Update opendbc_repo

This reverts commit 15e5d2efb9.

openpilot/cereal/custom.capnp

@@ -386,6 +386,8 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  laneLeftDistance @5 :Float32;  # model distance to the left lane line (m), 0 when not seen
+  laneRightDistance @6 :Float32;  # model distance to the right lane line (m), 0 when not seen
 
   struct Param {
     key @0 :Text;

openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import time
 
+
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log, custom
 
@@ -26,6 +27,8 @@ class ControlsExt(ModelStateBase):
     self.params = params
     self._param_update_time: float = 0.0
     self.blinker_pause_lateral = BlinkerPauseLateral()
+    self._lane_shown = [False, False]  # left, right lane lines for car HUDs
+    self._lane_count = [0, 0]
 
     cloudlog.info("controlsd_ext is waiting for CarParamsSP")
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
@@ -91,6 +94,19 @@ class ControlsExt(ModelStateBase):
     self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
     self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
 
+    # model lane lines next to the car, for car HUDs that show lane position. A line appears after 1 s above 70%
+    # confidence and disappears after 0.5 s below 50%, so weak detections on unmarked roads don't flicker
+    lines, probs = sm['modelV2'].laneLines, sm['modelV2'].laneLineProbs
+    if len(lines) == 4 and len(probs) == 4:
+      for i, prob in enumerate((probs[1], probs[2])):
+        if sm.updated['modelV2']:
+          flip = prob < 0.5 if self._lane_shown[i] else prob > 0.7
+          self._lane_count[i] = self._lane_count[i] + 1 if flip else 0
+          if self._lane_count[i] >= (10 if self._lane_shown[i] else 20):  # model runs at 20 Hz
+            self._lane_shown[i], self._lane_count[i] = not self._lane_shown[i], 0
+      CC_SP.laneLeftDistance = float(-lines[1].y[0]) if self._lane_shown[0] else 0.
+      CC_SP.laneRightDistance = float(lines[2].y[0]) if self._lane_shown[1] else 0.
+
     # MADS state
     mads_src = sm['selfdriveStateSP'].mads
     CC_SP.mads.state = mads_src.state