Update accel_controller.py

* ui: Vehicle panel in settings

* fix click

.codespellignore

@@ -1,2 +1,3 @@
 Wen
 REGIST
+PullRequest

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -0,0 +1,162 @@
+name: Nightly Branch Reset and PR Squash
+
+env:
+  DEFAULT_SOURCE_BRANCH: "master-new"
+  DEFAULT_TARGET_BRANCH: "nightly"
+  PR_LABEL: "dev-c3"
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: 'Source branch to reset from'
+        required: true
+        default: 'master-new'
+        type: string
+      target_branch:
+        description: 'Target branch to reset and squash into'
+        required: true
+        default: 'master-dev-c3-new'
+        type: string
+#  schedule:
+#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
+
+jobs:
+  reset-and-squash:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # Fetch all history for all branches
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.name 'github-actions[bot]'
+          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install PyGithub
+
+      - name: Check branches exist
+        run: |
+          # Check if source branch exists
+          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
+            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
+            exit 1
+          fi
+          
+          # Make sure we have the latest source branch
+          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+          
+          # Check if target branch exists
+          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
+            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          else
+            # Fetch target branch if it exists
+            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          fi
+
+      - name: Reset target branch
+        run: |
+          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+          # Delete if exists and recreate pointing to source
+          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
+          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+
+      - name: Get PRs to squash
+        id: get-prs
+        run: |
+          # Use GitHub API to get PRs with specific label, ordered by creation date
+          PR_LIST=$(gh api graphql -f query='
+            query($label:String!) {
+              search(query: $label, type:ISSUE, first:100) {
+                nodes {
+                  ... on PullRequest {
+                    number
+                    headRefName
+                    title
+                    createdAt
+                    commits(last: 1) {
+                      nodes {
+                        commit {
+                          statusCheckRollup {
+                            state
+                          }
+                        }
+                      }
+                    }
+                  }
+                }
+              }
+            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+          
+          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Process PRs
+        run: |
+          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
+            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
+            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
+            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Push changes if there are diffs
+        id: push-changes  # Add an id so we can reference this step
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          # Fetch the latest from remote
+          git fetch origin $TARGET_BRANCH
+
+          # Check for diffs between local and remote
+          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
+            echo "No changes to push - local and remote branches are identical"
+            echo "has_changes=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          # If we get here, there are diffs, so push
+          if ! git push origin $TARGET_BRANCH --force; then
+            echo "Failed to push changes to $TARGET_BRANCH"
+            exit 1
+          fi
+
+          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
+          echo "has_changes=true" >> $GITHUB_OUTPUT
+
+      - name: Trigger and wait for selfdrive tests
+        if: steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          echo "Triggering selfdrive tests..."
+          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
+          sleep 120
+
+          echo "Getting latest run ID..."
+          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Trigger prebuilt workflow
+        if: success() && steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""

cereal/custom.capnp

@@ -10,23 +10,23 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
+struct ModularAssistiveDrivingSystem {
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
+
+  enum ModularAssistiveDrivingSystemState {
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
-
-  struct ModularAssistiveDrivingSystem {
-    state @0 :ModularAssistiveDrivingSystemState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-    available @3 :Bool;
-
-    enum ModularAssistiveDrivingSystemState {
-      disabled @0;
-      paused @1;
-      enabled @2;
-      softDisabling @3;
-      overriding @4;
-    }
-  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -81,19 +81,73 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     generation @5 :UInt32;
     environment @6 :Text;
     runner @7 :Runner;
+    is20hz @8 :Bool;
   }
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+  accelPersonality @1 :AccelerationPersonality;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
+
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+    stock @3;
+  }
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct OnroadEventSP @0xda96579883444c35 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+  }
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
 }
 
-struct CustomReserved5 @0xa5cd762cd951a455 {
+struct CarControlSP @0xa5cd762cd951a455 {
+  mads @0 :ModularAssistiveDrivingSystem;
 }
 
 struct CustomReserved6 @0xf98d843bfd7004a3 {

cereal/log.capnp

@@ -125,80 +125,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    eventReserved93 @93;
-    eventReserved94 @94;
-    eventReserved95 @95;
-    eventReserved96 @96;
-    eventReserved97 @97;
-    eventReserved98 @98;
-    eventReserved99 @99;
-    eventReserved100 @100;
-    eventReserved101 @101;
-    eventReserved102 @102;
-    eventReserved103 @103;
-    eventReserved104 @104;
-    eventReserved105 @105;
-    eventReserved106 @106;
-    eventReserved107 @107;
-    eventReserved108 @108;
-    eventReserved109 @109;
-    eventReserved110 @110;
-    eventReserved111 @111;
-    eventReserved112 @112;
-    eventReserved113 @113;
-    eventReserved114 @114;
-    eventReserved115 @115;
-    eventReserved116 @116;
-    eventReserved117 @117;
-    eventReserved118 @118;
-    eventReserved119 @119;
-    eventReserved120 @120;
-    eventReserved121 @121;
-    eventReserved122 @122;
-    eventReserved123 @123;
-    eventReserved124 @124;
-    eventReserved125 @125;
-    eventReserved126 @126;
-    eventReserved127 @127;
-    eventReserved128 @128;
-    eventReserved129 @129;
-    eventReserved130 @130;
-    eventReserved131 @131;
-    eventReserved132 @132;
-    eventReserved133 @133;
-    eventReserved134 @134;
-    eventReserved135 @135;
-    eventReserved136 @136;
-    eventReserved137 @137;
-    eventReserved138 @138;
-    eventReserved139 @139;
-    eventReserved140 @140;
-    eventReserved141 @141;
-    eventReserved142 @142;
-    eventReserved143 @143;
-    eventReserved144 @144;
-    eventReserved145 @145;
-    eventReserved146 @146;
-    eventReserved147 @147;
-    eventReserved148 @148;
-    eventReserved149 @149;
-    eventReserved150 @150;
-
-    # sunnypilot
-    lkasEnable @151;
-    lkasDisable @152;
-    manualSteeringRequired @153;
-    manualLongitudinalRequired @154;
-    silentLkasEnable @155;
-    silentLkasDisable @156;
-    silentBrakeHold @157;
-    silentWrongGear @158;
-    silentReverseGear @159;
-    silentDoorOpen @160;
-    silentSeatbeltNotLatched @161;
-    silentParkBrake @162;
-    controlsMismatchLateral @163;
-    hyundaiRadarTracksConfirmed @164;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -664,7 +590,6 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
-  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -772,6 +697,7 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
+  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2641,10 +2567,10 @@ struct Event {
     # DON'T change which struct it points to
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
-    customReserved4 @111 :Custom.CustomReserved4;
-    customReserved5 @112 :Custom.CustomReserved5;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    onroadEventsSP @110 :List(Custom.OnroadEventSP);
+    carParamsSP @111 :Custom.CarParamsSP;
+    carControlSP @112 :Custom.CarControlSP;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;

cereal/services.py

@@ -77,6 +77,10 @@ _services: dict[str, tuple] = {
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params.cc

@@ -202,8 +202,13 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
+    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsSPPersistent", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
+    {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
@@ -229,6 +234,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
+    {"AccelPersonality", PERSISTENT},
 };
 
 } // namespace

release/ci/squash_and_merge.py

@@ -117,7 +117,7 @@ def workspace_manager(original_branch: str):
         if temp_branch:
           run_command(f"git branch -D {temp_branch}")
         print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(1)
+        sys.exit(3)
 
       # First, switch back to original branch
       current = get_current_branch()
@@ -139,12 +139,12 @@ def workspace_manager(original_branch: str):
 
       if signum:
         print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(1)
+        sys.exit(4)
 
     except Exception as e:
       print(f"Error during cleanup: {e}")
       if signum:
-        sys.exit(1)
+        sys.exit(5)
 
   try:
     # Set up signal handlers
@@ -275,7 +275,7 @@ def squash_and_merge(source_branch: str, target_branch: str, manual_title: str |
         return False
 
       print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git merge {temp_branch}")
+      code, _, error = run_command(f"git rebase {temp_branch}")
 
       if code != 0:
         print(f"\nMerge failed with error: {error}")
@@ -344,7 +344,7 @@ def main():
   parser.add_argument('--push', action='store_true',
                       help='Push changes to remote after squashing')
 
-  args = parser.parse_args()
+  args, unknown = parser.parse_known_args()
 
   # Determine source branch early
   source_branch = args.source
@@ -354,7 +354,7 @@ def main():
       sys.exit(1)
 
   if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(1)
+    sys.exit(2)
 
 
 if __name__ == "__main__":

release/ci/squash_and_merge_prs.py

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

selfdrive/car/card.py

@@ -5,7 +5,7 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -21,6 +21,7 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
 from openpilot.sunnypilot.selfdrive.car import interfaces
@@ -66,11 +67,13 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
+  CP_SP: structs.CarParamsSP
+  CP_SP_capnp: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -102,14 +105,15 @@ class Car:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
-      self.RI = get_radar_interface(self.CI.CP)
+      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
+      self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
-      self.CI, self.CP = CI, CI.CP
+      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
     # set alternative experiences from parameters
@@ -120,7 +124,10 @@ class Car:
 
     # mads
     MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP)
+    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
+
+    # Dynamic Experimental Control
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
@@ -164,6 +171,14 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    # Write CarParamsSP for controls
+    # convert to pycapnp representation for caching and logging
+    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
+    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
+    self.params.put("CarParamsSP", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
+
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -204,7 +219,7 @@ class Car:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -242,21 +257,28 @@ class Car:
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
-  def controls_update(self, CS: car.CarState, CC: car.CarControl):
+    # carParamsSP - logged every 50 seconds (> 1 per segment)
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
+      cp_sp_send = messaging.new_message('carParamsSP')
+      cp_sp_send.valid = True
+      cp_sp_send.carParamsSP = self.CP_SP_capnp
+      self.pm.send('carParamsSP', cp_sp_send)
+
+  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
+      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
+      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -269,7 +291,7 @@ class Car:
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'])
+      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
 
     self.initialized_prev = initialized
     self.CS_prev = CS
@@ -278,6 +300,10 @@ class Car:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+
+      # sunnypilot
+      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
       time.sleep(0.1)
 
   def card_thread(self):

selfdrive/car/cruise.py

@@ -120,12 +120,13 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/helpers.py

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

selfdrive/car/tests/test_car_interfaces.py

@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car
+from cereal import car, custom
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,6 +12,7 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -40,9 +41,12 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+                                                           experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, CarController, CarState)
+    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
     assert car_params
+    assert car_params_sp
     assert car_interface
 
     assert car_params.mass > 1
@@ -69,13 +73,16 @@ class TestCarInterfaces:
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
+    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
+    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
+    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -83,7 +90,7 @@ class TestCarInterfaces:
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_cruise_speed.py

@@ -57,16 +57,16 @@ class TestVCruiseHelper:
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode):
+  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False)
+    self.enable(0, False, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,10 +142,11 @@ class TestVCruiseHelper:
     """
 
     for experimental_mode in (True, False):
-      for v_ego in np.linspace(0, 100, 101):
-        self.reset_cruise_speed_state()
-        assert not self.v_cruise_helper.v_cruise_initialized
+      for dynamic_experimental_control in (True, False):
+        for v_ego in np.linspace(0, 100, 101):
+          self.reset_cruise_speed_state()
+          assert not self.v_cruise_helper.v_cruise_initialized
 
-        self.enable(float(v_ego), experimental_mode)
-        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-        assert self.v_cruise_helper.v_cruise_initialized
+          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
+          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+          assert self.v_cruise_helper.v_cruise_initialized

selfdrive/car/tests/test_models.py

@@ -1,4 +1,5 @@
 import capnp
+import copy
 import os
 import pytest
 import random
@@ -158,7 +159,9 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
+    assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -168,7 +171,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
+    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)
@@ -202,10 +205,11 @@ class TestCarModelBase(unittest.TestCase):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
+    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, msg.logMonoTime)
+      self.CI.apply(CC, CC_SP, msg.logMonoTime)
 
       if CS.canValid:
         can_valid = True
@@ -217,7 +221,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP)
+    RI = self.RadarInterface(self.CP, self.CP_SP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -274,13 +278,13 @@ class TestCarModelBase(unittest.TestCase):
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control):
+    def test_car_controller(car_control, car_control_sp):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, now_nanos)
+        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -293,17 +297,18 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC.as_reader())
+    CC_SP = structs.CarControlSP()
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -387,7 +392,7 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    selfdrived = SelfdriveD(CP=self.CP)
+    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()

selfdrive/controls/controlsd.py

@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log
+from cereal import car, log, custom
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,8 +19,6 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-from opendbc.sunnypilot import SunnypilotParamFlags
-
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -34,12 +32,17 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    self.CI = get_car_interface(self.CP)
+    cloudlog.info("controlsd is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd got CarParamsSP")
+
+    self.CI = get_car_interface(self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                  poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
 
     self.steer_limited = False
     self.desired_curvature = 0.0
@@ -57,9 +60,6 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
-    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
-    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
-
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -94,9 +94,7 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
 
     ss_sp = self.sm['selfdriveStateSP']
-    CC.madsEnabled = ss_sp.mads.enabled
     if ss_sp.mads.available:
-      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
       _lat_active = ss_sp.mads.active
     else:
       _lat_active = self.sm['selfdriveState'].active
@@ -139,9 +137,12 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    return CC, lac_log
+    CC_SP = custom.CarControlSP.new_message()
+    CC_SP.mads = ss_sp.mads
 
-  def publish(self, CC, lac_log):
+    return CC, CC_SP, lac_log
+
+  def publish(self, CC, CC_SP, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -217,12 +218,18 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+    # carControlSP
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = CS.canValid
+    cc_sp_send.carControlSP = CC_SP
+    self.pm.send('carControlSP', cc_sp_send)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
+      CC, CC_SP, lac_log = self.state_control()
+      self.publish(CC, CC_SP, lac_log)
       rk.monitor_time()
 
 def main():

selfdrive/controls/lib/longitudinal_planner.py

@@ -15,6 +15,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
+
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -66,10 +68,11 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner:
+class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -104,7 +107,10 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
+    LongitudinalPlannerSP.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if dec_mpc_mode := self.get_mpc_mode():
+      self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -135,6 +141,9 @@ class LongitudinalPlanner:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
+    if (accel_control := self.compute_accel_limits(v_ego, sm, self.CP)):
+      accel_limits, accel_limits_turns = accel_control
+
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
@@ -205,3 +214,5 @@ class LongitudinalPlanner:
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
+
+    self.publish_longitudinal_plan_sp(sm, pm)

selfdrive/controls/lib/tests/test_latcontrol.py

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

selfdrive/controls/plannerd.py

@@ -18,7 +18,7 @@ def main():
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 

selfdrive/modeld/__init__.py

@@ -0,0 +1,5 @@
+from pathlib import Path
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

selfdrive/modeld/fill_model_msg.py

@@ -2,13 +2,33 @@ import os
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
+def curv_from_psis(psi_target, psi_rate, vego, delay):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
+  return 2 * curv_from_psi - psi_rate / vego
+
+
+def get_curvature_from_plan(plan, vego, delay):
+  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
+  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
+  return curv_from_psis(psi_target, psi_rate, vego, delay)
+
+
+def get_curvature_from_output(output, vego, delay):
+  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+    return float(desired_curv[0, 0])
+
+  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+
+
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -59,12 +79,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool) -> None:
+                   valid: bool, model_meta) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
+  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
+
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -73,7 +95,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -108,7 +130,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -159,23 +181,25 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta = modelV2.meta
   meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
   meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
   meta.init('disengagePredictions')
   disengage_predictions = meta.disengagePredictions
   disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
+
+  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
+    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
+    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0]
   publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
   hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -183,9 +207,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
     any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
     # independent disengage prob for each 2s slice
     ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]

selfdrive/modeld/modeld.py

@@ -1,21 +1,11 @@
 #!/usr/bin/env python3
-import os
 from openpilot.system.hardware import TICI
 
 #
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
-import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -33,13 +23,11 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
+from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
+from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
 class FrameMeta:
   frame_id: int = 0
@@ -57,39 +45,35 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
+    try:
+      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+    except Exception as e:
+      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+
+    buffer_length = 5 if self.model_runner.is_20hz else 2
+    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, (ModelConstants.FULL_HISTORY_BUFFER_LEN+1), ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {}
 
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-    self.input_shapes =  model_metadata['input_shapes']
+    for key, shape in self.model_runner.input_shapes.items():
+      if key not in self.frames: # Managed by opencl
+        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+    if self.model_runner.is_20hz:
+      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
+      self.output = np.zeros(net_output_size, dtype=np.float32)
 
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
+      num_elements = self.numpy_inputs['features_buffer'].shape[1]
+      step_size = int(-100 / num_elements)
+      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -98,40 +82,53 @@ class ModelState:
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
-    self.numpy_inputs['desire'][0,-1] = new_desire
+    if self.model_runner.is_20hz:
+      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+      self.desire_20Hz[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+    else:
+      length = inputs['desire'].shape[0]
+      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
+      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+
+    for key in self.numpy_inputs:
+      if key in inputs and key not in ['desire']:
+        self.numpy_inputs[key][:] = inputs[key]
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.tensor_inputs:
-          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+    # Prepare inputs using the model runner
+    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
 
     if prepare_only:
       return None
 
-    if TICI:
-      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    # Run model inference
+    self.output = self.model_runner.run_model()
+    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+
+    if self.model_runner.is_20hz:
+      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
     else:
-      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+      feature_len = outputs['hidden_state'].shape[1]
+      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
+      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
 
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+    if "desired_curvature" in outputs:
+      input_name_prev = None
 
-    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
-    self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
+      if "prev_desired_curvs" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
 
-
-    # TODO model only uses last value now
-    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
-    self.numpy_inputs['prev_desired_curv'][0,-1,:] = outputs['desired_curvature'][0, :]
+      if input_name_prev is not None:
+        length = outputs['desired_curvature'][0].size
+        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
     return outputs
 
 
@@ -242,7 +239,6 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -273,8 +269,10 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
-      }
+    }
+
+    if "lateral_control_params" in model.numpy_inputs.keys():
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -287,7 +285,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]

selfdrive/modeld/models/commonmodel.cc

@@ -5,13 +5,14 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
-  region.origin = 1 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
+  region.origin = (buffer_length - 1)  * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
+  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
 
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
@@ -20,7 +21,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 1; i++) {
+  for (int i = 0; i < (buffer_length - 1); i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);

selfdrive/modeld/models/commonmodel.h

@@ -64,7 +64,7 @@ protected:
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
   ~DrivingModelFrame();
   cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
@@ -73,6 +73,7 @@ public:
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
   const int buf_size = MODEL_FRAME_SIZE * 2;
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
+  const uint8_t buffer_length;
 
 private:
   LoadYUVState loadyuv;

selfdrive/modeld/models/commonmodel.pxd

@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
+    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
 
   cppclass MonitoringModelFrame:
     int buf_size

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -4,7 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
+from libc.stdint cimport uintptr_t, uint8_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -59,8 +59,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+  def __cinit__(self, CLContext context, int buffer_length=2):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 

selfdrive/pandad/panda_safety.cc

@@ -81,3 +81,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
     pandas_[i]->set_safety_model(safety_model, safety_param);
   }
 }
+
+bool PandaSafety::getOffroadMode() {
+  auto offroad_mode = params_.getBool("OffroadMode");
+  return offroad_mode;
+}

selfdrive/pandad/pandad.cc

@@ -158,7 +158,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
-  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
@@ -206,7 +205,7 @@ 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) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -254,7 +253,7 @@ 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));
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
 
     pandaStates.push_back(health);
   }
@@ -341,7 +340,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
   static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
 
   std::vector<std::string> connected_serials;
@@ -350,7 +349,7 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
   }
 
   {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       return;
@@ -462,7 +461,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
 
     // Process panda state at 10 Hz
     if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started);
+      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
       panda_safety.configureSafetyMode();
     }
 

selfdrive/pandad/pandad.h

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

selfdrive/selfdrived/alertmanager.py

@@ -6,7 +6,8 @@ from dataclasses import dataclass
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
+from openpilot.selfdrive.selfdrived.events import Alert
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:

selfdrive/selfdrived/alerts_offroad.json

@@ -44,5 +44,9 @@
   "Offroad_Recalibration": {
     "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
+  },
+  "OffroadMode_Status": {
+    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
+    "severity": 1
   }
 }

selfdrive/selfdrived/events.py

@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-import bisect
 import math
 import os
-from enum import IntEnum
-from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -12,6 +9,11 @@ from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
+  StartupAlert, AlertCallbackType
+
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -19,201 +21,23 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
 
-# Alert priorities
-class Priority(IntEnum):
-  LOWEST = 0
-  LOWER = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
-
-# Event types
-class ET:
-  ENABLE = 'enable'
-  PRE_ENABLE = 'preEnable'
-  OVERRIDE_LATERAL = 'overrideLateral'
-  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
-  NO_ENTRY = 'noEntry'
-  WARNING = 'warning'
-  USER_DISABLE = 'userDisable'
-  SOFT_DISABLE = 'softDisable'
-  IMMEDIATE_DISABLE = 'immediateDisable'
-  PERMANENT = 'permanent'
-
-
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 
-class Events:
+class Events(EventsBase):
   def __init__(self):
-    self.events: list[int] = []
-    self.static_events: list[int] = []
+    super().__init__()
     self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
-  @property
-  def names(self) -> list[int]:
-    return self.events
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS
 
-  def __len__(self) -> int:
-    return len(self.events)
+  def get_event_name(self, event: int):
+    return EVENT_NAME[event]
 
-  def add(self, event_name: int, static: bool=False) -> None:
-    if static:
-      bisect.insort(self.static_events, event_name)
-    bisect.insort(self.events, event_name)
-
-  def clear(self) -> None:
-    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
-    self.events = self.static_events.copy()
-
-  def contains(self, event_type: str) -> bool:
-    return any(event_type in EVENTS.get(e, {}) for e in self.events)
-
-  def create_alerts(self, event_types: list[str], callback_args=None):
-    if callback_args is None:
-      callback_args = []
-
-    ret = []
-    for e in self.events:
-      types = EVENTS[e].keys()
-      for et in event_types:
-        if et in types:
-          alert = EVENTS[e][et]
-          if not isinstance(alert, Alert):
-            alert = alert(*callback_args)
-
-          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
-            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
-            alert.event_type = et
-            ret.append(alert)
-    return ret
-
-  def add_from_msg(self, events):
-    for e in events:
-      bisect.insort(self.events, e.name.raw)
-
-  def to_msg(self):
-    ret = []
-    for event_name in self.events:
-      event = log.OnroadEvent.new_message()
-      event.name = event_name
-      for event_type in EVENTS.get(event_name, {}):
-        setattr(event, event_type, True)
-      ret.append(event)
-    return ret
-
-  def has(self, event_name: int) -> bool:
-    return event_name in self.events
-
-  def contains_in_list(self, events_list: list[int]) -> bool:
-    return any(event_name in self.events for event_name in events_list)
-
-  def remove(self, event_name: int, static: bool = False) -> None:
-    if static and event_name in self.static_events:
-      self.static_events.remove(event_name)
-
-    if event_name in self.events:
-      self.event_counters[event_name] = self.event_counters[event_name] + 1
-      self.events.remove(event_name)
-
-  def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None:
-    self.remove(prev_event_name, static)
-    self.add(cur_event_name, static)
-
-
-class Alert:
-  def __init__(self,
-               alert_text_1: str,
-               alert_text_2: str,
-               alert_status: log.SelfdriveState.AlertStatus,
-               alert_size: log.SelfdriveState.AlertSize,
-               priority: Priority,
-               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
-               duration: float,
-               creation_delay: float = 0.):
-
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.priority = priority
-    self.visual_alert = visual_alert
-    self.audible_alert = audible_alert
-
-    self.duration = int(duration / DT_CTRL)
-
-    self.creation_delay = creation_delay
-
-    self.alert_type = ""
-    self.event_type: str | None = None
-
-  def __str__(self) -> str:
-    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
-
-  def __gt__(self, alert2) -> bool:
-    if not isinstance(alert2, Alert):
-      return False
-    return self.priority > alert2.priority
-
-EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
-                   VisualAlert.none, AudibleAlert.none, 0)
-
-class NoEntryAlert(Alert):
-  def __init__(self, alert_text_2: str,
-               alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
-    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
-                     AudibleAlert.refuse, 3.)
-
-
-class SoftDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.userPrompt, AlertSize.full,
-                     Priority.MID, VisualAlert.steerRequired,
-                     AudibleAlert.warningSoft, 2.),
-
-
-# less harsh version of SoftDisable, where the condition is user-triggered
-class UserSoftDisableAlert(SoftDisableAlert):
-  def __init__(self, alert_text_2: str):
-    super().__init__(alert_text_2),
-    self.alert_text_1 = "openpilot will disengage"
-
-
-class ImmediateDisableAlert(Alert):
-  def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
-                     Priority.HIGHEST, VisualAlert.steerRequired,
-                     AudibleAlert.warningImmediate, 4.),
-
-
-class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
-    super().__init__("", "",
-                     AlertStatus.normal, AlertSize.none,
-                     Priority.MID, VisualAlert.none,
-                     audible_alert, .2),
-
-
-class NormalPermanentAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
-    super().__init__(alert_text_1, alert_text_2,
-                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
-                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
-
-
-class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
-    super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
+  def get_event_msg_type(self):
+    return log.OnroadEvent
 
 
 # ********** helper functions **********
@@ -225,8 +49,6 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 # ********** alert callback functions **********
 
-AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
-
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -972,102 +794,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
-  # sunnypilot
-  EventName.lkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
-  },
-
-  EventName.lkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-  },
-
-  EventName.manualSteeringRequired: {
-    ET.USER_DISABLE: Alert(
-      "Automatic Lane Centering is OFF",
-      "Manual Steering Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
-  },
-
-  EventName.manualLongitudinalRequired: {
-    ET.WARNING: Alert(
-      "Smart/Adaptive Cruise Control: OFF",
-      "Manual Speed Control Required",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
-  },
-
-  EventName.silentLkasEnable: {
-    ET.ENABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentLkasDisable: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-  },
-
-  EventName.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
-  },
-
-  EventName.silentWrongGear: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: Alert(
-      "Gear not D",
-      "openpilot Unavailable",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
-  },
-
-  EventName.silentReverseGear: {
-    ET.PERMANENT: Alert(
-      "Reverse\nGear",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
-  },
-
-  EventName.silentDoorOpen: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Door Open"),
-  },
-
-  EventName.silentSeatbeltNotLatched: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
-  },
-
-  EventName.silentParkBrake: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
-    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
-  },
-
-  EventName.controlsMismatchLateral: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
-  },
-
-  EventName.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  }
-
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -5,7 +5,7 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -25,6 +25,8 @@ from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -44,8 +46,8 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
-class SelfdriveD:
-  def __init__(self, CP=None):
+class SelfdriveD(CruiseHelper):
+  def __init__(self, CP=None, CP_SP=None):
     self.params = Params()
 
     # Ensure the current branch is cached, otherwise the first cycle lags
@@ -58,11 +60,18 @@ class SelfdriveD:
     else:
       self.CP = CP
 
+    if CP_SP is None:
+      cloudlog.info("selfdrived is waiting for CarParamsSP")
+      self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+      cloudlog.info("selfdrived got CarParamsSP")
+    else:
+      self.CP_SP = CP_SP
+
     self.car_events = CarSpecificEvents(self.CP)
     self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -134,16 +143,20 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.events_sp = EventsSP()
+    self.events_sp_prev = []
+
     self.mads = ModularAssistiveDrivingSystem(self)
-    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
-    self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
+    CruiseHelper.__init__(self, self.CP)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
     self.events.clear()
+    self.events_sp.clear()
 
     if self.sm['controlsState'].lateralControlState.which() == 'debugState':
       self.events.add(EventName.joystickDebug)
@@ -181,7 +194,7 @@ class SelfdriveD:
       self.events.add_from_msg(car_events)
 
       car_events_sp = self.car_events_sp.update().to_msg()
-      self.events.add_from_msg(car_events_sp)
+      self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
         # wait for everything to init first
@@ -367,12 +380,16 @@ class SelfdriveD:
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-        self.events.add(EventName.personalityChanged)
+        if not self.experimental_mode_switched:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+          self.events.add(EventName.personalityChanged)
+        self.experimental_mode_switched = False
 
   def data_sample(self):
     car_state = messaging.recv_one(self.car_state_sock)
@@ -429,9 +446,13 @@ class SelfdriveD:
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
-    alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
-                                                                                self.state_machine.soft_disable_timer, pers])
-    self.AM.add_many(self.sm.frame, alerts)
+    callback_args = [self.CP, CS, self.sm, self.is_metric,
+                     self.state_machine.soft_disable_timer, pers]
+
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
+    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
+
+    self.AM.add_many(self.sm.frame, alerts + alerts_sp)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
 
   def publish_selfdriveState(self, CS):
@@ -476,13 +497,21 @@ class SelfdriveD:
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
+    # onroadEventsSP - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_sp.names != self.events_sp_prev):
+      ce_send_sp = messaging.new_message('onroadEventsSP', len(self.events_sp))
+      ce_send_sp.valid = True
+      ce_send_sp.onroadEventsSP = self.events_sp.to_msg()
+      self.pm.send('onroadEventsSP', ce_send_sp)
+    self.events_sp_prev = self.events_sp.names.copy()
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
     if not self.CP.notCar:
-      self.mads.update(CS, self.sm)
+      self.mads.update(CS)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

selfdrive/selfdrived/tests/test_alertmanager.py

@@ -1,8 +1,10 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
+
 
 class TestAlertManager:
 

selfdrive/test/process_replay/process_replay.py

@@ -23,7 +23,7 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car.card import can_comm_callbacks
+from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -344,6 +344,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
   if fingerprint:
     CarInterface, _, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
   else:
     can = DummySocket()
     sendcan = DummySocket()
@@ -364,12 +365,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
+    CP, CP_SP = _CI.CP, _CI.CP_SP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
   params.put("CarParams", CP.to_bytes())
+  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
 
 
 def selfdrived_rcv_callback(msg, cfg, frame):

selfdrive/ui/qt/network/networking.h

@@ -97,7 +97,7 @@ public:
   void setPrimeType(PrimeState::Type type);
   WifiManager* wifi = nullptr;
 
-private:
+protected:
   QStackedLayout* main_layout = nullptr;
   QWidget* wifiScreen = nullptr;
   AdvancedNetworking* an = nullptr;

selfdrive/ui/qt/offroad/settings.cc

@@ -40,6 +40,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "",
       "../assets/img_experimental_white.svg",
     },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -81,6 +87,16 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
 
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco"), tr("Stock")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
+
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
@@ -96,6 +112,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     // insert longitudinal personality after NDOG toggle
     if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
+      addItem(accel_personality_setting);
     }
   }
 
@@ -121,6 +138,13 @@ void TogglesPanel::updateState(const UIState &s) {
     }
     uiState()->scene.personality = personality;
   }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -163,10 +187,12 @@ void TogglesPanel::updateToggles() {
       experimental_mode_toggle->setEnabled(true);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
     } else {
       // no long for now
       experimental_mode_toggle->setEnabled(false);
       long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

selfdrive/ui/qt/offroad/settings.h

@@ -83,6 +83,7 @@ protected:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;
 
   virtual void updateToggles();
 };

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -2,14 +2,16 @@
 
 #include <QVBoxLayout>
 #include <memory>
-#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 #include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
 #ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#define ExperimentalButton ExperimentalButtonSP
 #else
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
 #endif
 

selfdrive/ui/qt/onroad/buttons.cc

@@ -44,6 +44,10 @@ void ExperimentalButton::updateState(const UIState &s) {
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  drawButton(p);
+}
+
+void ExperimentalButton::drawButton(QPainter &p) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }

selfdrive/ui/qt/onroad/buttons.h

@@ -16,13 +16,17 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
+  virtual void updateState(const UIState &s);
 
 private:
   void paintEvent(QPaintEvent *event) override;
   void changeMode();
 
   Params params;
+
+protected:
+  virtual void drawButton(QPainter &p);
+
   QPixmap engage_img;
   QPixmap experimental_img;
   bool experimental_mode;

selfdrive/ui/sunnypilot/SConscript

@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
+  "sunnypilot/qt/network/networking.cc",
 ]
 
 qt_util = [
@@ -22,7 +23,9 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
+  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
+  "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",

selfdrive/ui/sunnypilot/qt/network/networking.cc

@@ -0,0 +1,45 @@
+#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
+#include <QVBoxLayout>
+#include <QPushButton>
+#include <QStackedLayout>
+
+NetworkingSP::NetworkingSP(QWidget *parent) : Networking(parent) {
+  auto vlayout = wifiScreen->findChild<QVBoxLayout*>();
+  auto hlayout = new QHBoxLayout();
+  
+  // Create and setup scan button
+  auto scanButton = new QPushButton(tr("Scan"));
+  scanButton->setObjectName("scan_btn");
+  scanButton->setFixedSize(400, 100);
+
+  connect(wifi, &WifiManager::refreshSignal, this, [=]() { scanButton->setText(tr("Scan")); scanButton->setEnabled(true); });
+  connect(scanButton, &QPushButton::clicked, [=]() { scanButton->setText(tr("Scanning...")); scanButton->setEnabled(false); wifi->requestScan(); });
+
+  hlayout->addWidget(scanButton);
+  hlayout->addStretch(1);
+
+  // Look for an existing Advanced button
+  QPushButton* existingAdvanced = wifiScreen->findChild<QPushButton*>("advanced_btn");
+  if (existingAdvanced) {
+    hlayout->addWidget(existingAdvanced);
+  }
+
+  // Insert our new layout at the top of vlayout
+  vlayout->setMargin(40);
+  vlayout->insertLayout(0, hlayout);
+
+  // Add our scan button to the existing style selectors
+  auto newStyleSheet = styleSheet().replace(
+    ", #advanced_btn ",
+    ", #advanced_btn, #scan_btn "
+  ).replace(
+    ", #advanced_btn:pressed",
+    ", #advanced_btn:pressed, #scan_btn:pressed"
+  ).append(R"(
+    #scan_btn:disabled {
+      background-color: #121212;
+      color: #33FFFFFF;
+    }
+  )");
+  setStyleSheet(newStyleSheet);
+}

selfdrive/ui/sunnypilot/qt/network/networking.h

@@ -0,0 +1,17 @@
+/**
+* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+#include "selfdrive/ui/qt/network/networking.h"
+
+
+class NetworkingSP : public Networking {
+    Q_OBJECT
+
+public:
+    explicit NetworkingSP(QWidget *parent = nullptr);
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -74,23 +74,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(device_grid_layout);
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      btn->setEnabled(offroad);
-    }
-  });
-
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(5);
 
-  QPushButton *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  QPushButton *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -99,5 +93,60 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroffBtn, &PushButtonSP::setVisible);
   }
 
-  addItem(power_layout);
+  offroadBtn = new PushButtonSP(tr("Offroad Mode"));
+  offroadBtn->setFixedWidth(power_layout->sizeHint().width());
+  QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
+
+  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout->setSpacing(30);
+  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
+  power_group_layout->addLayout(power_layout);
+
+  addItem(power_group_layout);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<PushButtonSP*>()) {
+      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
+        btn->setEnabled(offroad);
+      }
+    }
+  });
+}
+
+void DevicePanelSP::setOffroadMode() {
+  if (!uiState()->engaged()) {
+    if (params.getBool("OffroadMode")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("OffroadMode");
+        }
+      }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to enter Always Offroad mode?"), tr("Confirm"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.putBool("OffroadMode", true);
+        }
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
+  }
+
+  updateState();
+}
+
+void DevicePanelSP::showEvent(QShowEvent *event) {
+  updateState();
+}
+
+void DevicePanelSP::updateState() {
+  if (!isVisible()) {
+    return;
+  }
+
+  bool offroad_mode_param = params.getBool("OffroadMode");
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h

@@ -15,9 +15,43 @@ class DevicePanelSP : public DevicePanel {
 
 public:
   explicit DevicePanelSP(SettingsWindowSP *parent = 0);
+  void showEvent(QShowEvent *event) override;
+  void setOffroadMode();
+  void updateState();
 
 private:
   std::map<QString, PushButtonSP*> buttons;
+  PushButtonSP *offroadBtn;
+
+  const QString alwaysOffroadStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #393939;
+    }
+    PushButtonSP:pressed {
+      background-color: #4A4A4A;
+    }
+  )";
+
+  const QString autoOffroadStyle = R"(
+    PushButtonSP {
+      border-radius: 20px;
+      font-size: 50px;
+      font-weight: 450;
+      height: 150px;
+      padding: 0 25px 0 25px;
+      color: #FFFFFF;
+      background-color: #E22C2C;
+    }
+    PushButtonSP:pressed {
+      background-color: #FF2424;
+    }
+  )";
 
   const QString rebootButtonStyle = R"(
     PushButtonSP {

selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc

@@ -7,15 +7,16 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
-#include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -66,8 +67,8 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
   TogglesPanelSP *toggles = new TogglesPanelSP(this);
   QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
 
-  auto networking = new Networking(this);
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
+  auto networking = new NetworkingSP(this);
+  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &NetworkingSP::setPrimeType);
 
   QList<PanelInfo> panels = {
     PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
@@ -77,6 +78,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
+    PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc

@@ -189,11 +189,16 @@ void SoftwarePanelSP::updateLabels() {
  * @brief Shows dialog prompting user to reset calibration after model download
  */
 void SoftwarePanelSP::showResetParamsDialog() {
-  const auto confirmMsg = tr("Model download has started in the background.") + "\n" +
-                          tr("We STRONGLY suggest you to reset calibration. Would you like to do that now?");
+  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
+                          .arg(tr("Model download has started in the background."))
+                          .arg(tr("We STRONGLY suggest you to reset calibration."))
+                          .arg(tr("Would you like to do that now?"));
   const auto button_text = tr("Reset Calibration");
 
-  if (showConfirmationDialog(confirmMsg, button_text, false)) {
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
+
+  if (showConfirmationDialog(content, button_text, false)) {
     params.remove("CalibrationParams");
     params.remove("LiveTorqueParameters");
   }

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h

@@ -53,7 +53,7 @@ private:
     const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
     const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
 
-    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
   }
 
   bool is_metered{};

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc

@@ -0,0 +1,11 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
+
+VehiclePanel::VehiclePanel(QWidget *parent) : QWidget(parent) {
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h

@@ -0,0 +1,17 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class VehiclePanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit VehiclePanel(QWidget *parent = nullptr);
+};

selfdrive/ui/sunnypilot/qt/onroad/buttons.cc

@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
+
+#include <QPainter>
+
+ExperimentalButtonSP::ExperimentalButtonSP(QWidget *parent) : ExperimentalButton(parent) {
+  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &ExperimentalButton::updateState);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &ExperimentalButtonSP::updateState);
+}
+
+void ExperimentalButtonSP::updateState(const UIState &s) {
+  ExperimentalButton::updateState(s);
+  const auto long_plan_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
+
+  int mode = int(long_plan_sp.getDec().getState());
+  if ((long_plan_sp.getDec().getActive() != dynamic_experimental_control) || (mode != dec_mpc_mode)) {
+    dynamic_experimental_control = long_plan_sp.getDec().getActive();
+    dec_mpc_mode = mode;
+    update();
+  }
+}
+
+void ExperimentalButtonSP::drawButton(QPainter &p) {
+  if (dynamic_experimental_control) {
+    QPixmap left_half = engage_img.copy(0, 0, engage_img.width() / 2, engage_img.height());
+    QPixmap right_half = experimental_img.copy(experimental_img.width() / 2, 0, experimental_img.width() / 2, experimental_img.height());
+
+    QPixmap combined_img(engage_img.width(), engage_img.height());
+    combined_img.fill(Qt::transparent);
+
+    QPainter combined_painter(&combined_img);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 0.1 : 1.0);
+    combined_painter.drawPixmap(0, 0, left_half);
+
+    combined_painter.setOpacity(dec_mpc_mode == 1 ? 1.0 : 0.1);
+    combined_painter.drawPixmap(engage_img.width() / 2, 0, right_half);
+
+    combined_painter.end();
+
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), combined_img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  } else {
+    ExperimentalButton::drawButton(p);
+  }
+}

selfdrive/ui/sunnypilot/qt/onroad/buttons.h

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
+class ExperimentalButtonSP : public ExperimentalButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButtonSP(QWidget *parent = nullptr);
+  void updateState(const UIState &s) override;
+
+private:
+  void drawButton(QPainter &p) override;
+
+  bool dynamic_experimental_control;
+  int dec_mpc_mode;
+};

selfdrive/ui/sunnypilot/ui.cc

@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
   });
 
   // update timer

selfdrive/ui/tests/test_ui/run.py

@@ -40,6 +40,14 @@ def setup_homescreen(click, pm: PubMaster, scroll=None):
 def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
 
+def setup_settings_network(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 405)
+
+def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
+  setup_settings_network(click, pm)
+  click(1913, 90)
+
 def setup_settings_toggles(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 632)
@@ -52,7 +60,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
 
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  scroll(-100, 278, 962)
+  scroll(-400, 278, 962)
   click(278, 970)
   time.sleep(UI_DELAY)
 
@@ -207,11 +215,19 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
   click(278, 962)
   time.sleep(UI_DELAY)
 
+def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 862)
+  click(278, 862)
+  time.sleep(UI_DELAY)
+
 CASES = {
   "homescreen": setup_homescreen,
   "prime": setup_homescreen,
   "pair_device": setup_pair_device,
   "settings_device": setup_settings_device,
+  "settings_network": setup_settings_network,
+  "settings_network_advanced": setup_settings_network_advanced,
   "settings_toggles": setup_settings_toggles,
   "settings_software": setup_settings_software,
   "settings_developer": setup_settings_developer,
@@ -237,6 +253,7 @@ CASES.update({
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
   "settings_trips": setup_settings_trips,
+  "settings_vehicle": setup_settings_vehicle,
 })
 
 TEST_DIR = pathlib.Path(__file__).parent

selfdrive/ui/translations/main_ar.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">إيقاف التشغيل</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">تأكيد</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -479,6 +507,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>كلمة مرور خاطئة</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">متقدم</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -527,6 +570,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -811,6 +858,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1105,10 +1156,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">اختيار</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">إعادة ضبط المعايرة</translation>
@@ -1193,6 +1240,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1423,6 +1486,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Ausschalten</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Bestätigen</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -475,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Falsches Passwort</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Erweitert</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -522,6 +565,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -793,6 +840,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1089,10 +1140,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">AUSWÄHLEN</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Neu kalibrieren</translation>
@@ -1177,6 +1224,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1407,6 +1470,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_es.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Apagar</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -475,6 +503,17 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Contraseña incorrecta</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Scan</source>
+        <translation>Escanear</translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation>Escaneando...</translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -523,6 +562,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -795,6 +838,10 @@ Esto puede tardar un minuto.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1089,10 +1136,6 @@ Esto puede tardar un minuto.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SELECCIONAR</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Formatear Calibración</translation>
@@ -1177,6 +1220,22 @@ Esto puede tardar un minuto.</translation>
         <source>Default</source>
         <translation>Por Defecto</translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1407,6 +1466,38 @@ Esto puede tardar un minuto.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Éteindre</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmer</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -475,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Mot de passe incorrect</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Avancé</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -523,6 +566,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -795,6 +842,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1089,10 +1140,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SÉLECTIONNER</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Réinitialiser la calibration</translation>
@@ -1177,6 +1224,22 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1407,6 +1470,38 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">電源を切る</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">詳細</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -521,6 +564,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -789,6 +836,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1083,10 +1134,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">選択</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ</translation>
@@ -1171,6 +1218,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1401,6 +1464,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">전원 끄기</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">확인</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>비밀번호가 틀렸습니다</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">고급 설정</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -522,6 +565,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -791,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1085,10 +1136,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">선택</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">캘리브레이션 초기화</translation>
@@ -1173,6 +1220,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1403,6 +1466,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Desligar</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -475,6 +503,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Senha incorreta</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Avançado</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -523,6 +566,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -795,6 +842,10 @@ Isso pode levar até um minuto.</translation>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1089,10 +1140,6 @@ Isso pode levar até um minuto.</translation>
         <source>SELECT</source>
         <translation type="unfinished">SELECIONE</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Reinicializar Calibragem</translation>
@@ -1177,6 +1224,22 @@ Isso pode levar até um minuto.</translation>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1407,6 +1470,38 @@ Isso pode levar até um minuto.</translation>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_th.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">ปิดเครื่อง</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">ยืนยัน</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>รหัสผ่านผิด</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">ขั้นสูง</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -522,6 +565,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -791,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1085,10 +1136,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">เลือก</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
@@ -1173,6 +1220,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ยกเลิก</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1403,6 +1466,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_tr.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">Sistemi kapat</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Onayla</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>Yalnış parola</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Gelişmiş Seçenekler</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -521,6 +564,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -789,6 +836,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1083,10 +1134,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">Kalibrasyonu sıfırla</translation>
@@ -1171,6 +1218,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1401,6 +1464,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">关机</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">确认</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>密码错误</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">高级</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -522,6 +565,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -791,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1085,10 +1136,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">选择</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">重置设备校准</translation>
@@ -1173,6 +1220,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1403,6 +1466,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>即使在openpilot未激活时也启用驾驶员监控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -321,6 +321,34 @@
         <source>Power Off</source>
         <translation type="unfinished">關機</translation>
     </message>
+    <message>
+        <source>Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to enter Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage to Enter Always Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -474,6 +502,21 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <translation>密碼錯誤</translation>
     </message>
 </context>
+<context>
+    <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">進階</translation>
+    </message>
+    <message>
+        <source>Scan</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scanning...</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadAlert</name>
     <message>
@@ -522,6 +565,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
         <translation>裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
     </message>
+    <message>
+        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -791,6 +838,10 @@ This may take up to a minute.</source>
         <source>Trips</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1085,10 +1136,6 @@ This may take up to a minute.</source>
         <source>SELECT</source>
         <translation type="unfinished">選取</translation>
     </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration. Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Reset Calibration</source>
         <translation type="unfinished">重設校準</translation>
@@ -1173,6 +1220,22 @@ This may take up to a minute.</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1403,6 +1466,38 @@ This may take up to a minute.</source>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
         <translation>即使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
+    <message>
+        <source>Enable Dynamic Experimental Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/ui.cc

@@ -75,8 +75,8 @@ void UIState::updateStatus() {
     auto state = ss.getState();
     auto state_mads = mads.getState();
     if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING ||
-        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
-        state_mads == cereal::SelfdriveStateSP::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
+        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
+        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
       if (mads.getAvailable()) {

selfdrive/ui/ui.h

@@ -60,6 +60,7 @@ typedef struct UIScene {
   cereal::PandaState::PandaType pandaType;
 
   cereal::LongitudinalPersonality personality;
+  cereal::LongitudinalPlanSP::AccelerationPersonality accel_personality;
 
   float light_sensor = -1;
   bool started, ignition, is_metric;

sunnypilot/mads/helpers.py

@@ -48,13 +48,13 @@ class MadsParams:
       if pause_lateral_on_brake:
         CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
-  def set_car_specific_params(self, CP):
+  def set_car_specific_params(self, CP, CP_SP):
     if CP.carName == "hyundai":
       # TODO-SP: This should be separated from MADS module for future implementations
       #          Use "HyundaiLongitudinalMainCruiseToggleable" param
       hyundai_cruise_main_toggleable = True
       if hyundai_cruise_main_toggleable:
-        CP.sunnypilotFlags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+        CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
         CP.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
 
     # MADS is currently not supported in Tesla due to lack of consistent states to engage controls

sunnypilot/mads/mads.py

@@ -24,7 +24,7 @@ THE SOFTWARE.
 Last updated: July 29, 2024
 """
 
-from cereal import messaging, car, log, custom
+from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
@@ -32,9 +32,10 @@ from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 SafetyModel = car.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
@@ -48,15 +49,15 @@ class ModularAssistiveDrivingSystem:
     self.enabled = False
     self.active = False
     self.available = False
-    self.mismatch_counter = 0
     self.allow_always = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
+    self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.carName == "hyundai":
-      if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
+      if (self.selfdrive.CP_SP.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
             (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
         self.allow_always = True
 
@@ -70,20 +71,7 @@ class ModularAssistiveDrivingSystem:
     self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
 
-  def update_controls_mismatch(self, sm: messaging.SubMaster):
-    heartbeat_engaged = self.active if self.pause_lateral_on_brake_toggle else self.enabled
-
-    if not heartbeat_engaged:
-      self.mismatch_counter = 0
-
-    if heartbeat_engaged and any(not ps.controlsAllowedLat for ps in sm['pandaStates']
-                                 if ps.safetyModel not in IGNORED_SAFETY_MODES):
-      self.mismatch_counter += 1
-
-    if self.mismatch_counter >= 200:
-      self.events.add(EventName.controlsMismatchLateral)
-
-  def update_events(self, CS: car.CarState, sm: messaging.SubMaster):
+  def update_events(self, CS: car.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -92,26 +80,30 @@ class ModularAssistiveDrivingSystem:
 
     def transition_paused_state():
       if self.state_machine.state != State.paused:
-        self.events.add(EventName.silentLkasDisable)
+        self.events_sp.add(EventNameSP.silentLkasDisable)
+
+    def replace_event(old_event: int, new_event: int):
+      self.events.remove(old_event)
+      self.events_sp.add(new_event)
 
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
+        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
         transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
       if self.events.has(EventName.wrongGear):
-        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
         transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
         transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
+        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
       if self.pause_lateral_on_brake_toggle:
@@ -121,7 +113,7 @@ class ModularAssistiveDrivingSystem:
       if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
-          self.events.add(EventName.silentLkasEnable)
+          self.events_sp.add(EventNameSP.silentLkasEnable)
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -134,25 +126,25 @@ class ModularAssistiveDrivingSystem:
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
         if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
-          self.events.add(EventName.manualLongitudinalRequired)
+          self.events_sp.add(EventNameSP.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
         if self.enabled:
           if self.selfdrive.enabled:
-            self.events.add(EventName.manualSteeringRequired)
+            self.events_sp.add(EventNameSP.manualSteeringRequired)
           else:
-            self.events.add(EventName.lkasDisable)
+            self.events_sp.add(EventNameSP.lkasDisable)
         else:
-          self.events.add(EventName.lkasEnable)
+          self.events_sp.add(EventNameSP.lkasEnable)
 
     if not CS.cruiseState.available:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
-        self.events.add(EventName.lkasDisable)
+        self.events_sp.add(EventNameSP.lkasDisable)
 
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
@@ -161,16 +153,14 @@ class ModularAssistiveDrivingSystem:
     if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
       self.events.remove(EventName.wrongCarMode)
 
-    self.update_controls_mismatch(sm)
-
-  def update(self, CS: car.CarState, sm: messaging.SubMaster):
+  def update(self, CS: car.CarState):
     if not self.enabled_toggle:
       return
 
-    self.update_events(CS, sm)
+    self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events)
+      self.enabled, self.active = self.state_machine.update(self.events, self.events_sp)
 
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled

sunnypilot/mads/state.py

@@ -29,14 +29,17 @@ from openpilot.selfdrive.selfdrived.events import ET, Events
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
-GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
-                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.silentParkBrake]
+GEARS_ALLOW_PAUSED_SILENT = [EventNameSP.silentWrongGear, EventNameSP.silentReverseGear, EventNameSP.silentBrakeHold,
+                             EventNameSP.silentDoorOpen, EventNameSP.silentSeatbeltNotLatched, EventNameSP.silentParkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
                       EventName.doorOpen, EventName.seatbeltNotLatched, EventName.parkBrake,
                       *GEARS_ALLOW_PAUSED_SILENT]
@@ -49,45 +52,57 @@ class StateMachine:
 
     self.state = State.disabled
 
+    self._events = Events()
+    self._events_sp = EventsSP()
+
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.enabled:
       self.ss_state_machine.current_alert_types.append(alert_type)
 
-  def update(self, events: Events):
+  def check_contains(self, event_type: str) -> bool:
+    return bool(self._events.contains(event_type) or self._events_sp.contains(event_type))
+
+  def check_contains_in_list(self, events_list: list[int]) -> bool:
+    return bool(self._events.contains_in_list(events_list) or self._events_sp.contains_in_list(events_list))
+
+  def update(self, events: Events, events_sp: EventsSP):
     # soft disable timer and current alert types are from the state machine of openpilot
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
 
+    self._events = events
+    self._events_sp = events_sp
+
     # ENABLED, SOFT DISABLING, PAUSED, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentBrakeHold):
+      if self.check_contains(ET.USER_DISABLE):
+        if events_sp.has(EventNameSP.silentLkasDisable) or events_sp.has(EventNameSP.silentBrakeHold):
           self.state = State.paused
         else:
           self.state = State.disabled
         self.ss_state_machine.current_alert_types.append(ET.USER_DISABLE)
 
-      elif events.contains(ET.IMMEDIATE_DISABLE):
+      elif self.check_contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.add_current_alert_types(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif events.contains(ET.OVERRIDE_LATERAL):
+          elif self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
             self.add_current_alert_types(ET.OVERRIDE_LATERAL)
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not events.contains(ET.SOFT_DISABLE):
+          if not self.check_contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -99,12 +114,12 @@ class StateMachine:
 
         # PAUSED
         elif self.state == State.paused:
-          if events.contains(ET.ENABLE):
-            if events.contains(ET.NO_ENTRY):
+          if self.check_contains(ET.ENABLE):
+            if self.check_contains(ET.NO_ENTRY):
               self.add_current_alert_types(ET.NO_ENTRY)
 
             else:
-              if events.contains(ET.OVERRIDE_LATERAL):
+              if self.check_contains(ET.OVERRIDE_LATERAL):
                 self.state = State.overriding
               else:
                 self.state = State.enabled
@@ -112,26 +127,26 @@ class StateMachine:
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if events.contains(ET.SOFT_DISABLE):
+          if self.check_contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             if not self.selfdrive.enabled:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not events.contains(ET.OVERRIDE_LATERAL):
+          elif not self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.enabled
           else:
             self.ss_state_machine.current_alert_types += [ET.OVERRIDE_LATERAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if events.contains(ET.ENABLE):
-        if events.contains(ET.NO_ENTRY):
-          if events.contains_in_list(GEARS_ALLOW_PAUSED):
+      if self.check_contains(ET.ENABLE):
+        if self.check_contains(ET.NO_ENTRY):
+          if self.check_contains_in_list(GEARS_ALLOW_PAUSED):
             self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
         else:
-          if events.contains(ET.OVERRIDE_LATERAL):
+          if self.check_contains(ET.OVERRIDE_LATERAL):
             self.state = State.overriding
           else:
             self.state = State.enabled

sunnypilot/mads/tests/test_mads_state_machine.py

@@ -27,13 +27,14 @@ Last updated: July 29, 2024
 import pytest
 from pytest_mock import MockerFixture
 
-from cereal import log, custom
+from cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME, GEARS_ALLOW_PAUSED
-from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EVENTS_SP
 
-State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-EventName = log.OnroadEvent.EventName
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventNameSP = custom.OnroadEventSP.EventName
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
@@ -47,7 +48,7 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS[0] = event
+  EVENTS_SP[0] = event
   return 0
 
 
@@ -62,87 +63,93 @@ class TestMADSStateMachine:
   @pytest.fixture(autouse=True)
   def setup_method(self, mocker: MockerFixture):
     self.mads = MockMADS(mocker)
-    self.events = Events()
     self.state_machine = StateMachine(self.mads)
+    self.events = self.state_machine._events
+    self.events_sp = self.state_machine._events_sp
     self.mads.selfdrive.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
 
+  def reset(self):
+    self.events.clear()
+    self.events_sp.clear()
+    self.state_machine.state = State.disabled
+
   def test_immediate_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.events_sp.add(make_event([et, ET.IMMEDIATE_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable(self):
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert State.disabled == self.state_machine.state
-        self.events.clear()
+        self.reset()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventName.silentLkasDisable, EventName.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
         for en in paused_events:
-          self.events.add(en)
+          self.events_sp.add(en)
           self.state_machine.state = state
-          self.state_machine.update(self.events)
-          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
+          self.state_machine.update(self.events, self.events_sp)
+          final_state = State.paused if self.events_sp.has(en) and state != State.disabled else State.disabled
           assert self.state_machine.state == final_state
-          self.events.clear()
+          self.reset()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.paused:  # paused considers USER_DISABLE instead
         continue
       for et in MAINTAIN_STATES[state]:
-        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.events_sp.add(make_event([et, ET.SOFT_DISABLE]))
         self.state_machine.state = state
-        self.state_machine.update(self.events)
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
-        self.events.clear()
+        self.reset()
 
   def test_soft_disable_timer(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.SOFT_DISABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
       assert self.state_machine.state == State.softDisabling
       self.mads.selfdrive.state_machine.soft_disable_timer -= 1
-      self.state_machine.update(self.events)
+      self.state_machine.update(self.events, self.events_sp)
 
     assert self.state_machine.state == State.disabled
 
   def test_no_entry(self):
     for et in ENABLE_EVENT_TYPES:
-      self.events.add(make_event([ET.NO_ENTRY, et]))
-      if not self.events.contains_in_list(GEARS_ALLOW_PAUSED):
-        self.state_machine.update(self.events)
+      self.events_sp.add(make_event([ET.NO_ENTRY, et]))
+      if not self.state_machine.check_contains_in_list(GEARS_ALLOW_PAUSED):
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == State.disabled
-        self.events.clear()
+        self.reset()
 
   def test_no_entry_paused(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.NO_ENTRY]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.NO_ENTRY]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.paused
 
   def test_override_lateral(self):
     self.state_machine.state = State.enabled
-    self.events.add(make_event([ET.OVERRIDE_LATERAL]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.OVERRIDE_LATERAL]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.overriding
 
   def test_paused_to_enabled(self):
     self.state_machine.state = State.paused
-    self.events.add(make_event([ET.ENABLE]))
-    self.state_machine.update(self.events)
+    self.events_sp.add(make_event([ET.ENABLE]))
+    self.state_machine.update(self.events, self.events_sp)
     assert self.state_machine.state == State.enabled
 
   def test_maintain_states(self):
@@ -150,7 +157,7 @@ class TestMADSStateMachine:
       for et in MAINTAIN_STATES[state]:
         self.state_machine.state = state
         if et is not None:
-          self.events.add(make_event([et]))
-        self.state_machine.update(self.events)
+          self.events_sp.add(make_event([et]))
+        self.state_machine.update(self.events, self.events_sp)
         assert self.state_machine.state == state
-        self.events.clear()
+        self.reset()

sunnypilot/modeld_v2/meta_20hz.py

@@ -0,0 +1,17 @@
+from openpilot.selfdrive.modeld.constants import Meta
+
+
+class Meta20hz(Meta):
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  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
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

sunnypilot/modeld_v2/meta_helper.py

@@ -0,0 +1,26 @@
+from openpilot.selfdrive.modeld.constants import Meta
+from cereal import custom
+from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+
+ModelBundle = custom.ModelManagerSP.ModelBundle
+
+
+def load_meta_constants():
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  if (bundle := get_active_bundle()) and bundle.is20hz:
+    return Meta20hz
+
+  return Meta  # Default

sunnypilot/modeld_v2/model_runner.py

@@ -0,0 +1,134 @@
+import os
+import pickle
+from abc import ABC, abstractmethod
+import numpy as np
+
+from cereal import custom
+from openpilot.selfdrive.modeld import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.system.hardware import TICI
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from tinygrad.tensor import Tensor
+
+if TICI:
+  os.environ['QCOM'] = '1'
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+ModelManager = custom.ModelManagerSP
+
+
+class ModelRunner(ABC):
+  """Abstract base class for model runners that defines the interface for running ML models."""
+
+  def __init__(self):
+    """Initialize the model runner with paths to model and metadata files."""
+    metadata_path = METADATA_PATH
+    self.is_20hz = None
+    self._drive_model = None
+    self._metadata_model = None
+
+    if bundle := get_active_bundle():
+      bundle_models = {model.type.raw: model for model in bundle.models}
+      self._drive_model = bundle_models.get(ModelManager.Type.drive)
+      self._metadata_model = bundle_models.get(ModelManager.Type.metadata)
+      self.is_20hz = bundle.is20hz
+
+    # Override the metadata path if a metadata model is found in the active bundle
+    if self._metadata_model:
+      metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}"
+
+    with open(metadata_path, 'rb') as f:
+      self.model_metadata = pickle.load(f)
+
+    self.input_shapes = self.model_metadata['input_shapes']
+    self.output_slices = self.model_metadata['output_slices']
+    self.inputs: dict = {}
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    """Prepare inputs for model inference."""
+    raise NotImplementedError
+
+  @abstractmethod
+  def run_model(self):
+    """Run model inference with prepared inputs."""
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+    """Slice model outputs according to metadata configuration."""
+    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_outputs
+
+
+class TinygradRunner(ModelRunner):
+  """Tinygrad implementation of model runner for TICI hardware."""
+
+  def __init__(self):
+    super().__init__()
+
+    model_pkl_path = MODEL_PKL_PATH
+    if self._drive_model:
+      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}"
+      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
+
+    # Load Tinygrad model
+    with open(model_pkl_path, "rb") as f:
+      try:
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
+      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    # Initialize image tensors if not already done
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
+      elif not TICI:
+        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    # Update numpy inputs
+    for key, value in numpy_inputs.items():
+      if key not in imgs_cl:
+        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    return self.inputs
+
+  def run_model(self):
+    return self.model_run(**self.inputs).numpy().flatten()
+
+
+class ONNXRunner(ModelRunner):
+  """ONNX implementation of model runner for non-TICI hardware."""
+
+  def __init__(self):
+    super().__init__()
+    self.runner = make_onnx_cpu_runner(MODEL_PATH)
+
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
+    self.inputs = numpy_inputs
+    for key in imgs_cl:
+      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
+    return self.inputs
+
+  def run_model(self):
+    return self.runner.run(None, self.inputs)[0].flatten()

sunnypilot/models/fetcher.py

@@ -72,13 +72,12 @@ class ModelParser:
     model_bundle.generation = int(value["generation"])
     model_bundle.environment = value["environment"]
     model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
+    model_bundle.is20hz = value.get("is_20hz", False)
 
     return model_bundle
 
   @staticmethod
   def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
-    # TODO-SP: Remove the following filter once we add support for tinygrad model switcher
-    json_data = {k: v for k, v in json_data.items() if v.get("runner", -1) == custom.ModelManagerSP.Runner.snpe}
     return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
 
 

sunnypilot/selfdrive/assets/offroad/icon_vehicle.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7726f7c6a8106c767ae974ce7395a399dbf0a934779a7710b748917c29cf6e
+size 11365

sunnypilot/selfdrive/car/car_specific.py

@@ -5,12 +5,12 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log
+from cereal import custom
 from opendbc.car import structs
 
-from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
 
 
 class CarSpecificEventsSP:
@@ -26,9 +26,9 @@ class CarSpecificEventsSP:
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self):
-    events = Events()
+    events = EventsSP()
     if self.CP.carName == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventName.hyundaiRadarTracksConfirmed)
+        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
     return events

sunnypilot/selfdrive/car/cruise_helpers.py

@@ -0,0 +1,50 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import car, custom
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventNameSP = custom.OnroadEventSP.EventName
+
+DISTANCE_LONG_PRESS = 50
+
+
+class CruiseHelper:
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+    self.params = Params()
+
+    self.button_frame_counts = {ButtonType.gapAdjustCruise: 0}
+    self._experimental_mode = False
+    self.experimental_mode_switched = False
+
+  def update(self, CS, events, experimental_mode) -> None:
+    if self.CP.openpilotLongitudinalControl:
+      if CS.cruiseState.available:
+        self.update_button_frame_counts(CS)
+
+        # toggle experimental mode once on distance button hold
+        self.update_experimental_mode(events, experimental_mode)
+
+  def update_button_frame_counts(self, CS) -> None:
+    for button in self.button_frame_counts:
+      if self.button_frame_counts[button] > 0:
+        self.button_frame_counts[button] += 1
+
+    for button_event in CS.buttonEvents:
+      button = button_event.type.raw
+      if button in self.button_frame_counts:
+        self.button_frame_counts[button] = int(button_event.pressed)
+
+  def update_experimental_mode(self, events, experimental_mode) -> None:
+    if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
+      self._experimental_mode = not experimental_mode
+      self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
+      events.add(EventNameSP.experimentalModeSwitched)
+      self.experimental_mode_switched = True

sunnypilot/selfdrive/car/interfaces.py

@@ -22,20 +22,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.carName)
 
 
-def setup_car_interface_sp(CP: structs.CarParams, params):
+def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
   if CP.carName == 'hyundai':
     if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
       # Having this automatic without a toggle causes a weird process replay diff because
       # somehow it sees fewer logs than intended
       if params.get_bool("HyundaiRadarTracksToggle"):
-        CP.sunnypilotFlags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
+        CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
         if params.get_bool("HyundaiRadarTracks"):
           CP.radarUnavailable = False
 
 
-def initialize_car_interface_sp(CP: structs.CarParams, params, can_recv: CanRecvCallable, can_send: CanSendCallable):
+def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
+                                can_send: CanSendCallable):
   if CP.carName == 'hyundai':
-    if CP.sunnypilotFlags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
+    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
       can_recv()
       _, fingerprint = can_fingerprint(can_recv)
       radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]

sunnypilot/selfdrive/car/tests/test_cruise_mode.py

@@ -0,0 +1,66 @@
+from parameterized import parameterized_class
+from cereal import car
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+@parameterized_class(('openpilot_longitudinal',), [(True,)])
+class TestCruiseHelper:
+  def setup_method(self):
+    self.CP = car.CarParams(openpilotLongitudinalControl=self.openpilot_longitudinal)
+    self.cruise_helper = CruiseHelper(self.CP)
+    self.cruise_helper.experimental_mode_switched = False
+    self.events = Events()
+
+  def reset(self):
+    for _ in range(2):
+      CS = car.CarState(cruiseState={"available": False})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]
+      self.cruise_helper._experimental_mode = False
+      self.cruise_helper.experimental_mode_switched = False
+      self.cruise_helper.update(CS, self.events, False)
+
+
+  def test_gap_adjust_cruise_long_press_toggle_mode(self) -> None:
+    for pressed in (True, False):
+      for experimental_mode in (True, False):
+        self.reset()
+        self.cruise_helper._experimental_mode = experimental_mode
+        toggled_mode = not experimental_mode if pressed else experimental_mode
+
+        for i in range(DISTANCE_LONG_PRESS):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
+          self.cruise_helper.update(CS, self.events, experimental_mode)
+
+        # mode should be toggled
+        assert self.cruise_helper._experimental_mode == toggled_mode
+        assert self.cruise_helper.experimental_mode_switched is pressed
+
+        # keep holding button after switching mode
+        for _ in range(DISTANCE_LONG_PRESS):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)]
+          self.cruise_helper.update(CS, self.events, toggled_mode)
+
+        # mode should not be toggled
+        assert self.cruise_helper._experimental_mode == toggled_mode
+        assert self.cruise_helper.experimental_mode_switched is pressed
+
+  def test_gap_adjust_cruise_short_press_toggle_mode(self) -> None:
+    for pressed in (True, False):
+      for experimental_mode in (True, False):
+        self.reset()
+        self.cruise_helper._experimental_mode = experimental_mode
+
+        for i in range(DISTANCE_LONG_PRESS - 1):
+          CS = car.CarState(cruiseState={"available": True})
+          CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
+          self.cruise_helper.update(CS, self.events, experimental_mode)
+
+        # mode should not be toggled
+        assert self.cruise_helper._experimental_mode == experimental_mode
+        assert self.cruise_helper.experimental_mode_switched is False

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -0,0 +1,106 @@
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# Last updated: August 12, 2024
+
+from cereal import custom
+from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+#from openpilot.selfdrive.controls.lib.longitudinal_planner import limit_accel_in_turns
+from opendbc.car.interfaces import ACCEL_MIN
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+# Acceleration Profiles
+_DP_CRUISE_MIN_V = {
+  AccelPersonality.eco:    [-0.015, -0.015, -1.2,  -1.2,  -1.2,  -1.2,  -1.2,  -1.2],
+  AccelPersonality.normal: [-0.018, -0.018, -1.2,  -1.2,  -1.2,  -1.2,  -1.2,  -1.2],
+  AccelPersonality.sport:  [-0.020, -0.020, -1.2,  -1.2,  -1.2,  -1.2,  -1.2,  -1.2],
+}
+_DP_CRUISE_MAX_V = {
+  AccelPersonality.eco:    [1.60, 1.60, 1.58, 1.58, 0.86, .532, .432, .32,  .28,  .085],
+  AccelPersonality.normal: [1.80, 1.80, 1.75, 1.75, 0.92, .65,  .56,  .36,  .30,  .12],
+  AccelPersonality.sport:  [2.00, 2.00, 2.00, 2.00, 1.05, .79,  .61,  .42,  .333, .2],
+}
+_DP_CRUISE_MIN_BP = [0.,     2.0,    2.01,   15.,   15.01, 20.,   20.01, 40.]
+_DP_CRUISE_MAX_BP = [0.,   1.,   6.,   8.,   11.,  16,   20.,  25.,  30.,  55.]
+
+
+class AccelController:
+  def __init__(self):
+    self._params = Params()
+    self._personality = AccelPersonality.stock
+    self._frame = 0
+
+  def _read_params(self):
+    """ Reads the acceleration personality setting from persistent storage. """
+    if self._frame % int(1. / DT_MDL) == 0:
+      personality_str = self._params.get("AccelPersonality", encoding='utf-8')
+      if personality_str is not None:
+        personality_int = int(personality_str)
+        if personality_int in _DP_CRUISE_MIN_V:
+          self._personality = personality_int
+          # Print the current mode being used
+          print(f"Current Acceleration Personality Mode: {self._personality}")
+
+  def compute_accel_limits(self, v_ego: float, sm, CP) -> tuple[list[float], list[float]]:
+    """ Computes acceleration limits based on personality, turns, and DEC mode. """
+    self._read_params()
+    # Print the current mode being used
+    print(f"Current Acceleration Personality Mode: {self._personality}")
+
+    if self._personality == AccelPersonality.eco:
+      min_v = _DP_CRUISE_MIN_V[AccelPersonality.eco]
+      max_v = _DP_CRUISE_MAX_V[AccelPersonality.eco]
+      print("eco")
+    elif self._personality == AccelPersonality.sport:
+      min_v = _DP_CRUISE_MIN_V[AccelPersonality.sport]
+      max_v = _DP_CRUISE_MAX_V[AccelPersonality.sport]
+      print("sport")
+    else:
+      min_v = _DP_CRUISE_MIN_V[AccelPersonality.normal]
+      max_v = _DP_CRUISE_MAX_V[AccelPersonality.normal]
+      print("normal")
+
+    a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
+    a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
+
+    # Determine acceleration mode
+    accel_limits = [ACCEL_MIN, a_cruise_max] if CP.radarUnavailable else [a_cruise_min, a_cruise_max]
+
+    # Adjust acceleration for turns
+    #steer_angle = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+    # Ensure accel_limits_turns is a valid list/tuple here
+    accel_limits_turns = accel_limits  # This is temporary if limit_accel_in_turns is not defined
+
+    return accel_limits, accel_limits_turns
+
+
+
+  def is_enabled(self) -> bool:
+    """ Returns True if AccelController is actively modifying acceleration limits. """
+    return bool(self._personality != AccelPersonality.stock)
+
+  def update(self):
+    """ Updates the internal frame counter. """
+    self._frame += 1

sunnypilot/selfdrive/controls/lib/dec/constants.py

@@ -0,0 +1,26 @@
+class WMACConstants:
+  LEAD_WINDOW_SIZE = 5
+  LEAD_PROB = 0.5
+
+  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_PROB = 0.6
+
+  SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
+  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+
+  SLOWNESS_WINDOW_SIZE = 12
+  SLOWNESS_PROB = 0.5
+  SLOWNESS_CRUISE_OFFSET = 1.05
+
+  DANGEROUS_TTC_WINDOW_SIZE = 3
+  DANGEROUS_TTC = 2.3
+
+  MPC_FCW_WINDOW_SIZE = 10
+  MPC_FCW_PROB = 0.5
+
+
+class SNG_State:
+  off = 0
+  stopped = 1
+  going = 2

sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -0,0 +1,390 @@
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Version = 2025-1-18
+
+import numpy as np
+
+from cereal import messaging
+from opendbc.car import structs
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+
+HIGHWAY_CRUISE_KPH = 70
+
+STOP_AND_GO_FRAME = 60
+
+SET_MODE_TIMEOUT = 10
+
+V_ACC_MIN = 9.72
+
+
+class GenericMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.total = 0
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.total -= self.data.pop(0)
+    self.data.append(value)
+    self.total += value
+
+  def get_moving_average(self) -> float | None:
+    return None if len(self.data) == 0 else self.total / len(self.data)
+
+  def reset_data(self) -> None:
+    self.data = []
+    self.total = 0
+
+
+class WeightedMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+
+  def add_data(self, value: float) -> None:
+    if len(self.data) == self.window_size:
+      self.data.pop(0)
+    self.data.append(value)
+
+  def get_weighted_average(self) -> float | None:
+    if len(self.data) == 0:
+      return None
+    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
+    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
+    return weighted_sum / weight_total
+
+  def reset_data(self) -> None:
+    self.data = []
+
+
+class DynamicExperimentalController:
+  def __init__(self, CP: structs.CarParams, mpc, params=None):
+    self._CP = CP
+    self._mpc = mpc
+    self._params = params or Params()
+    self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
+    self._active: bool = False
+    self._mode: str = 'acc'
+    self._frame: int = 0
+
+    # Use weighted moving average for filtering leads
+    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+    self._has_lead_filtered = False
+    self._has_lead_filtered_prev = False
+
+    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
+    self._has_slow_down: bool = False
+    self._slow_down_confidence: float = 0.0
+
+    self._has_blinkers = False
+
+    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
+    self._has_slowness: bool = False
+
+    self._has_nav_instruction = False
+
+    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
+    self._has_dangerous_ttc: bool = False
+
+    self._v_ego_kph = 0.
+    self._v_cruise_kph = 0.
+
+    self._has_lead = False
+
+    self._has_standstill = False
+    self._has_standstill_prev = False
+
+    self._sng_transit_frame = 0
+    self._sng_state = SNG_State.off
+
+    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
+    self._has_mpc_fcw: bool = False
+    self._mpc_fcw_crash_cnt = 0
+
+    self._set_mode_timeout = 0
+
+  def _read_params(self) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._enabled = self._params.get_bool("DynamicExperimentalControl")
+
+  def mode(self) -> str:
+    return str(self._mode)
+
+  def enabled(self) -> bool:
+    return self._enabled
+
+  def active(self) -> bool:
+    return self._active
+
+  @staticmethod
+  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
+    """
+    Basic anomaly detection using standard deviation.
+    """
+    if len(recent_data) < 5:
+      return False
+    mean: float = float(np.mean(recent_data))
+    std_dev: float = float(np.std(recent_data))
+    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
+    return anomaly
+
+  def _adaptive_slowdown_threshold(self) -> float:
+    """
+    Adapts the slow-down threshold based on vehicle speed and recent behavior.
+    """
+    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    adaptive_threshold: float = float(
+      interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
+    )
+    return adaptive_threshold
+
+  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
+    """
+    Smoothing the lead detection to avoid erratic behavior.
+    """
+    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
+    return lead_filtering > WMACConstants.LEAD_PROB
+
+  def _adaptive_lead_prob_threshold(self) -> float:
+    """
+    Adapts lead probability threshold based on driving conditions.
+    """
+    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
+      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
+    return float(WMACConstants.LEAD_PROB)
+
+  def _update_calculations(self, sm: messaging.SubMaster) -> None:
+    car_state = sm['carState']
+    lead_one = sm['radarState'].leadOne
+    md = sm['modelV2']
+
+    self._v_ego_kph = car_state.vEgo * 3.6
+    self._v_cruise_kph = car_state.vCruise
+    self._has_lead = lead_one.status
+    self._has_standstill = car_state.standstill
+
+    # fcw detection
+    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
+    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
+      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
+    else:
+      self._has_mpc_fcw = False
+
+    # nav enable detection
+    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
+
+    # lead detection with smoothing
+    self._lead_gmac.add_data(lead_one.status)
+    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
+    #lead_prob = self._lead_gmac.get_weighted_average() or 0
+    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
+
+    # adaptive slow down detection
+    adaptive_threshold = self._adaptive_slowdown_threshold()
+    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
+    self._slow_down_gmac.add_data(slow_down_trigger)
+    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
+      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
+      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
+    else:
+      self._has_slow_down = False
+      self._slow_down_confidence = 0.0  # No confidence if no slowdown
+
+    # anomaly detection for slow down events
+    if self._anomaly_detection(self._slow_down_gmac.data):
+      self._slow_down_confidence *= 0.85  # Reduce confidence
+      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
+
+    # blinker detection
+    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
+
+    # sng detection
+    if self._has_standstill:
+      self._sng_state = SNG_State.stopped
+      self._sng_transit_frame = 0
+    else:
+      if self._sng_transit_frame == 0:
+        if self._sng_state == SNG_State.stopped:
+          self._sng_state = SNG_State.going
+          self._sng_transit_frame = STOP_AND_GO_FRAME
+        elif self._sng_state == SNG_State.going:
+          self._sng_state = SNG_State.off
+      elif self._sng_transit_frame > 0:
+        self._sng_transit_frame -= 1
+
+    # slowness detection
+    if not self._has_standstill:
+      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
+        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
+      else:
+        self._has_slowness = False
+
+    # dangerous TTC detection
+    if not self._has_lead_filtered and self._has_lead_filtered_prev:
+      self._dangerous_ttc_gmac.reset_data()
+      self._has_dangerous_ttc = False
+
+    if self._has_lead and car_state.vEgo >= 0.01:
+      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+
+    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
+      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
+    else:
+      self._has_dangerous_ttc = False
+
+    # keep prev values
+    self._has_standstill_prev = self._has_standstill
+    self._has_lead_filtered_prev = self._has_lead_filtered
+
+  def _radarless_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when at highway cruise and SNG: blended
+    # ensuring blended mode is used because acc is bad at catching SNG lead car
+    # especially those who accel very fast and then brake very hard.
+    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # when detecting lead slow down: blended
+    # use blended for higher braking capability
+    if self._has_dangerous_ttc:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    self._set_mode('acc')
+
+  def _radar_mode(self) -> None:
+    # when mpc fcw crash prob is high
+    # use blended to slow down quickly
+    if self._has_mpc_fcw:
+      self._set_mode('blended')
+      return
+
+    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
+    if self._has_lead_filtered and not self._has_standstill:
+      self._set_mode('acc')
+      return
+
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we don't want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
+    # when standstill: blended
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    if self._has_standstill:
+      self._set_mode('blended')
+      return
+
+    # when detecting slow down scenario: blended
+    # e.g. traffic light, curve, stop sign etc.
+    if self._has_slow_down:
+      self._set_mode('blended')
+      return
+
+    # car driving at speed lower than set speed: acc
+    if self._has_slowness:
+      self._set_mode('acc')
+      return
+
+    # Nav enabled and distance to upcoming turning is 300 or below
+    # if self._has_nav_instruction:
+    #  self._set_mode('blended')
+    #  return
+
+    self._set_mode('acc')
+
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
+
+  def _set_mode(self, mode: str) -> None:
+    if self._set_mode_timeout == 0:
+      self._mode = mode
+      if mode == 'blended':
+        self._set_mode_timeout = SET_MODE_TIMEOUT
+
+    if self._set_mode_timeout > 0:
+      self._set_mode_timeout -= 1
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    self._read_params()
+
+    self.set_mpc_fcw_crash_cnt()
+
+    self._update_calculations(sm)
+
+    if self._CP.radarUnavailable:
+      self._radarless_mode()
+    else:
+      self._radar_mode()
+
+    self._active = sm['selfdriveState'].experimentalMode and self._enabled
+
+    self._frame += 1

sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

@@ -0,0 +1,248 @@
+import pytest
+import numpy as np
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
+
+class MockInterp:
+  def __call__(self, x, xp, fp):
+    return np.interp(x, xp, fp)
+
+class MockCarState:
+  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
+    self.vEgo = v_ego
+    self.standstill = standstill
+    self.leftBlinker = left_blinker
+    self.rightBlinker = right_blinker
+
+class MockLeadOne:
+  def __init__(self, status=False, d_rel=0):
+    self.status = status
+    self.dRel = d_rel
+
+class MockModelData:
+  def __init__(self, x_vals=None, positions=None):
+    self.orientation = type('Orientation', (), {'x': x_vals})()
+    self.position = type('Position', (), {'x': positions})()
+
+class MockControlState:
+  def __init__(self, v_cruise=0):
+    self.vCruise = v_cruise
+
+@pytest.fixture
+def interp(monkeypatch):
+  mock_interp = MockInterp()
+  monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp)
+  return mock_interp
+
+@pytest.fixture
+def controller(interp):
+  params = Params()
+  params.put_bool("DynamicExperimentalControl", True)
+  return DynamicExperimentalController()
+
+def test_initial_state(controller):
+  """Test initial state of the controller"""
+  assert controller._mode == 'acc'
+  assert not controller._has_lead
+  assert not controller._has_standstill
+  assert controller._sng_state == SNG_State.off
+  assert not controller._has_lead_filtered
+  assert not controller._has_slow_down
+  assert not controller._has_dangerous_ttc
+  assert not controller._has_mpc_fcw
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_standstill_detection(controller, has_radar):
+  """Test standstill detection and state transitions"""
+  car_state = MockCarState(standstill=True)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState()
+
+  # Test transition to standstill
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.stopped
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test transition from standstill to moving
+  car_state.standstill = False
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.going
+
+  # Test complete transition to normal driving
+  for _ in range(STOP_AND_GO_FRAME + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller._sng_state == SNG_State.off
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_lead_detection(controller, has_radar):
+  """Test lead vehicle detection and filtering"""
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Let moving average stabilize
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode
+
+  # Test lead loss detection
+  lead_one.status = False
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_lead_filtered
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_slow_down_detection(controller, has_radar):
+  """Test slow down detection based on trajectory"""
+  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
+  lead_one = MockLeadOne()
+  x_vals = [0] * TRAJECTORY_SIZE
+  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  controls_state = MockControlState(v_cruise=30)
+
+  # Test slow down detection
+  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_slow_down
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test slow down recovery
+  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
+  md = MockModelData(x_vals=x_vals, positions=positions)
+  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_slow_down
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_dangerous_ttc_detection(controller, has_radar):
+  """Test Time-To-Collision detection and handling"""
+  car_state = MockCarState(v_ego=10)  # 36 kph
+  lead_one = MockLeadOne(status=True)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=36)
+
+  # First establish normal conditions with lead
+  lead_one.dRel = 100  # Safe distance
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now test dangerous TTC detection
+  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
+  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
+
+  # Need to update multiple times to allow the weighted average to stabilize
+  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mode_transitions(controller, has_radar):
+  """Test comprehensive mode transitions under different conditions"""
+  # Initialize with normal driving conditions
+  car_state = MockCarState(v_ego=25)  # 90 kph
+  lead_one = MockLeadOne(status=False)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  def stabilize_filters():
+    """Helper to let all moving averages stabilize"""
+    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
+                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
+      controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  # Test 1: Normal driving -> ACC mode
+  stabilize_filters()
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
+
+  # Test 2: Standstill -> Blended mode
+  car_state.standstill = True
+  controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
+
+  # Test 3: Lead car appears -> ACC mode
+  car_state = MockCarState(v_ego=20)  # Reset car state
+  lead_one.status = True
+  lead_one.dRel = 50  # Safe distance
+  stabilize_filters()
+  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
+  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
+
+  # Test 4: Dangerous TTC -> Blended mode
+  car_state = MockCarState(v_ego=20)  # 72 kph
+  lead_one.status = True
+  lead_one.dRel = 50  # First establish normal lead detection
+
+  # First establish lead detection
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_lead_filtered  # Verify lead is detected
+
+  # Now create dangerous TTC condition
+  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
+
+  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
+  expected_mode = 'acc' if has_radar else 'blended'
+  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
+
+@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
+def test_mpc_fcw_handling(controller, has_radar):
+  """Test MPC FCW crash count handling and mode transitions"""
+  car_state = MockCarState(v_ego=20)
+  lead_one = MockLeadOne()
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=72)
+
+  # Test FCW activation
+  controller.set_mpc_fcw_crash_cnt(5)
+  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert controller._has_mpc_fcw
+  assert controller.get_mpc_mode() == 'blended'
+
+  # Test FCW recovery
+  controller.set_mpc_fcw_crash_cnt(0)
+  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
+    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+
+  assert not controller._has_mpc_fcw
+
+def test_radar_unavailable_handling(controller):
+  """Test behavior transitions between radar available and unavailable states"""
+  car_state = MockCarState(v_ego=27.78)  # 100 kph
+  lead_one = MockLeadOne(status=True, d_rel=50)
+  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
+  controls_state = MockControlState(v_cruise=100)
+
+  # Test with radar available
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(False, car_state, lead_one, md, controls_state)
+  radar_mode = controller.get_mpc_mode()
+
+  # Test with radar unavailable
+  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
+    controller.update(True, car_state, lead_one, md, controls_state)
+  radarless_mode = controller.get_mpc_mode()
+
+  assert radar_mode is not None
+  assert radarless_mode is not None

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -0,0 +1,47 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import messaging, custom
+from opendbc.car import structs
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
+
+DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
+
+
+class LongitudinalPlannerSP:
+  def __init__(self, CP: structs.CarParams, mpc):
+    self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel_controller = AccelController()
+
+  def get_mpc_mode(self) -> str | None:
+    """ Returns the current MPC mode if DEC is active. """
+    return self.dec.mode() if self.dec.active() else None
+
+  def compute_accel_limits(self, v_ego: float, sm, CP) -> tuple[list[float], list[float]]:
+    """ Delegates acceleration limit computation to AccelController. """
+    return self.accel_controller.compute_accel_limits(v_ego, sm, CP)
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    """ Updates DEC and AccelController states. """
+    self.dec.update(sm)
+    self.accel_controller.update()
+
+  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    """ Publishes the longitudinal plan state to messaging. """
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+
+    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+
+    # Dynamic Experimental Control
+    dec = longitudinalPlanSP.dec
+    dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
+    dec.enabled = self.dec.enabled()
+    dec.active = self.dec.active()
+
+    pm.send('longitudinalPlanSP', plan_sp_send)

sunnypilot/selfdrive/selfdrived/events.py

@@ -0,0 +1,133 @@
+from cereal import log, car, custom
+from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventNameSP = custom.OnroadEventSP.EventName
+
+
+# get event name from enum
+EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
+
+
+class EventsSP(EventsBase):
+  def __init__(self):
+    super().__init__()
+    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
+
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS_SP
+
+  def get_event_name(self, event: int):
+    return EVENT_NAME_SP[event]
+
+  def get_event_msg_type(self):
+    return custom.OnroadEventSP
+
+
+EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
+  # sunnypilot
+  EventNameSP.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventNameSP.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventNameSP.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventNameSP.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventNameSP.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventNameSP.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventNameSP.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventNameSP.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventNameSP.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventNameSP.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventNameSP.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+  EventNameSP.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventNameSP.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
+}

sunnypilot/selfdrive/selfdrived/events_base.py

@@ -0,0 +1,225 @@
+import bisect
+from enum import IntEnum
+from abc import abstractmethod
+from collections.abc import Callable
+
+from cereal import log, car
+import cereal.messaging as messaging
+from openpilot.common.realtime import DT_CTRL
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+
+# Alert priorities
+class Priority(IntEnum):
+  LOWEST = 0
+  LOWER = 1
+  LOW = 2
+  MID = 3
+  HIGH = 4
+  HIGHEST = 5
+
+
+# Event types
+class ET:
+  ENABLE = 'enable'
+  PRE_ENABLE = 'preEnable'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
+  NO_ENTRY = 'noEntry'
+  WARNING = 'warning'
+  USER_DISABLE = 'userDisable'
+  SOFT_DISABLE = 'softDisable'
+  IMMEDIATE_DISABLE = 'immediateDisable'
+  PERMANENT = 'permanent'
+
+
+class Alert:
+  def __init__(self,
+               alert_text_1: str,
+               alert_text_2: str,
+               alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize,
+               priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               duration: float,
+               creation_delay: float = 0.):
+
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_status = alert_status
+    self.alert_size = alert_size
+    self.priority = priority
+    self.visual_alert = visual_alert
+    self.audible_alert = audible_alert
+
+    self.duration = int(duration / DT_CTRL)
+
+    self.creation_delay = creation_delay
+
+    self.alert_type = ""
+    self.event_type: str | None = None
+
+  def __str__(self) -> str:
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
+
+  def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
+    return self.priority > alert2.priority
+
+class AlertBase(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
+               alert_size: log.SelfdriveState.AlertSize, priority: Priority,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
+    super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
+
+
+AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+
+
+class EventsBase:
+  def __init__(self):
+    self.events: list[int] = []
+    self.static_events: list[int] = []
+    self.event_counters = {}
+
+  @property
+  def names(self) -> list[int]:
+    return self.events
+
+  def __len__(self) -> int:
+    return len(self.events)
+
+  def add(self, event_name: int, static: bool = False) -> None:
+    if static:
+      bisect.insort(self.static_events, event_name)
+    bisect.insort(self.events, event_name)
+
+  def clear(self) -> None:
+    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+    self.events = self.static_events.copy()
+
+  def contains(self, event_type: str) -> bool:
+    return any(event_type in self.get_events_mapping().get(e, {}) for e in self.events)
+
+  def create_alerts(self, event_types: list[str], callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
+    ret = []
+    for e in self.events:
+      types = self.get_events_mapping()[e].keys()
+      for et in event_types:
+        if et in types:
+          alert = self.get_events_mapping()[e][et]
+          if not isinstance(alert, Alert):
+            alert = alert(*callback_args)
+
+          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+            alert.alert_type = f"{self.get_event_name(e)}/{et}"
+            alert.event_type = et
+            ret.append(alert)
+    return ret
+
+  def add_from_msg(self, events):
+    for e in events:
+      bisect.insort(self.events, e.name.raw)
+
+  def to_msg(self):
+    ret = []
+    for event_name in self.events:
+      event = self.get_event_msg_type().new_message()
+      event.name = event_name
+      for event_type in self.get_events_mapping().get(event_name, {}):
+        setattr(event, event_type, True)
+      ret.append(event)
+    return ret
+
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def contains_in_list(self, events_list: list[int]) -> bool:
+    return any(event_name in self.events for event_name in events_list)
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
+  @abstractmethod
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_name(self, event: int) -> str:
+    raise NotImplementedError
+
+  @abstractmethod
+  def get_event_msg_type(self):
+    raise NotImplementedError
+
+
+EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
+                   VisualAlert.none, AudibleAlert.none, 0)
+
+class NoEntryAlert(Alert):
+  def __init__(self, alert_text_2: str,
+               alert_text_1: str = "openpilot Unavailable",
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
+                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AudibleAlert.refuse, 3.)
+
+
+class SoftDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.userPrompt, AlertSize.full,
+                     Priority.MID, VisualAlert.steerRequired,
+                     AudibleAlert.warningSoft, 2.),
+
+
+# less harsh version of SoftDisable, where the condition is user-triggered
+class UserSoftDisableAlert(SoftDisableAlert):
+  def __init__(self, alert_text_2: str):
+    super().__init__(alert_text_2),
+    self.alert_text_1 = "openpilot will disengage"
+
+
+class ImmediateDisableAlert(Alert):
+  def __init__(self, alert_text_2: str):
+    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+                     AlertStatus.critical, AlertSize.full,
+                     Priority.HIGHEST, VisualAlert.steerRequired,
+                     AudibleAlert.warningImmediate, 4.),
+
+
+class EngagementAlert(Alert):
+  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+    super().__init__("", "",
+                     AlertStatus.normal, AlertSize.none,
+                     Priority.MID, VisualAlert.none,
+                     audible_alert, .2),
+
+
+class NormalPermanentAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
+    super().__init__(alert_text_1, alert_text_2,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
+                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
+
+
+class StartupAlert(Alert):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    super().__init__(alert_text_1, alert_text_2,
+                     alert_status, AlertSize.mid,
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),