default=5)
  args = parser.parse_args()

+  if args.debug:
+    carlog.setLevel('DEBUG')
+
  sendcan = messaging.pub_sock('sendcan')
  logcan = messaging.sub_sock('can')
  can_callbacks = can_comm_callbacks(logcan, sendcan)
  time.sleep(1)

-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
@@ -2,7 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
+from opendbc.safety import Safety
 from panda import Panda

 parser = argparse.ArgumentParser(description="clear DTC status")
@@ -11,6 +13,9 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()

+if args.debug:
+  carlog.setLevel('DEBUG')
+
 try:
  check_output(["pidof", "pandad"])
  print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -20,8 +25,8 @@ except CalledProcessError as e:
    raise e

 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 try:
  uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
@@ -16,7 +16,9 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError

+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from opendbc.safety import Safety
 from panda.python import Panda

 class ConfigValues(NamedTuple):
@@ -78,6 +80,9 @@ if __name__ == "__main__":
  parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
  args = parser.parse_args()

+  if args.debug:
+    carlog.setLevel('DEBUG')
+
  try:
    check_output(["pidof", "pandad"])
    print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -92,8 +97,8 @@ if __name__ == "__main__":
    sys.exit(0)

  panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
-  uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus)

  print("\n[START DIAGNOSTIC SESSION]")
  session_type : SESSION_TYPE = 0x07 # type: ignore
@@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt

 from cereal.services import SERVICE_LIST
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
+from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm

@@ -2,7 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
+from opendbc.safety import Safety
 from panda import Panda

 parser = argparse.ArgumentParser(description="read DTC status")
@@ -11,6 +13,9 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()

+if args.debug:
+  carlog.setLevel('DEBUG')
+
 try:
  check_output(["pidof", "pandad"])
  print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -20,8 +25,8 @@ except CalledProcessError as e:
    raise e

 panda = Panda()
-panda.set_safety_mode(Panda.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
+panda.set_safety_mode(Safety.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
 print("read diagnostic codes ...")
@@ -3,19 +3,25 @@ import time

 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model
+from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
 from openpilot.system.hardware import HARDWARE

 if __name__ == "__main__":
  CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
  params = Params()
  params.put("CarParams", CP.to_bytes())
+
  if use_snpe_modeld := is_snpe_model(False, params, CP):
    print("Using SNPE modeld")
+  if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
+    print("Using TinyGrad modeld")
+  if use_stock_modeld := is_stock_model(False, params, CP):
+    print("Using stock modeld")
+
  HARDWARE.set_power_save(False)

  procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
+  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
  for p in procs:
    managed_processes[p].start()

@@ -3,8 +3,10 @@
 import argparse
 import struct
 from enum import IntEnum
+from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
  DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from opendbc.safety import Safety
 from panda import Panda
 from datetime import date

@@ -33,10 +35,13 @@ if __name__ == "__main__":
  parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config")
  args = parser.parse_args()

+  if args.debug:
+    carlog.setLevel('DEBUG')
+
  panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
  bus = 1 if panda.has_obd() else 0
-  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug)
+  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)

  try:
    uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
@@ -6,7 +6,6 @@ While the roll calibration is a real value that can be estimated, here we assume
 and the image input into the neural network is not corrected for roll.
 '''

-import gc
 import os
 import capnp
 import numpy as np
@@ -16,7 +15,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 from openpilot.common.swaglog import cloudlog

@@ -256,8 +255,7 @@ class Calibrator:


 def main() -> NoReturn:
-  gc.disable()
-  set_realtime_priority(1)
+  config_realtime_process([0, 1, 2, 3], 5)

  pm = messaging.PubMaster(['liveCalibration'])
  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
@@ -12,6 +12,7 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States
 from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR
@@ -24,14 +25,16 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
+INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20


+def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
+  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
+
+
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
  assert len(values) == len(stds) == 3
  measurement.x, measurement.y, measurement.z = map(float, values)
@@ -76,20 +79,20 @@ class LocationEstimator:
    # sensor time and log time should be close
    sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF
    if sensor_time_invalid:
-      print("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
+      cloudlog.warning("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
    return not sensor_time_invalid

  def _validate_timestamp(self, t: float):
    kf_t = self.kf.t
    invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME
    if invalid:
-      print("Observation timestamp is older than the max rewind threshold of the filter")
+      cloudlog.warning("Observation timestamp is older than the max rewind threshold of the filter")
    return not invalid

  def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray):
    all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all()
    if not all_finite:
-      print("Non-finite values detected, kalman reset")
+      cloudlog.error("Non-finite values detected, kalman reset")
      self.reset(t)

  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult:
@@ -269,11 +272,11 @@ def main():

  filter_initialized = False
  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
  observation_input_invalid = defaultdict(int)

-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}

  initial_pose = params.get("LocationFilterInitialState")
  if initial_pose is not None:
@@ -306,19 +309,19 @@ def main():
            continue

          if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
-          elif res == HandleLogResult.INPUT_INVALID:
+            cloudlog.warning(f"Observation {which} ignored due to failed timing check")
            observation_input_invalid[which] += 1
-          else:
+          elif res == HandleLogResult.INPUT_INVALID:
+            cloudlog.warning(f"Observation {which} ignored due to failed sanity check")
+            observation_input_invalid[which] += 1
+          elif res == HandleLogResult.SUCCESS:
            observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
    else:
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
@@ -1,56 +0,0 @@
-import capnp
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
-
-  def setup_method(self):
-    self.pm = messaging.PubMaster(self.LLD_MSGS)
-
-    self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd'].prepare()
-    managed_processes['locationd'].start()
-
-  def teardown_method(self):
-    managed_processes['locationd'].stop()
-
-  def get_msg(self, name, t):
-    try:
-      msg = messaging.new_message(name)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.hasFix = True
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = float(self.lat)
-      msg.gpsLocationExternal.longitude = float(self.lon)
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = float(self.alt)
-    #if name == "gnssMeasurements":
-    #  msg.gnssMeasurements.measTime = t
-    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
-    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.positionECEF.valid = True
-    #  msg.gnssMeasurements.velocityECEF.value = []
-    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.velocityECEF.valid = True
-    elif name == 'cameraOdometry':
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
-    msg.logMonoTime = t
-    msg.valid = True
-    return msg
@@ -23,8 +23,10 @@ class Scenario(Enum):
  BASE = 'base'
  GYRO_OFF = 'gyro_off'
  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
  ACCEL_OFF = 'accel_off'
  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'

@@ -63,18 +65,20 @@ def run_scenarios(scenario, logs):
  elif scenario == Scenario.GYRO_OFF:
    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
    def gyro_spike(msg):
      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)

  elif scenario == Scenario.ACCEL_OFF:
    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
    def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 100.0
+    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)

  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
    def timing_spike(msg):
@@ -121,7 +125,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_gyro_spikes(self):
+  def test_gyro_spike(self):
    """
    Test: a gyroscope spike in the middle of the segment
    Expected Result:
@@ -132,8 +136,17 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_gyro_spikes(self):
+    """
+    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0

  def test_accel_off(self):
    """
@@ -148,7 +161,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_accel_spikes(self):
+  def test_accel_spike(self):
    """
    ToDo:
    Test: an accelerometer spike in the middle of the segment
@@ -173,5 +186,5 @@ class TestLocationdScenarios:
    Expected Result: inputsOK becomes False after N of bad measurements
    """
    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0
@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
    self.offline_friction = 0.0
    self.offline_latAccelFactor = 0.0
    self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'

    if CP.lateralTuning.which() == 'torque':
      self.offline_friction = CP.lateralTuning.torque.friction
@@ -31,7 +31,6 @@ class ModelConstants:
  DISENGAGE_WIDTH = 5
  POSE_WIDTH = 6
  WIDE_FROM_DEVICE_WIDTH = 3
-  SIM_POSE_WIDTH = 6
  LEAD_WIDTH = 4
  LANE_LINES_WIDTH = 2
  ROAD_EDGES_WIDTH = 2
@@ -72,13 +71,14 @@ class Plan:
 class Meta:
  ENGAGED = slice(0, 1)
  # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 36, 7)
-  BRAKE_DISENGAGE = slice(2, 36, 7)
-  STEER_OVERRIDE = slice(3, 36, 7)
-  HARD_BRAKE_3 = slice(4, 36, 7)
-  HARD_BRAKE_4 = slice(5, 36, 7)
-  HARD_BRAKE_5 = slice(6, 36, 7)
-  GAS_PRESS = slice(7, 36, 7)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
  # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(36, 48, 2)
-  RIGHT_BLINKER = slice(37, 48, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
@@ -8,7 +8,6 @@ if TICI:
  os.environ['QCOM'] = '1'
 else:
  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
-import gc
 import math
 import time
 import pickle
@@ -21,11 +20,12 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from openpilot.system import sentry

 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -37,6 +37,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'

+
 class DriverStateResult(ctypes.Structure):
  _fields_ = [
    ("face_orientation", ctypes.c_float*3),
@@ -55,6 +56,7 @@ class DriverStateResult(ctypes.Structure):
    ("ready_prob", ctypes.c_float*4),
    ("not_ready_prob", ctypes.c_float*2)]

+
 class DMonitoringModelResult(ctypes.Structure):
  _fields_ = [
    ("driver_state_lhd", DriverStateResult),
@@ -63,6 +65,7 @@ class DMonitoringModelResult(ctypes.Structure):
    ("wheel_on_right_prob", ctypes.c_float),
    ("features", ctypes.c_float*FEATURE_LEN)]

+
 class ModelState:
  inputs: dict[str, np.ndarray]
  output: np.ndarray
@@ -82,7 +85,7 @@ class ModelState:
    else:
      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)

-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
    self.numpy_inputs['calib'][0,:] = calib

    t1 = time.perf_counter()
@@ -119,6 +122,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]

+
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
  msg = messaging.new_message('driverStateV2', valid=True)
@@ -135,9 +139,11 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:


 def main():
-  gc.disable()
  setproctitle(PROCESS_NAME)
-  set_realtime_priority(1)
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)

  cl_context = CLContext()
  model = ModelState(cl_context)
@@ -177,4 +183,10 @@ def main():


 if __name__ == "__main__":
-  main()
+  try:
+    main()
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
@@ -93,9 +93,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.frameIdExtra = vipc_frame_id_extra
  driving_model_data.frameDropPerc = frame_drop_perc
  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  driving_model_data.action.desiredCurvature = desired_curvature

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -106,31 +104,31 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.modelExecutionTime = model_execution_time

  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+  if 'sim_pose' in net_output_data:
+    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  else:
+    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+

  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  modelV2.action.desiredCurvature = desired_curvature

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -159,8 +157,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()

-  lane_line_meta = driving_model_data.laneLineMeta
-  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)

  # road edges
  modelV2.init('roadEdges', 2)
@@ -194,7 +194,7 @@ def main(demo=False):
    CP = get_demo_car_params()
  else:
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  steer_delay = CP.steerActuatorDelay + .2
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
-size 51453312
+oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
+size 51461700
@@ -91,6 +91,8 @@ class Parser:
    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
@@ -1,15 +1,12 @@
 #!/usr/bin/env python3
-import gc
-
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring


 def dmonitoringd_thread():
-  gc.disable()
-  set_realtime_priority(2)
+  config_realtime_process([0, 1, 2, 3], 5)

  params = Params()
  pm = messaging.PubMaster(['driverMonitoringState'])
@@ -2,10 +2,3 @@
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
 assert can_capnp_to_list
-
-def can_capnp_to_can_list(can, src_filter=None):
-  ret = []
-  for msg in can:
-    if src_filter is None or msg.src in src_filter:
-      ret.append((msg.address, msg.dat, msg.src))
-  return ret
@@ -1,8 +1,7 @@
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/pandad/panda.h"
 #include "opendbc/can/common.h"

-void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
  MessageBuilder msg;
  auto event = msg.initEvent(valid);

@@ -105,9 +105,6 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
  while (!do_exit && check_all_connected(pandas)) {
    std::unique_ptr<Message> msg(subscriber->receive());
    if (!msg) {
-      if (errno == EINTR) {
-        do_exit = true;
-      }
      continue;
    }

@@ -205,7 +202,7 @@ 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 always_offroad) {
  bool ignition_local = false;
  const uint32_t pandas_cnt = pandas.size();

@@ -253,7 +250,7 @@ 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)) && !always_offroad;

    pandaStates.push_back(health);
  }
@@ -340,16 +337,14 @@ 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) {
-  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
-
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
  std::vector<std::string> connected_serials;
  for (Panda *p : pandas) {
    connected_serials.push_back(p->hw_serial());
  }

  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
    if (!ignition_opt) {
      LOGE("Failed to get ignition_opt");
      return;
@@ -378,9 +373,6 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
      }
    }

-    sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool engaged_mads = process_mads_heartbeat(&sm);
    for (const auto &panda : pandas) {
      panda->send_heartbeat(engaged, engaged_mads);
    }
@@ -446,9 +438,13 @@ void pandad_run(std::vector<Panda *> &pandas) {
  std::thread send_thread(can_send_thread, pandas, fake_send);

  RateKeeper rk("pandad", 100);
+  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
  PubMaster pm({"can", "pandaStates", "peripheralState"});
  PandaSafety panda_safety(pandas);
  Panda *peripheral_panda = pandas[0];
+  bool engaged = false;
+  bool engaged_mads = false;
+  bool always_offroad = false;

  // Main loop: receive CAN data and process states
  while (!do_exit && check_all_connected(pandas)) {
@@ -461,7 +457,11 @@ 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);
+      sm.update(0);
+      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      engaged_mads = process_mads_heartbeat(&sm);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
      panda_safety.configureSafetyMode();
    }

@@ -473,6 +473,16 @@ void pandad_run(std::vector<Panda *> &pandas) {
    rk.keepTime();
  }

+  // Close relay on exit to prevent a fault
+  const bool is_onroad = Params().getBool("IsOnroad");
+  if (is_onroad && !engaged) {
+    for (auto &p : pandas) {
+      if (p->connected()) {
+        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+      }
+    }
+  }
+
  send_thread.join();
 }

@@ -3,8 +3,8 @@
 import os
 import usb1
 import time
+import signal
 import subprocess
-from typing import NoReturn

 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
@@ -61,13 +61,25 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def main() -> NoReturn:
+def main() -> None:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    nonlocal do_exit
+    do_exit = True
+    if process is not None:
+      process.send_signal(signal.SIGINT)
+
+  process = None
+  do_exit = False
+  signal.signal(signal.SIGINT, signal_handler)
+
  count = 0
  first_run = True
  params = Params()
  no_internal_panda_count = 0

-  while True:
+  while not do_exit:
    try:
      count += 1
      cloudlog.event("pandad.flash_and_connect", count=count)
@@ -159,8 +171,9 @@ def main() -> NoReturn:

    # run pandad with all connected serials as arguments
    os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./pandad", *panda_serials], check=True)
+    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process.wait()
+

 if __name__ == "__main__":
  main()
@@ -6,12 +6,6 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from libc.stdint cimport uint8_t, uint32_t, uint64_t

-cdef extern from "panda.h":
-  cdef struct can_frame:
-    long address
-    string dat
-    long src
-
 cdef extern from "opendbc/can/common.h":
  cdef struct CanFrame:
    long src
@@ -23,12 +17,12 @@ cdef extern from "opendbc/can/common.h":
    vector[CanFrame] frames

 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
+  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid)
  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)

 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
-  cdef can_frame *f
-  cdef vector[can_frame] can_list
+  cdef CanFrame *f
+  cdef vector[CanFrame] can_list

  can_list.reserve(len(can_msgs))
  for can_msg in can_msgs:
@@ -154,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM

 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
    text = "Enable Main Switch to Engage"
  return NoEntryAlert(text)

@@ -7,7 +7,7 @@ import cereal.messaging as messaging

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


 from openpilot.common.params import Params
@@ -31,7 +31,6 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}

 ThermalStatus = log.DeviceState.ThermalStatus
@@ -99,7 +98,7 @@ class SelfdriveD(CruiseHelper):
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'

    # cleanup old params
    if not self.CP.experimentalLongitudinalAvailable:
@@ -284,7 +283,7 @@ class SelfdriveD(CruiseHelper):
      if not_running != self.not_running_prev:
        cloudlog.event("process_not_running", not_running=not_running, error=True)
      self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and not_running:
      self.events.add(EventName.processNotRunning)
    else:
      if not SIMULATION and not self.rk.lagging:
@@ -380,6 +379,10 @@ class SelfdriveD(CruiseHelper):
      if self.sm['modelV2'].frameDropPerc > 20:
        self.events.add(EventName.modeldLagging)

+    # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
+    if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
+      self.events.remove(EventName.canBusMissing)
+
    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)

    # decrement personality on distance button press
@@ -66,7 +66,7 @@ class Maneuver:
        print("Crashed!!!!")
        valid = False

-      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
+      if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
        print('LongitudinalPlanner not starting!')
        valid = False

@@ -30,8 +30,8 @@ class Plant:

    self.distance = 0.
    self.speed = speed
+    self.should_stop = False
    self.acceleration = 0.0
-    self.speeds = []

    # lead car
    self.lead_relevancy = lead_relevancy
@@ -134,9 +134,9 @@ class Plant:
          'liveParameters': lp.liveParameters,
          'modelV2': model.modelV2}
    self.planner.update(sm)
-    self.speed = self.planner.v_desired_filter.x
-    self.acceleration = self.planner.a_desired
-    self.speeds = self.planner.v_desired_trajectory.tolist()
+    self.acceleration = self.planner.output_a_target
+    self.speed = self.speed + self.acceleration * self.ts
+    self.should_stop = self.planner.output_should_stop
    fcw = self.planner.fcw
    self.distance_lead = self.distance_lead + v_lead * self.ts

@@ -168,7 +168,7 @@ class Plant:
      "distance": self.distance,
      "speed": self.speed,
      "acceleration": self.acceleration,
-      "speeds": self.speeds,
+      "should_stop": self.should_stop,
      "distance_lead": self.distance_lead,
      "fcw": fcw,
    }
@@ -150,10 +150,7 @@ def create_maneuvers(kwargs):
      enabled=False,
      **kwargs,
    ),
-  ]
-  if not kwargs['e2e']:
-    # allow_throttle won't trigger with e2e
-    maneuvers.append(Maneuver(
+    Maneuver(
      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
      duration=30.,
      initial_speed=20.,
@@ -164,7 +161,7 @@ def create_maneuvers(kwargs):
      breakpoints=[0.0, 2., 2.01],
      ensure_slowdown=True,
      **kwargs,
-    ))
+    )]
  if not kwargs['force_decel']:
    # controls relies on planner commanding to move for stock-ACC resume spamming
    maneuvers.append(Maneuver(
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--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`#define DEFAULT_MODEL "Not Too Shabby (Default)"`