Add ButtonHoldTracker for button hold logic and tests

Introduce a new `ButtonHoldTracker` class to manage button hold durations, replacing manual timer handling in `ExperimentalSwitcher`. Updated `ExperimentalSwitcher` to leverage this implementation for cleaner and more modular code. Added comprehensive unit tests for both `ButtonHoldTracker` and `ExperimentalSwitcher` to ensure functionality and edge case coverage.

.github/release-drafter.yml

@@ -0,0 +1,43 @@
+exclude-labels:
+  - 'no-changelog'
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'feature'
+      - 'enhancement'
+  - title: '🐛 Bug Fixes'
+    collapse-after: 5
+    labels:
+      - 'fix'
+      - 'bugfix'
+      - 'bug'
+  - title: '🧰 Maintenance'
+    collapse-after: 5
+    label: 'chore'
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+change-title-escapes: '\<*_&'
+replacers:
+  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
+    replace: 'sunnypilot'
+  - search: '/\b[Ss][Pp]\b/g'
+    replace: 'SP'
+version-resolver:
+  major:
+    labels:
+      - 'major'
+  minor:
+    labels:
+      - 'minor'
+  patch:
+    labels:
+      - 'patch'
+  default: patch
+name-template: 'v$RESOLVED_VERSION 🚀'
+tag-template: 'v$RESOLVED_VERSION'
+version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this
+prerelease-identifier: "staging"
+template: |
+  ## Changes
+
+  $CHANGES

.github/workflows/release-drafter.yml

@@ -0,0 +1,29 @@
+name: Release Drafter
+
+on:
+  push:
+    branches:
+      - master-new
+      - master
+    tags:
+      - 'v*'
+  pull_request_target:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  update_release_draft:
+    permissions:
+      contents: write
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: release-drafter/release-drafter@v6
+        with:
+          config-name: release-drafter.yml
+          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/selfdrive_tests.yaml

@@ -67,15 +67,7 @@ jobs:
       timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
-    - name: Static analysis
-      timeout-minutes: 1
-      run: |
-        cd $GITHUB_WORKSPACE
-        cp pyproject.toml $STRIPPED_DIR
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
+        ${{ env.RUN }} "release/check-dirty.sh"
 
   build:
     runs-on:

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

RELEASES.md

@@ -1,16 +1,23 @@
-Version 0.9.8 (2024-XX-XX)
+Version 0.9.9 (2025-03-30)
+========================
+* Coming soon
+  * Rivian support
+  * F-150 & Mach-E support
+  * Tesla Model 3 support
+
+Version 0.9.8 (2025-01-30)
 ========================
-* New driving model
-  * Trained in brand new ML simulator
-  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
   * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
   * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler 
+  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
+* Coming soon
+  * New driving model with gas gating
+  * Training data upload mode
 
 Version 0.9.7 (2024-06-13)
 ========================

cereal/README.md

@@ -29,6 +29,50 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
+An example of compatible changes:
+```diff
+diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+index 3348e859e..3365c7b98 100644
+--- a/cereal/custom.capnp
++++ b/cereal/custom.capnp
+@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
+ # DO rename the structs
+ # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+-struct CustomReserved0 @0x81c2f05a394cf4af {
++struct SteeringInfo @0x81c2f05a394cf4af {
++  active @0 :Bool;
++  steeringAngleDeg @1 :Float32;
++  steeringRateDeg @2 :Float32;
++  steeringAccelDeg @3 :Float32;
+ }
+
+ struct CustomReserved1 @0xaedffd8f31e7b55d {
+diff --git a/cereal/log.capnp b/cereal/log.capnp
+index 1209f3fd9..b189f58b6 100644
+--- a/cereal/log.capnp
++++ b/cereal/log.capnp
+@@ -2558,14 +2558,14 @@ struct Event {
+
+     # DO change the name of the field
+     # DON'T change anything after the "@"
+-    customReservedRawData0 @124 :Data;
++    rawCanData @124 :Data;
+     customReservedRawData1 @125 :Data;
+     customReservedRawData2 @126 :Data;
+
+     # DO change the name of the field and struct
+     # DON'T change the ID (e.g. @107)
+     # DON'T change which struct it points to
+-    customReserved0 @107 :Custom.CustomReserved0;
++    steeringInfo @107 :Custom.SteeringInfo;
+     customReserved1 @108 :Custom.CustomReserved1;
+     customReserved2 @109 :Custom.CustomReserved2;
+     customReserved3 @110 :Custom.CustomReserved3;
+```
+
+---
+
 Example
 ---
 ```python

cereal/custom.capnp

@@ -7,7 +7,9 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.
 
-# you can rename the struct, but don't change the identifier
+# DO rename the structs
+# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 
@@ -64,7 +66,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-  
+
   enum Runner {
     snpe @0;
     tinygrad @1;
@@ -82,7 +84,19 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   }
 }
 
-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 {
@@ -105,3 +119,33 @@ struct CustomReserved8 @0xf416ec09499d9d19 {
 
 struct CustomReserved9 @0xa1680744031fdb2d {
 }
+
+struct CustomReserved10 @0xcb9fd56c7057593a {
+}
+
+struct CustomReserved11 @0xc2243c65e0340384 {
+}
+
+struct CustomReserved12 @0x9ccdc8676701b412 {
+}
+
+struct CustomReserved13 @0xcd96dafb67a082d0 {
+}
+
+struct CustomReserved14 @0xb057204d7deadf3f {
+}
+
+struct CustomReserved15 @0xbd443b539493bc68 {
+}
+
+struct CustomReserved16 @0xfc6241ed8877b611 {
+}
+
+struct CustomReserved17 @0xa30662f84033036c {
+}
+
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
+}
+
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
+}

cereal/log.capnp

@@ -199,6 +199,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentParkBrake @162;
     controlsMismatchLateral @163;
     hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -483,6 +484,7 @@ struct GpsLocationData {
   speedAccuracy @12 :Float32;
 
   hasFix @13 :Bool;
+  satelliteCount @14 :Int8;
 
   enum SensorSource {
     android @0;
@@ -2627,14 +2629,20 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    # *********** Custom: reserved for forks ***********
+
+    # DO change the name of the field
+    # DON'T change anything after the "@"
     customReservedRawData0 @124 :Data;
     customReservedRawData1 @125 :Data;
     customReservedRawData2 @126 :Data;
 
-    # *********** Custom: reserved for forks ***********
+    # DO change the name of the field and struct
+    # DON'T change the ID (e.g. @107)
+    # DON'T change which struct it points to
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
-    customReserved2 @109 :Custom.CustomReserved2;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
@@ -2642,6 +2650,16 @@ struct Event {
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
+    customReserved10 @136 :Custom.CustomReserved10;
+    customReserved11 @137 :Custom.CustomReserved11;
+    customReserved12 @138 :Custom.CustomReserved12;
+    customReserved13 @139 :Custom.CustomReserved13;
+    customReserved14 @140 :Custom.CustomReserved14;
+    customReserved15 @141 :Custom.CustomReserved15;
+    customReserved16 @142 :Custom.CustomReserved16;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated

cereal/services.py

@@ -77,6 +77,7 @@ _services: dict[str, tuple] = {
   # sunnypilot
   "modelManagerSP": (False, 1., 1),
   "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
 
   # debug
   "uiDebug": (True, 0., 1),

common/clutil.cc

@@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
   return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }

common/clutil.h

@@ -23,6 +23,7 @@
 
 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/params.cc

@@ -229,6 +229,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksConfirmed", PERSISTENT},
     {"HyundaiRadarTracksPersistent", PERSISTENT},
     {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
 };
 
 } // namespace

common/pid.py

@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 
-from openpilot.common.numpy_fast import clip, interp
-
-
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -28,15 +25,15 @@ class PIDController:
 
   @property
   def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -64,10 +61,10 @@ class PIDController:
 
         # Clip i to prevent exceeding control limits
         control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/swaglog.cc

@@ -26,6 +26,9 @@ public:
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
     zmq_connect(sock, Path::swaglog_ipc().c_str());
 
+    // workaround for https://github.com/dropbox/json11/issues/38
+    setlocale(LC_NUMERIC, "C");
+
     print_level = CLOUDLOG_WARNING;
     if (const char* print_lvl = getenv("LOGPRINT")) {
       if (strcmp(print_lvl, "debug") == 0) {

common/tests/test_numpy_fast.py

@@ -1,21 +0,0 @@
-import numpy as np
-
-from openpilot.common.numpy_fast import interp
-
-
-class TestInterp:
-  def test_correctness_controls(self):
-    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
-    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
-    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
-                 39.999999, 40, 41]
-
-    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
-    np.testing.assert_equal(actual, expected)
-
-    for v_ego in v_ego_arr:
-      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      np.testing.assert_equal(actual, expected)

common/util.cc

@@ -294,4 +294,17 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
+bool system_time_valid() {
+  // Default to August 26, 2024
+  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  time_t min_date = mktime(&min_tm);
+
+  struct stat st;
+  if (stat("/lib/systemd/systemd", &st) == 0) {
+    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
+  }
+
+  return time(nullptr) > min_date;
+}
+
 }  // namespace util

common/util.h

@@ -96,6 +96,8 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
+bool system_time_valid();
+
 inline void sleep_for(const int milliseconds) {
   if (milliseconds > 0) {
     std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));

docs/CARS.md

@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B 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=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|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 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=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 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=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 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=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|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 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=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 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=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||

release/release_files.py

@@ -6,41 +6,11 @@ from pathlib import Path
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = HERE + "/.."
 
-# blacklisting is for two purposes:
-# - minimizing release download size
-# - keeping the diff readable
 blacklist = [
-  "panda/drivers/",
-  "panda/examples/",
-  "panda/tests/safety/",
-
-  "opendbc_repo/dbc/.*.dbc$",
-  "opendbc_repo/dbc/generator/",
-
-  "cereal/.*test.*",
-  "^common/tests/",
-
-  # particularly large text files
-  "uv.lock",
-  "third_party/catch2",
-  "selfdrive/car/tests/test_models.*",
-
-  "^tools/",
-  "^tinygrad_repo/",
+  ".git/",
 
   "matlab.*.md",
 
-  ".git/",
-  ".github/",
-  ".devcontainer/",
-  "Darwin/",
-  ".vscode",
-
-  # common things
-  "LICENSE",
-  "Dockerfile",
-  ".pre-commit",
-
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
@@ -48,153 +18,10 @@ blacklist = [
   ".gitmodules",
 ]
 
-# Sunnypilot blacklist
-sunnypilot_blacklist = [
-  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
-  ".idea/",
-  ".run/",
-  ".*__pycache__/.*",
-  ".*\\.pyc",
-  "teleoprtc/*",
-  "third_party/snpe/x86_64/*",
-  "body/board/canloader.py",
-  "body/board/flash_base.sh",
-  "body/board/flash_knee.sh",
-  "body/board/recover.sh",
-  ".*/test/",
-  ".*/tests/",
-  ".*tinygrad_repo/tinygrad/renderer/",
-  "README.md",
-  ".*internal/",
-  "docs/.*",
-  ".sconsign.dblite",
-  "release/ci/scons_cache/",
-  ".gitlab-ci.yml",
-  ".clang-tidy",
-  ".dockerignore",
-  ".editorconfig",
-  ".python-version",
-  "SECURITY.md",
-  "codecov.yml",
-  "conftest.py",
-  "poetry.lock",
-  ".venv/",
-]
-
-# Merge the blacklists
-blacklist += sunnypilot_blacklist
-
 # gets you through the blacklist
-whitelist = [
-  "tools/lib/",
-  "tools/bodyteleop/",
-  "tools/joystick/",
-  "tools/longitudinal_maneuvers/",
-
-  "tinygrad_repo/examples/openpilot/compile3.py",
-  "tinygrad_repo/extra/onnx.py",
-  "tinygrad_repo/extra/onnx_ops.py",
-  "tinygrad_repo/extra/thneed.py",
-  "tinygrad_repo/extra/utils.py",
-  "tinygrad_repo/tinygrad/codegen/kernel.py",
-  "tinygrad_repo/tinygrad/codegen/linearizer.py",
-  "tinygrad_repo/tinygrad/features/image.py",
-  "tinygrad_repo/tinygrad/features/search.py",
-  "tinygrad_repo/tinygrad/nn/*",
-  "tinygrad_repo/tinygrad/renderer/cstyle.py",
-  "tinygrad_repo/tinygrad/renderer/opencl.py",
-  "tinygrad_repo/tinygrad/runtime/lib.py",
-  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
-  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
-  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
-  "tinygrad_repo/tinygrad/shape/*",
-  "tinygrad_repo/tinygrad/.*.py",
-
-  # TODO: do this automatically
-  "opendbc_repo/dbc/comma_body.dbc",
-  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
-  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc_repo/dbc/gm_global_a_object.dbc",
-  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
-  "opendbc_repo/dbc/FORD_CADS.dbc",
-  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
-  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
-  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
-  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc_repo/dbc/hyundai_canfd.dbc",
-  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
-  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc_repo/dbc/mazda_2017.dbc",
-  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
-  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
-  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_adas.dbc",
-  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
-  "opendbc_repo/dbc/vw_golf_mk4.dbc",
-  "opendbc_repo/dbc/vw_mqb_2010.dbc",
-  "opendbc_repo/dbc/tesla_can.dbc",
-  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
-  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
-  "opendbc_repo/dbc/tesla_powertrain.dbc",
+whitelist: list[str] = [
 ]
 
-# Sunnypilot whitelist
-sunnypilot_whitelist = [
-  "^README.md",
-  ".*selfdrive/test/fuzzy_generation.py",
-  ".*selfdrive/test/helpers.py",
-  ".*selfdrive/test/__init__.py",
-  ".*selfdrive/test/setup_device_ci.sh",
-  ".*selfdrive/test/test_time_to_onroad.py",
-  ".*selfdrive/test/test_onroad.py",
-  ".*system/manager/test/test_manager.py",
-  ".*system/manager/test/__init__.py",
-  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
-  ".*system/updated/casync/tests/test_casync.py",
-  ".*system/updated/tests/test_git.py",
-  ".*system/updated/tests/test_base.py",
-  ".*selfdrive/ui/tests/test_translations.py",
-  ".*selfdrive/car/tests/__init__.py",
-  ".*selfdrive/car/tests/test_car_interfaces.py",
-  ".*selfdrive/navd/tests/test_navd.py",
-  ".*selfdrive/navd/tests/test_map_renderer.py",
-  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
-  ".*INTEGRATION.md",
-  ".*HOW-TOS.md",
-  ".*CARS.md",
-  ".*LIMITATIONS.md",
-  ".*CONTRIBUTING.md",
-  ".*sunnyhaibin0850_qrcode_paypal.me.png",
-  "opendbc/.*.dbc",
-]
-
-# Merge the whitelists
-whitelist += sunnypilot_whitelist
-
 
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):

selfdrive/car/car_specific.py

@@ -122,7 +122,7 @@ class CarSpecificEvents:
 
     elif self.CP.carName == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         pcm_enable=self.CP.pcmCruise,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
@@ -149,7 +149,7 @@ class CarSpecificEvents:
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
       events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -165,7 +165,7 @@ class CarSpecificEvents:
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if CS.doorOpen:
@@ -216,7 +216,8 @@ class CarSpecificEvents:
       if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
         events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
+      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
         events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults

selfdrive/car/card.py

@@ -23,7 +23,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
+from openpilot.sunnypilot.selfdrive.car import interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -75,6 +75,7 @@ class Car:
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -101,7 +102,7 @@ class Car:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      setup_car_interface_sp(self.CI.CP, self.params)
+      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
       self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -121,6 +122,9 @@ class Car:
     MadsParams().set_alternative_experience(self.CP)
     MadsParams().set_car_specific_params(self.CP)
 
+    # Dynamic Experimental Control
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -132,6 +136,15 @@ class Car:
       self.CP.safetyConfigs = [safety_config]
 
     if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      # Copy user key if available
+      try:
+        with open("/cache/params/SecOCKey") as f:
+          user_key = f.readline().strip()
+          if len(user_key) == 32:
+            self.params.put("SecOCKey", user_key)
+      except Exception:
+        pass
+
       secoc_key = self.params.get("SecOCKey", encoding='utf8')
       if secoc_key is not None:
         saved_secoc_key = bytes.fromhex(secoc_key.strip())
@@ -163,6 +176,9 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # log fingerprint in sentry
+    interfaces.log_fingerprint(self.CP)
+
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -188,8 +204,12 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    # TODO: mirror the carState.cruiseState struct?
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      # Use CarState w/ buttons from the step selfdrived enables on
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+
+    # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
@@ -232,7 +252,7 @@ class Car:
       # 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)
-      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
+      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
@@ -247,9 +267,6 @@ class Car:
   def step(self):
     CS, RD = self.state_update()
 
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
-
     self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
@@ -258,11 +275,16 @@ class Car:
       self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
+    self.CS_prev = CS
 
   def params_thread(self, evt):
     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

@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ class VCruiseHelper:
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
@@ -120,16 +120,17 @@ 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
     else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph

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/controls/controlsd.py

@@ -119,15 +119,16 @@ class Controls:
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = self.desired_curvature
-    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = float(self.desired_curvature)
+    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.steer_limited, self.desired_curvature,
                                                                             self.calibrated_pose) # TODO what if not available
-
+    actuators.steer = float(steer)
+    actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -192,7 +193,7 @@ class Controls:
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = self.desired_curvature
+    cs.desiredCurvature = float(self.desired_curvature)
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import log
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@ MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(new_curvature,
+  safe_desired_curvature = np.clip(new_curvature,
                                 prev_curvature - max_curvature_rate * DT_CTRL,
                                 prev_curvature + max_curvature_rate * DT_CTRL)
 
@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):
-    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0

selfdrive/controls/lib/latcontrol.py

@@ -1,6 +1,6 @@
+import numpy as np
 from abc import abstractmethod, ABC
 
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ class LatControl(ABC):
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
-    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
     return self.sat_count > (self.sat_limit - 1e-3)

selfdrive/controls/lib/latcontrol_angle.py

@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -39,10 +39,10 @@ class LatControlPID(LatControl):
       output_steer = self.pid.update(error, override=CS.steeringPressed,
                                      feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.f = self.pid.f
-      pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
 
     return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ class LatControlTorque(LatControl):
       else:
         assert calibrated_pose is not None
         actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
         curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
@@ -60,7 +60,7 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
@@ -68,7 +68,7 @@ class LatControlTorque(LatControl):
                                                             setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
       torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                                measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = torque_from_setpoint - torque_from_measurement
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
       ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
@@ -80,14 +80,14 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
 
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.d = self.pid.d
-      pid_log.f = self.pid.f
-      pid_log.output = -output_torque
-      pid_log.actualLateralAccel = actual_lateral_accel
-      pid_log.desiredLateralAccel = desired_lateral_accel
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ class LongControl:
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
-    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -4,7 +4,6 @@ import time
 import numpy as np
 from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -320,9 +319,9 @@ class LongitudinalMpc:
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
     min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = clip(x_lead, min_x_lead, 1e8)
-    v_lead = clip(v_lead, 0.0, 1e8)
-    a_lead = clip(a_lead, -10., 5.)
+    x_lead = np.clip(x_lead, min_x_lead, 1e8)
+    v_lead = np.clip(v_lead, 0.0, 1e8)
+    a_lead = np.clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
@@ -16,6 +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]
@@ -30,7 +31,7 @@ _A_TOTAL_MAX_BP = [20., 40.]
 
 
 def get_max_accel(v_ego):
-  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -43,7 +44,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
-  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
   a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
   a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
 
@@ -55,9 +56,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
     v_now = speeds[0]
     a_now = accels[0]
 
-    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
@@ -67,10 +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
@@ -105,7 +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])
@@ -139,7 +144,7 @@ class LongitudinalPlanner:
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -151,7 +156,7 @@ class LongitudinalPlanner:
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
@@ -176,7 +181,7 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -200,9 +205,11 @@ class LongitudinalPlanner:
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                 action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = a_target
-    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = self.allow_throttle
+    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
+
+    self.publish_longitudinal_plan_sp(sm, pm)

selfdrive/controls/plannerd.py

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

selfdrive/controls/radard.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
+import numpy as np
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
-from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ class KalmanParams:
           0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
           0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
           0.26393339, 0.26278425]
-    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]
 
 
 class Track:

selfdrive/debug/clear_dtc.py

@@ -2,8 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 
 parser = argparse.ArgumentParser(description="clear DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import argparse
 
+from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
-from panda.python import uds
 
 
 def main(route: str | None, addrs: list[int]):

selfdrive/debug/hyundai_enable_radar_points.py

@@ -16,8 +16,8 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
 
+from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from panda.python import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 
 class ConfigValues(NamedTuple):
   default_config: bytes

selfdrive/debug/live_cpu_and_temp.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
+import numpy as np
 import capnp
 from collections import defaultdict
 
 from cereal.messaging import SubMaster
-from openpilot.common.numpy_fast import mean
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -49,7 +49,7 @@ if __name__ == "__main__":
 
     if sm.updated['deviceState']:
       t = sm['deviceState']
-      last_temp = mean(t.cpuTempC)
+      last_temp = np.mean(t.cpuTempC)
       last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
@@ -72,7 +72,7 @@ if __name__ == "__main__":
       total_times = total_times_new[:]
       busy_times = busy_times_new[:]
 
-      print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
+      print(f"CPU {100.0 * np.mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
         procs: dict[str, float] = defaultdict(float)

selfdrive/debug/read_dtc_status.py

@@ -2,9 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
 from panda import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE
-from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names
 
 parser = argparse.ArgumentParser(description="read DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0))

selfdrive/debug/vw_mqb_config.py

@@ -3,9 +3,9 @@
 import argparse
 import struct
 from enum import IntEnum
-from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
+from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from panda import Panda
 from datetime import date
 
 # TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks

selfdrive/locationd/paramsd.py

@@ -8,7 +8,6 @@ import cereal.messaging as messaging
 from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -66,7 +65,7 @@ class ParamsLearner:
         # This is done to bound the road roll estimate when localizer values are invalid
         roll = 0.0
         roll_std = np.radians(10.0)
-      self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+      self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
       yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
@@ -203,11 +202,11 @@ def main():
         learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
         x = learner.kf.x
 
-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()),
+      angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()),
                                   angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+      angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
                           angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
-      roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
+      roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
       roll_std = float(P[States.ROAD_ROLL].item())
       if learner.active and learner.speed > LOW_ACTIVE_SPEED:
         # Account for the opposite signs of the yaw rates
@@ -226,9 +225,9 @@ def main():
       liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.roll = roll
-      liveParameters.angleOffsetAverageDeg = angle_offset_average
-      liveParameters.angleOffsetDeg = angle_offset
+      liveParameters.roll = float(roll)
+      liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
+      liveParameters.angleOffsetDeg = float(angle_offset)
       liveParameters.valid = all((
         avg_offset_valid,
         total_offset_valid,

selfdrive/modeld/models/commonmodel.pxd

@@ -10,6 +10,7 @@ cdef extern from "common/clutil.h":
   cdef unsigned long CL_DEVICE_TYPE_DEFAULT
   cl_device_id cl_get_device_id(unsigned long)
   cl_context cl_create_context(cl_device_id)
+  void cl_release_context(cl_context)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -8,7 +8,7 @@ from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
 from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
 
 
@@ -17,6 +17,10 @@ cdef class CLContext(BaseCLContext):
     self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
     self.context = cl_create_context(self.device_id)
 
+  def __dealloc__(self):
+    if self.context:
+      cl_release_context(self.context)
+
 cdef class CLMem:
   @staticmethod
   cdef create(void * cmem):

selfdrive/monitoring/helpers.py

@@ -1,9 +1,9 @@
 from math import atan2
+import numpy as np
 
 from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
@@ -205,10 +205,10 @@ class DriverMonitoring:
     bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
                                            [self.settings._POSE_PITCH_THRESHOLD_SLACK,
                                             self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
                                            [self.settings._POSE_YAW_THRESHOLD_SLACK,
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 

selfdrive/selfdrived/events.py

@@ -652,8 +652,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.brakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+    ET.WARNING: Alert(
+      "Press Resume to Exit Brake Hold",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.parkBrake: {
@@ -1063,6 +1066,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.hyundaiRadarTracksConfirmed: {
     ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   }
 
 }

selfdrive/selfdrived/selfdrived.py

@@ -25,6 +25,7 @@ from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.experimental_switcher import ExperimentalSwitcher
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -44,7 +45,7 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
-class SelfdriveD:
+class SelfdriveD(ExperimentalSwitcher):
   def __init__(self, CP=None):
     self.params = Params()
 
@@ -140,6 +141,8 @@ class SelfdriveD:
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
+    ExperimentalSwitcher.__init__(self, self.params)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -367,12 +370,18 @@ class SelfdriveD:
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      ExperimentalSwitcher.update(self, CS, self.events, self.experimental_mode)
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       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)
@@ -452,6 +461,7 @@ class SelfdriveD:
     ss.alertStatus = self.AM.current_alert.alert_status
     ss.alertType = self.AM.current_alert.alert_type
     ss.alertSound = self.AM.current_alert.audible_alert
+    ss.alertHudVisual = self.AM.current_alert.visual_alert
 
     self.pm.send('selfdriveState', ss_msg)
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -121,7 +121,7 @@ class Plant:
     ss.selfdriveState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
-    car_state.carState.standstill = self.speed < 0.01
+    car_state.carState.standstill = bool(self.speed < 0.01)
     car_state.carState.vCruise = float(v_cruise * 3.6)
     car_control.carControl.orientationNED = [0., float(pitch), 0.]
 

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