invoke platform selector on show event

* ui: Display default driving model if in use

* add ref commit and tests

* fix commit

* update msg

* update msg

* fix lint

* use sha256 hash instead

.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 +81,65 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     generation @5 :UInt32;
     environment @6 :Text;
     runner @7 :Runner;
+    is20hz @8 :Bool;
   }
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
 }
 
-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/messaging/bridge.cc

@@ -6,12 +6,12 @@
 
 ExitHandler do_exit;
 
-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
       continue;
     }
     service_list.push_back(name);

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/logging_extra.py

@@ -8,6 +8,7 @@ import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -15,6 +16,8 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
 
 def json_handler(obj):
+  if isinstance(obj, np.bool_):
+    return bool(obj)
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
   return repr(obj)

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Notre Dame (Default)"

common/params.cc

@@ -89,6 +89,7 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AdbEnabled", PERSISTENT},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -202,8 +203,14 @@ 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},
+    {"CarPlatformBundle", 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 +236,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace

docs/CARS.md

@@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -128,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -260,7 +260,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

docs/CONTRIBUTING.md

@@ -63,3 +63,12 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
+
+## Contributing Training Data
+
+### A guide for forks
+
+In order for your fork's data to be eligible for the training set:
+* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
+* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/how-to/connect-to-comma.md

@@ -29,6 +29,22 @@ Here's an example command for connecting to your device using its tethered conne
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
+
+## ADB
+
+In order to use ADB on your device, you'll need to enable it in the device's settings.
+
+* Enable ADB in your device's settings
+* Connect to your device
+    * `adb shell` over USB
+    * `adb connect` over WiFi
+    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
+
+> [!NOTE]
+> The default port for ADB is 5555 on the comma 3/3X.
+
+For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
+
 ### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.4"
+  export AGNOS_VERSION="11.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

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

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/car_specific.py

@@ -42,19 +42,19 @@ class CarSpecificEvents:
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName in ('subaru', 'mazda'):
+    elif self.CP.brand in ('subaru', 'mazda'):
       events = self.create_common_events(CS, CS_prev)
 
-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
       events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'gm':
+    elif self.CP.brand == 'gm':
       # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
@@ -160,7 +160,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      raise ValueError(f"Unsupported car: {self.CP.brand}")
 
     return events
 

selfdrive/car/card.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 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 +22,7 @@ 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 +68,13 @@ 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
 
@@ -101,15 +105,18 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
-      self.RI = get_radar_interface(self.CI.CP)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
+      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
+      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 +127,10 @@ 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 +174,14 @@ 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)
 
@@ -184,7 +202,7 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
@@ -204,7 +222,7 @@ 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 +260,28 @@ 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 +294,7 @@ 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 +303,10 @@ 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
@@ -362,11 +367,11 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
           self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
 
@@ -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()
@@ -421,7 +426,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -443,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
         if button_enable and not mismatch:
           self.safety.set_controls_allowed(False)
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
       CS_prev = CS

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])
@@ -205,3 +211,5 @@ 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

@@ -14,11 +14,11 @@ def main():
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
-  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/debug/adb.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-PORT=5555
-
-setprop service.adb.tcp.port $PORT
-sudo systemctl start adbd
-
-IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
-echo "then, connect on your computer:"
-echo "adb connect $IP:$PORT"

selfdrive/locationd/locationd.py

@@ -24,14 +24,16 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
+INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
 
 
+def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
+  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
+
+
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
   assert len(values) == len(stds) == 3
   measurement.x, measurement.y, measurement.z = map(float, values)
@@ -269,11 +271,11 @@ def main():
 
   filter_initialized = False
   critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
   observation_input_invalid = defaultdict(int)
 
-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
 
   initial_pose = params.get("LocationFilterInitialState")
   if initial_pose is not None:
@@ -306,19 +308,20 @@ def main():
             continue
 
           if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
+            print(f"Observation {which} ignored due to failed timing check")
+            observation_input_invalid[which] += 1
+            print(observation_input_invalid[which])
           elif res == HandleLogResult.INPUT_INVALID:
+            print(f"Observation {which} ignored due to failed sanity check")
             observation_input_invalid[which] += 1
           else:
             observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
     if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)

selfdrive/locationd/test/test_locationd.py

@@ -1,56 +0,0 @@
-import capnp
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
-
-  def setup_method(self):
-    self.pm = messaging.PubMaster(self.LLD_MSGS)
-
-    self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd'].prepare()
-    managed_processes['locationd'].start()
-
-  def teardown_method(self):
-    managed_processes['locationd'].stop()
-
-  def get_msg(self, name, t):
-    try:
-      msg = messaging.new_message(name)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.hasFix = True
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = float(self.lat)
-      msg.gpsLocationExternal.longitude = float(self.lon)
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = float(self.alt)
-    #if name == "gnssMeasurements":
-    #  msg.gnssMeasurements.measTime = t
-    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
-    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.positionECEF.valid = True
-    #  msg.gnssMeasurements.velocityECEF.value = []
-    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.velocityECEF.valid = True
-    elif name == 'cameraOdometry':
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
-    msg.logMonoTime = t
-    msg.valid = True
-    return msg

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -23,8 +23,10 @@ class Scenario(Enum):
   BASE = 'base'
   GYRO_OFF = 'gyro_off'
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
   ACCEL_OFF = 'accel_off'
   ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
   SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
   SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'
 
@@ -63,18 +65,20 @@ def run_scenarios(scenario, logs):
   elif scenario == Scenario.GYRO_OFF:
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
     def gyro_spike(msg):
       msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)
 
   elif scenario == Scenario.ACCEL_OFF:
     logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
     def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 100.0
+    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)
 
   elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
     def timing_spike(msg):
@@ -121,7 +125,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_gyro_spikes(self):
+  def test_gyro_spike(self):
     """
     Test: a gyroscope spike in the middle of the segment
     Expected Result:
@@ -132,8 +136,17 @@ class TestLocationdScenarios:
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_gyro_spikes(self):
+    """
+    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0
 
   def test_accel_off(self):
     """
@@ -148,7 +161,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_accel_spikes(self):
+  def test_accel_spike(self):
     """
     ToDo:
     Test: an accelerometer spike in the middle of the segment
@@ -173,5 +186,5 @@ class TestLocationdScenarios:
     Expected Result: inputsOK becomes False after N of bad measurements
     """
     orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0

selfdrive/locationd/torqued.py

@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction

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/dmonitoringmodeld.py

@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from openpilot.system import sentry
 
 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -37,6 +38,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
+
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
     ("face_orientation", ctypes.c_float*3),
@@ -55,6 +57,7 @@ class DriverStateResult(ctypes.Structure):
     ("ready_prob", ctypes.c_float*4),
     ("not_ready_prob", ctypes.c_float*2)]
 
+
 class DMonitoringModelResult(ctypes.Structure):
   _fields_ = [
     ("driver_state_lhd", DriverStateResult),
@@ -63,6 +66,7 @@ class DMonitoringModelResult(ctypes.Structure):
     ("wheel_on_right_prob", ctypes.c_float),
     ("features", ctypes.c_float*FEATURE_LEN)]
 
+
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -82,7 +86,7 @@ class ModelState:
     else:
       self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
@@ -119,6 +123,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
   msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
   msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
 
+
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
   msg = messaging.new_message('driverStateV2', valid=True)
@@ -139,6 +144,9 @@ def main():
   setproctitle(PROCESS_NAME)
   set_realtime_priority(1)
 
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+
   cl_context = CLContext()
   model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -177,4 +185,10 @@ def main():
 
 
 if __name__ == "__main__":
-  main()
+  try:
+    main()
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise

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)
@@ -59,21 +79,21 @@ 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
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  driving_model_data.action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -84,16 +104,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.modelExecutionTime = model_execution_time
 
   # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
@@ -103,12 +118,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
 
   # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  modelV2.action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -137,8 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
-  lane_line_meta = driving_model_data.laneLineMeta
-  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
 
   # road edges
   modelV2.init('roadEdges', 2)
@@ -159,23 +171,25 @@ 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 +197,9 @@ 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
 
 
@@ -197,7 +194,7 @@ def main(demo=False):
     CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   steer_delay = CP.steerActuatorDelay + .2
@@ -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

@@ -105,9 +105,6 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   while (!do_exit && check_all_connected(pandas)) {
     std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
-      if (errno == EINTR) {
-        do_exit = true;
-      }
       continue;
     }
 
@@ -158,7 +155,6 @@ 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 +202,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -254,7 +250,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
 
     pandaStates.push_back(health);
   }
@@ -341,16 +337,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
-
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
     connected_serials.push_back(p->hw_serial());
   }
 
   {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       return;
@@ -379,9 +373,6 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
       }
     }
 
-    sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool engaged_mads = process_mads_heartbeat(&sm);
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged, engaged_mads);
     }
@@ -447,9 +438,13 @@ void pandad_run(std::vector<Panda *> &pandas) {
   std::thread send_thread(can_send_thread, pandas, fake_send);
 
   RateKeeper rk("pandad", 100);
+  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(pandas);
   Panda *peripheral_panda = pandas[0];
+  bool engaged = false;
+  bool engaged_mads = false;
+  bool always_offroad = false;
 
   // Main loop: receive CAN data and process states
   while (!do_exit && check_all_connected(pandas)) {
@@ -462,7 +457,11 @@ void pandad_run(std::vector<Panda *> &pandas) {
 
     // Process panda state at 10 Hz
     if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started);
+      sm.update(0);
+      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      engaged_mads = process_mads_heartbeat(&sm);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
       panda_safety.configureSafetyMode();
     }
 
@@ -474,6 +473,16 @@ void pandad_run(std::vector<Panda *> &pandas) {
     rk.keepTime();
   }
 
+  // Close relay on exit to prevent a fault
+  const bool is_onroad = Params().getBool("IsOnroad");
+  if (is_onroad && !engaged) {
+    for (auto &p : pandas) {
+      if (p->connected()) {
+        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+      }
+    }
+  }
+
   send_thread.join();
 }
 

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/pandad/pandad.py

@@ -3,8 +3,8 @@
 import os
 import usb1
 import time
+import signal
 import subprocess
-from typing import NoReturn
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
@@ -61,13 +61,25 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def main() -> NoReturn:
+def main() -> None:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    nonlocal do_exit
+    do_exit = True
+    if process is not None:
+      process.send_signal(signal.SIGINT)
+
+  process = None
+  do_exit = False
+  signal.signal(signal.SIGINT, signal_handler)
+
   count = 0
   first_run = True
   params = Params()
   no_internal_panda_count = 0
 
-  while True:
+  while not do_exit:
     try:
       count += 1
       cloudlog.event("pandad.flash_and_connect", count=count)
@@ -159,8 +171,9 @@ def main() -> NoReturn:
 
     # run pandad with all connected serials as arguments
     os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./pandad", *panda_serials], check=True)
+    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process.wait()
+
 
 if __name__ == "__main__":
   main()

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:
@@ -332,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 
@@ -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]
@@ -90,7 +99,7 @@ class SelfdriveD:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
@@ -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:
 

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