Merge branch 'master-new-merge-test' into mads-new-test-onroad-ui

* ui: sunnypilot panel in settings

* add panel to comment

* test populate screenshot

* Revert "test populate screenshot"

This reverts commit 426b6c26c5.

.codespellignore

@@ -0,0 +1 @@
+Wen

.github/workflows/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_software settings_toggles 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_toggles settings_sunnypilot 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"
           A=($scenes)
 
           DIFF=""

SConstruct

@@ -74,6 +74,12 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -172,6 +178,10 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')

cereal/custom.capnp

@@ -8,7 +8,23 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+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 CustomReserved1 @0xaedffd8f31e7b55d {

cereal/log.capnp

@@ -125,6 +125,80 @@ 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;
+    silentPedalPressed @155;
+    silentLkasEnable @156;
+    silentLkasDisable @157;
+    silentBrakeHold @158;
+    silentWrongGear @159;
+    silentReverseGear @160;
+    silentDoorOpen @161;
+    silentSeatbeltNotLatched @162;
+    silentParkBrake @163;
+    controlsMismatchLateral @164;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -589,6 +663,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +771,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2558,7 +2632,7 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     customReserved1 @108 :Custom.CustomReserved1;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;

cereal/services.py

@@ -74,6 +74,9 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # sunnypilot
+  "selfdriveStateSP": (True, 100., 10),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/params.cc

@@ -200,6 +200,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // sunnypilot params
+    {"Mads", PERSISTENT},
+    {"MadsMainCruiseAllowed", PERSISTENT},
+    {"MadsPauseLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
+    {"HyundaiLongitudinalMainCruiseToggleable", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT},
 };
 

pyproject.toml

@@ -163,6 +163,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]

scripts/lint/lint.sh

@@ -57,7 +57,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
   return $FAILED

selfdrive/car/card.py

@@ -22,6 +22,8 @@ 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.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,10 @@ class Car:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    # mads
+    MadsParams().set_alternative_experience(self.CP)
+    MadsParams().set_car_specific_params(self.CP)
+
     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

selfdrive/controls/controlsd.py

@@ -19,6 +19,7 @@ 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
@@ -56,6 +57,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -88,7 +92,16 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not 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
+
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/modeld/modeld.py

@@ -1,13 +1,21 @@
 #!/usr/bin/env python3
+import os
 from openpilot.system.hardware import TICI
 
-from openpilot.selfdrive.modeld.runners.model_runner import ONNXRunner, TinygradRunner
-
 #
+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
@@ -25,8 +33,13 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
 
+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
@@ -56,12 +69,27 @@ class ModelState:
       'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
-    # Initialize model runner
-    self.model_runner = TinygradRunner() if TICI else ONNXRunner(self.frames)
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes =  model_metadata['input_shapes']
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -78,15 +106,24 @@ class ModelState:
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs)
+    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])
 
     if prepare_only:
       return None
 
-    # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    if TICI:
+      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
@@ -153,6 +190,7 @@ def main(demo=False):
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
+
   if demo:
     CP = get_demo_car_params()
   else:

selfdrive/modeld/runners/model_runner.py

@@ -1,92 +0,0 @@
-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 pickle
-import numpy as np
-from pathlib import Path
-from abc import ABC, abstractmethod
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
-
-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 ModelRunner(ABC):
-  """Abstract base class for model runners that defines the interface for running ML models."""
-
-  def __init__(self):
-    """Initialize the model runner with paths to model and metadata files."""
-    with open(METADATA_PATH, 'rb') as f:
-      self.model_metadata = pickle.load(f)
-    self.input_shapes = self.model_metadata['input_shapes']
-    self.output_slices = self.model_metadata['output_slices']
-    self.inputs: dict = {}
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray])-> dict:
-    """Prepare inputs for model inference."""
-
-  @abstractmethod
-  def run_model(self):
-    """Run model inference with prepared inputs."""
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
-    """Slice model outputs according to metadata configuration."""
-    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_outputs
-
-
-class TinygradRunner(ModelRunner):
-  """Tinygrad implementation of model runner for TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-    # Load Tinygrad model
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
-    # Initialize image tensors if not already done
-    for key in imgs_cl:
-      if key not in self.inputs:
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
-
-    # Update numpy inputs
-    for k, v in numpy_inputs.items():
-      if k not in self.inputs:
-        self.inputs[k] = Tensor(v, device='NPY').realize()
-
-    return self.inputs
-
-  def run_model(self):
-    return self.model_run(**self.inputs).numpy().flatten()
-
-
-class ONNXRunner(ModelRunner):
-  """ONNX implementation of model runner for non-TICI hardware."""
-
-  def __init__(self, frames: dict[str, DrivingModelFrame]):
-    super().__init__()
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-    self.frames = frames
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
-    self.inputs = numpy_inputs.copy()
-    for key in imgs_cl:
-      self.inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-    return self.inputs
-
-  def run_model(self):
-    return self.runner.run(None, self.inputs)[0].flatten()

selfdrive/pandad/panda.cc

@@ -137,8 +137,8 @@ void Panda::enable_deepsleep() {
   handle->control_write(0xfb, 0, 0);
 }
 
-void Panda::send_heartbeat(bool engaged) {
-  handle->control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  handle->control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {

selfdrive/pandad/panda.h

@@ -75,7 +75,7 @@ public:
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);

selfdrive/pandad/pandad.cc

@@ -41,6 +41,8 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+
 ExitHandler do_exit;
 
 bool check_all_connected(const std::vector<Panda *> &pandas) {
@@ -53,6 +55,18 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
+bool process_mads_heartbeat(SubMaster *sm) {
+  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+
+  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
+  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
+
+  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
+
+  return engaged;
+}
+
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
@@ -144,6 +158,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
@@ -327,7 +342,7 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
 }
 
 void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started) {
-  static SubMaster sm({"selfdriveState"});
+  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
 
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
@@ -366,8 +381,9 @@ 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);
+      panda->send_heartbeat(engaged, engaged_mads);
     }
   }
 }

selfdrive/selfdrived/events.py

@@ -105,6 +105,24 @@ class Events:
       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,
@@ -951,6 +969,106 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control: OFF",
+      "Manual Speed Control Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  # TODO-SP: remove prior merging
+  EventName.silentPedalPressed: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  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"),
+  },
+
+
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -23,6 +23,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 
 from openpilot.system.version import get_build_metadata
 
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -131,6 +133,10 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -451,11 +457,25 @@ class SelfdriveD:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
+    # selfdriveStateSP
+    ss_sp_msg = messaging.new_message('selfdriveStateSP')
+    ss_sp_msg.valid = True
+    ss_sp = ss_sp_msg.selfdriveStateSP
+    mads = ss_sp.mads
+    mads.state = self.mads.state_machine.state
+    mads.enabled = self.mads.enabled
+    mads.active = self.mads.active
+    mads.available = self.mads.enabled_toggle
+
+    self.pm.send('selfdriveStateSP', ss_sp_msg)
+
   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.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

selfdrive/selfdrived/tests/test_alerts.py

@@ -41,7 +41,7 @@ class TestAlerts:
     events = log.OnroadEvent.EventName.schema.enumerants
 
     for name, e in events.items():
-      if not name.endswith("DEPRECATED"):
+      if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
         fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 

selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09032a4d2ea3fc3eb767175ed8db8e18e744fc24da5e9b9a29497081c4319fe
+size 356151

selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:737f95d34912db53a303ba6499e6f697b510fa5872b8c71f701a4fe924b5466e
-size 356169

selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:991a71c6076682ae0787b1e67ecd9f982cd640b2649f066b03e9f160d0a5ffe1
+size 253185

selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e359e8f6b5a22b6f3f89b54989dac2110ee3a4463de2d785be83e20cda4f1cb6
-size 254248

selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b4554c29f3248335d01f09acf182c17b75e52b9c33e6404259b7a7296c81be
+size 332298

selfdrive/test/process_replay/fakedata/regen306779F6870|2024-10-03--04-03-23--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a8e4d044812a714ebdf0b15e73d4466e9ddaafa374368f308803c6b68dcd79ab
-size 332433

selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ba170ff2ea84034bd3108dbfaced47659ba1fdc3853e0eee507a1a50468805
+size 268982

selfdrive/test/process_replay/fakedata/regen4B38A7428CD|2024-08-30--02-56-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53b80c3c99a6897cafe7d408872c287ab0bbaac2751e344cf4623b312d2e4866
-size 268928

selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db95ac6c8a8c03564384f720bdf165a82f3a952237dc023e56bc5ff2e2b588ef
+size 437827

selfdrive/test/process_replay/fakedata/regen4CE950B0267|2024-08-30--02-51-30--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a4fa8a841c964e90b9c14b5aede8f30de949d319ae072cc291f0afb1c4c24baa
-size 437808

selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a63d34fa7cb0ef60c210ad07efcb9d287db160a9e5421a424193fb4d69d6573
+size 308605

selfdrive/test/process_replay/fakedata/regen58464878D07|2024-08-30--03-15-31--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ce370994de01d6240fa753846ddc7e1b852acac3f649a4c29ea16acae126f974
-size 308578

selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9628a092168c01aa025e96ad8f33af93f20a4bef5818dded276e0df69ad7f143
+size 393218

selfdrive/test/process_replay/fakedata/regen6E484EDAB96|2024-08-30--02-47-37--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:82333cfc026735eac81defae9e01b82b81ac30fd01ad265dbdd311dd97322198
-size 393106

selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96b6a1a7682048e96ab3fa5133f4ec9034b65ca1676718796cc63b153b74d47
+size 334220

selfdrive/test/process_replay/fakedata/regen720F2BA4CF6|2024-08-30--03-09-15--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e4ebae1742e3bb7d89f8cd452928c5c6a1b8679155562d23c6303ca4ec2e3b02
-size 334350

selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6228c1abc757f7f2a95db885adda57e57d52140ed955534074b77729afb5a5b7
+size 470440

selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:03326fb4486c1ffdd3609a0e0200e65d1f30dca5d9b047501d98b1b2d5321e75
-size 470495

selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd0974a369a279d6619203c5b8d04f2bbe3ce69d711d8950a2a6184432a1b05
+size 257619

selfdrive/test/process_replay/fakedata/regen756F8230C21|2024-11-07--00-08-24--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bffa062a5eace4d499c2fe12f2b0eb8c71207f4e7bea0e88456614f00e2859b1
-size 258989

selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65d6822bc9ae953d146e6fa4423d44e752612a6068b6a77ff6c33684ad9982b
+size 217462

selfdrive/test/process_replay/fakedata/regen9ADBECBCD1C|2024-08-30--03-13-04--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fe97d060fb6e60652b26b26406ca8b03890f6bff4b4bc5cb73fca267068a04c9
-size 217460

selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398f4f15bf2c474fed96efba377c9797ca9f0df57378b356723bfe854c733698
+size 293056

selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:60e33d209f4f600acf344feca8ab6494a1bf3aafe3c7121e2110a82ea06aa61e
-size 293084

selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08bf874154b8127ca9310ad465318cb661bf9b4508c543aefc15f145ce0519b4
+size 257404

selfdrive/test/process_replay/fakedata/regen9CBD921E93E|2024-08-30--02-38-51--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:754d601883db2377739f4112a8dff787b4b8181a8bb8bf4d7dbcf77c5cb6ac93
-size 256838

selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720771d57150a2784303249c4fe27d6bab7b7ada2ba4f076a3d8b3a12cb2413c
+size 100027

selfdrive/test/process_replay/fakedata/regenA67A128BCD8|2024-08-30--02-36-22--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:378d6fc5c674e62b51a12b994cfcd03c435a9731c6e2f4c0d14a39010540cc77
-size 100067

selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba9e5837919bd6671d2a9b5ee360e00456e577d90a2b828c78ce1691936ea8b
+size 262863

selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:037825cd9b443d038ab3bb370eab802612d1ce528c5de1350fd99965eaa0d131
-size 262910

selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cb6b2d2fd6fcbfb86fdf718a009445e968fd0b3c8600bb1a212c1e2a469c9ab
+size 256534

selfdrive/test/process_replay/fakedata/regenAA1FF48CF1F|2024-08-30--03-06-45--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58645abd939aa17cf291a254517865704c74124743a8a77da296c519a29567df
-size 256653

selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4313e41d5a8a53706d38f799ec1b9b99dc70ece5bed35ee328f3f0e9815bce38
+size 268229

selfdrive/test/process_replay/fakedata/regenACF84CCF482|2024-08-30--03-21-55--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fed5fa87ab0dfbf410b5a142e98eae9dacdb1a7c2ec38f91ba5ae18d8ad9a9e0
-size 268234

selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2596eabc16cffe9083352a330a275a373c589caf1010f7a107bacf4f422c2ee6
+size 305143

selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_card_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f8affdd98bd39d326a7d66e5bca4028ac81595a3f55a6fc094e8b93f535eab8f
-size 305144

selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_0a0b99814ae257d4b43b66b9973633f926998f6a.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eb587d291f245858983b22e98494e1f97869d214293eb4d6231ec69e81af546
+size 253475

selfdrive/test/process_replay/fakedata/regenC8F0D6ADC5C|2024-08-30--02-54-01--0_plannerd_a20d7a427906c43549cf58b7a859f264aabdf28d.zst

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d82c14c33dc91196a5febc1c45d307a157d5b64b4eb1f8c880fa319af79bc5f5
-size 253450