Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test

Source commit: 13cb725652

Original commits:

* Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580)
* test_processes: update ref logs to afde277
* # Conflicts:
* #    .github/workflows/ui_preview.yaml
* #    opendbc_repo
* #    panda
* #    release/release_files.py
* #    selfdrive/test/process_replay/ref_commit
* #    selfdrive/ui/tests/test_ui/run.py
* bring back ui.py (#34396)
* * bring back uipy
* * fix it
* * fix
* Log satellite count in GpsLocationData (#34395)
* * Log satellite count in GpsLocationData
* * update refs
* * forgot to build
* Toyota: allow brake hold (#34394)
* toyota okay
* fix uv (#34393)
* uv fix
* Update RELEASES.md
* release this month
* no need
* fix
* unused
* Longitudinal: Distance button hold to toggle Chill/Experimental Mode
* Hyundai: match cancel button panda safety logic (#34390)
* * rising edge
* * should work
* * TODO
* * fix
* card: fix cruise speed initialization w/ buttons (#34386)
* * fix initialize w/ buttons
* * what
* * comment
* VW: switch to common pcmCruise check (#34389)
* Update car_specific.py
* card: vcruise all in one place (#34387)
* * no reason to not be here
* * oh this was off by a frame!
* * ref
* Fix missing visual car dash alerts (#34385)
* * fix missing visual dash alerts
* * update refs
* process_replay: add cast in migrate_longitudinalPlan (#34383)
* * Cast
* * Something
* * Remove newline
* process_replay: ignore unknown members in the migration code (#34382)
* * Fix the migration for the events
* * clean up
* clean up
* clean up
* * no continue
* ---------
* Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Getting rid of openpilot.common.numpy_fast (#34368)
* * Got rid openpilot.common.numpy_fast
* * fixed some data type erros
* * importing numpy instead of importing specific functions
* * fixing some numpy importing mistakes
* * Update selfdrive/car/cruise.py
* ---------
* Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Toyota: remove longitudinal derivative (#34378)
* * Update Python packages
* * update refs
* ---------
* Co-authored-by: Vehicle Researcher <user@comma.ai>
* Co-authored-by: Shane Smiskol <shane@smiskol.com>
* PlotJuggler: Layout for debugging locationdTemporaryError (#34381)
* * PlotJuggler: layout for debugging locationd
* * not needed, and codespell doesn't like it
* raylib: revert auto fit screen size (#34380)
* revert auto fit screen size
* Remove release files (conceptually) (#34379)
* * Remove release files (conceptually)
* * fix
* raylib: refactor to implement new App class (#34375)
* refactor to implement new App class
* [bot] Update Python packages (#34376)
* * Update Python packages
* * time -> time_helpers
* ---------
* Co-authored-by: Vehicle Researcher <user@comma.ai>
* Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
* CI: Add missing uppercase_keyboard UI view (#34347)
* * add-uppercase-preview
* * testing-UI-on-fork
* * change back
* * add-my-branch
* * needs to see sha from fork for test
* * fix missing sha
* * change back
* * get correct named artifact
* * try this
* * experimenting coordinates
* * try these coordinates
* * try these coordinates
* * draws circles to see touches - changes coordinates
* * try these changes
* * better coordinates
* * click is more centered
* * try again
* * revert back
* * revert these too
* * last revert...
* Keyboard: add missing control btns to uppercase (#34344)
* * add-slash-to uppercase
* * Trigger UI preview workflow
* Move uds.py (#34374)
* * rm uds pt. 1
* * rm uds pt. 2
* * imports
* oops need raw
* third_party: add raygui (#34369)
* swaglog: fix locale dependence (#34367)
* encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342)
* remove redundant pointer parameter
* modeld: properly release OpenCL context in  `__dealloc__` method (#34353)
* release OpenCL context in __dealloc__
* release soon
* loggerd: typing and remove unused default arg (#34349)
* deleter cleanups (#34345)

.codespellignore

@@ -0,0 +1,2 @@
+Wen
+REGIST

.gitattributes

@@ -9,6 +9,7 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
+selfdrive/test/process_replay/fakedata/*.zst filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text

.github/workflows/auto_pr_review.yaml

@@ -24,7 +24,7 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -37,17 +37,17 @@ jobs:
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
             * Before marking as "ready for review", ensure:
               * the goal is clearly stated in the description
               * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-      
+

.github/workflows/badges.yaml

@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -0,0 +1,72 @@
+name: Sync comma's LFS
+
+env:
+  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+
+on:
+  schedule:
+    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
+  push:
+    branches:
+      - 'master-new'
+  pull_request:
+    branches:
+      - 'master-new'
+  workflow_dispatch:  # enables manual triggering
+    inputs:
+      upstream_branch:
+        default: 'master'
+        type: string
+
+jobs:
+  sync:
+    runs-on: ubuntu-latest
+    # Skip if PR is in draft mode
+    if: github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          repository: 'commaai/openpilot'
+          ref: ${{ inputs.upstream_branch }}
+      
+      - name: LFS Fetch
+        run: |
+          git lfs fetch
+
+      - name: Set up Git
+        run: |
+          git config --global user.name 'GitHub Action'
+          git config --global user.email 'action@github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+      
+      - name: Ensure branch
+        run: |
+          if git symbolic-ref -q HEAD >/dev/null; then
+              echo "Already on a branch, proceeding with push"
+            else
+              echo "Detached HEAD state detected, creating temporary branch"
+            git checkout -b temp_branch
+          fi
+
+      - name: Update LFS Config
+        run: |
+          echo '[lfs]' > .lfsconfig
+          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
+          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
+          echo '    locksverify = false' >> .lfsconfig
+
+      - name: Push LFS
+        id: sync-and-commit
+        run: |
+          git lfs ls-files -l
+          git lfs push --all origin

.github/workflows/prebuilt.yaml

@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release.yaml

@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write

.github/workflows/repo-maintenance.yaml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/selfdrive_tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,10 +15,11 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -31,6 +33,7 @@ env:
 
 jobs:
   build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
@@ -52,7 +55,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
@@ -64,15 +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:
@@ -93,7 +88,9 @@ jobs:
 
   build_mac:
     name: build macOS
-    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -102,6 +99,7 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: ~/Library/Caches/Homebrew
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -113,6 +111,7 @@ jobs:
       uses: ./.github/workflows/auto-cache
       with:
         path: /tmp/scons_cache
+        key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
@@ -345,7 +344,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
@@ -354,5 +353,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/stale.yaml

@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

.github/workflows/sunnypilot-build-model.yaml

@@ -0,0 +1,133 @@
+name: Build Model from Upstream
+
+env:
+  BUILD_DIR: "/data/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  UPSTREAM_REPO: "commaai/openpilot"
+
+on:
+  workflow_dispatch:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model'
+        required: false
+        type: string
+      file_name:
+        description: 'File name prefix for the model files'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: false
+
+
+run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
+
+jobs:
+  build_model:
+    runs-on: self-hosted
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: ${{ env.UPSTREAM_REPO }}
+          ref: ${{ github.event.inputs.upstream_branch }}
+          submodules: recursive
+
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
+      
+      - name: Patch SConstruct to pass arbitrary cache
+        run: |
+          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
+          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
+          cat ${{ github.workspace }}/SConstruct
+
+      - name: Build Model
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          
+          # Copy the model files
+          rsync -avm \
+            --include='*.dlc' \
+            --include='*.thneed' \
+            --include='*.pkl' \
+            --include='*.onnx' \
+            --exclude='*' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+          
+          # Rename files if file_name is provided
+          if [ ! -z "${{ inputs.file_name }}" ]; then
+            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
+            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
+          fi
+          
+          # Calculate SHA256 hashes
+          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
+          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
+          
+          # Create metadata.json
+          cat > ${OUTPUT_DIR}/metadata.json << EOF
+          {
+            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
+            "full_name": "${{ inputs.file_name || 'default' }}",
+            "is_20hz": ${{ inputs.is_20hz || false }},
+            "files": {
+              "drive_model": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
+                "sha256": "${HASH}"
+              },
+              "metadata": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
+                "sha256": "${METADATA_HASH}"
+              }
+            },
+            "ref": "${{ inputs.upstream_branch }}",
+            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
+          }     
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          path: ${{ env.OUTPUT_DIR }}

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -0,0 +1,275 @@
+name: sunnypilot prebuilt action
+
+env:
+  BUILD_DIR: "/data/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  CI_DIR: ${{ github.workspace }}/release/ci
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
+  
+  # Branch configurations
+  MASTER_BRANCH: "master"
+  MASTER_NEW_BRANCH: "master-new"
+  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: "staging-c3-new"
+  DEV_TARGET_BRANCH: "dev-c3-new"
+  RELEASE_TARGET_BRANCH: "release-c3-new"
+
+on:
+  push:
+    branches: [ master, master-new, master-dev-c3-new ]
+    tags: [ '*' ]
+  pull_request:
+    branches: [ master, master-new ]
+  workflow_dispatch:
+    inputs:
+      extra_version:
+        description: 'Extra version identifier'
+        required: false
+        default: ''
+
+jobs:
+  build:
+    concurrency:
+      group: build-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: false
+    runs-on: self-hosted
+    outputs:
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Set Configuration
+        run: |
+          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+            # Dev configuration
+            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+            # Master configuration
+            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
+            # Tag configuration
+            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
+          
+          else
+            # Feature branch configuration
+            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          fi
+
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Build Panda
+        run: |
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
+
+      - name: Build Main Project
+        run: |
+          export PYTHONPATH="$BUILD_DIR"
+          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          cd $BUILD_DIR
+          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          touch ${BUILD_DIR}/prebuilt
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            ls -la ${BUILD_DIR}
+          fi
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
+            --exclude='.sconsign.dblite' \
+            --exclude='*.a' \
+            --exclude='*.o' \
+            --exclude='*.os' \
+            --exclude='*.pyc' \
+            --exclude='moc_*' \
+            --exclude='*.cc' \
+            --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
+            --exclude='**/release/' \
+            --exclude='**/.github/' \
+            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
+            --exclude='${{env.SCONS_CACHE_DIR}}' \
+            --exclude='**/.git/' \
+            --exclude='**/SConstruct' \
+            --exclude='**/SConscript' \
+            --exclude='**/.venv/' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+
+      - name: 'Tar.gz files'
+        run: |
+          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          ls -la prebuilt.tar.gz
+
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: prebuilt
+          path: prebuilt.tar.gz
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  publish:
+    concurrency:
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
+    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
+    needs: build
+    runs-on: ubuntu-24.04
+    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: prebuilt
+
+      - name: Untar prebuilt
+        run: |
+          mkdir -p ${{ env.OUTPUT_DIR }}
+          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git config --global user.name "github-actions[bot]"
+
+      - name: Publish to Public Repository
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          echo '${{ toJSON(needs.build.outputs) }}'
+          ls -la ${{ env.OUTPUT_DIR }}
+
+          ${{ env.CI_DIR }}/publish.sh \
+            "${{ github.workspace }}" \
+            "${{ env.OUTPUT_DIR }}" \
+            "${{ needs.build.outputs.new_branch }}" \
+            "${{ needs.build.outputs.version }}" \
+            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
+            "-${{ needs.build.outputs.extra_version_identifier }}"
+          
+          echo ""
+          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
+          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+
+  notify:
+    needs: [ build, publish ]
+    runs-on: ubuntu-24.04
+    if: success()
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Alpine Linux environment
+        uses: jirutka/setup-alpine@v1.2.0
+        with:
+          packages: 'jq gettext curl'
+
+      - name: Send Discord Notification
+        env:
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+        run: |
+          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
+          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
+          export VERSION="${{ needs.build.outputs.version }}"
+          export branch_name=${{ github.head_ref || github.ref_name }}
+          export new_branch=${{ needs.build.outputs.new_branch }}
+          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
+          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          
+          echo ""
+          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
+          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+        shell: alpine.sh {0}

.github/workflows/ui_preview.yaml

@@ -3,23 +3,25 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
+      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -58,13 +60,13 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -84,7 +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_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=""
@@ -106,13 +108,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -125,7 +127,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

.gitignore

@@ -74,6 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+sunnypilot/modeld/thneed/compile
+sunnypilot/modeld/models/*.thneed
+sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst
@@ -103,3 +106,8 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
+
+### JetBrains ###
+!.idea/customTargets.xml
+!.idea/tools/*
+!.run/*

.gitmodules

@@ -1,18 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git

.idea/customTargets.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CLionExternalBuildManager">
+    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
+      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
+      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Release" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+  </component>
+</project>

.idea/tools/External Tools.xml

@@ -0,0 +1,23 @@
+<toolSet name="External Tools">
+  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+</toolSet>

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false

.run/Build Debug.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

.run/Build Release.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

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)
 ========================

SConstruct

@@ -70,6 +70,12 @@ 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
@@ -168,6 +174,10 @@ 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(' ')
@@ -233,7 +243,8 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -381,6 +392,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":

cereal/custom.capnp

@@ -8,10 +8,78 @@ $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 {
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum Type {
+    drive @0;
+    navigation @1;
+    metadata @2;
+  }
+
+  struct Model {
+    fullName @0 :Text;
+    fileName @1 :Text;
+    downloadUri @2 :DownloadUri;
+    downloadProgress @3 :DownloadProgress;
+    type @4 :Type;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+  
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    runner @7 :Runner;
+  }
 }
 
 struct CustomReserved2 @0xf35cc4560bbf6ec2 {

cereal/log.capnp

@@ -125,6 +125,81 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    eventReserved93 @93;
+    eventReserved94 @94;
+    eventReserved95 @95;
+    eventReserved96 @96;
+    eventReserved97 @97;
+    eventReserved98 @98;
+    eventReserved99 @99;
+    eventReserved100 @100;
+    eventReserved101 @101;
+    eventReserved102 @102;
+    eventReserved103 @103;
+    eventReserved104 @104;
+    eventReserved105 @105;
+    eventReserved106 @106;
+    eventReserved107 @107;
+    eventReserved108 @108;
+    eventReserved109 @109;
+    eventReserved110 @110;
+    eventReserved111 @111;
+    eventReserved112 @112;
+    eventReserved113 @113;
+    eventReserved114 @114;
+    eventReserved115 @115;
+    eventReserved116 @116;
+    eventReserved117 @117;
+    eventReserved118 @118;
+    eventReserved119 @119;
+    eventReserved120 @120;
+    eventReserved121 @121;
+    eventReserved122 @122;
+    eventReserved123 @123;
+    eventReserved124 @124;
+    eventReserved125 @125;
+    eventReserved126 @126;
+    eventReserved127 @127;
+    eventReserved128 @128;
+    eventReserved129 @129;
+    eventReserved130 @130;
+    eventReserved131 @131;
+    eventReserved132 @132;
+    eventReserved133 @133;
+    eventReserved134 @134;
+    eventReserved135 @135;
+    eventReserved136 @136;
+    eventReserved137 @137;
+    eventReserved138 @138;
+    eventReserved139 @139;
+    eventReserved140 @140;
+    eventReserved141 @141;
+    eventReserved142 @142;
+    eventReserved143 @143;
+    eventReserved144 @144;
+    eventReserved145 @145;
+    eventReserved146 @146;
+    eventReserved147 @147;
+    eventReserved148 @148;
+    eventReserved149 @149;
+    eventReserved150 @150;
+
+    # sunnypilot
+    lkasEnable @151;
+    lkasDisable @152;
+    manualSteeringRequired @153;
+    manualLongitudinalRequired @154;
+    silentLkasEnable @155;
+    silentLkasDisable @156;
+    silentBrakeHold @157;
+    silentWrongGear @158;
+    silentReverseGear @159;
+    silentDoorOpen @160;
+    silentSeatbeltNotLatched @161;
+    silentParkBrake @162;
+    controlsMismatchLateral @163;
+    hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -409,6 +484,7 @@ struct GpsLocationData {
   speedAccuracy @12 :Float32;
 
   hasFix @13 :Bool;
+  satelliteCount @14 :Int8;
 
   enum SensorSource {
     android @0;
@@ -589,6 +665,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -696,7 +773,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2558,8 +2634,8 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
+    modelManagerSP @108 :Custom.ModelManagerSP;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;
     customReserved4 @111 :Custom.CustomReserved4;

cereal/services.py

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

common/api.py

@@ -1,46 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/__init__.py

@@ -0,0 +1,27 @@
+from openpilot.common.api.comma_connect import CommaConnectApi
+from sunnypilot.sunnylink.api import SunnylinkApi
+
+
+class Api:
+  def __init__(self, dongle_id, use_sunnylink=False):
+    if use_sunnylink:
+      self.service = SunnylinkApi(dongle_id)
+    else:
+      self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
+
+  def get(self, *args, **kwargs):
+    return self.service.get(*args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.service.post(*args, **kwargs)
+
+  def get_token(self, expiry_hours=1):
+    return self.service.get_token(expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
+  return SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) if use_sunnylink \
+    else CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)

common/api/base.py

@@ -0,0 +1,56 @@
+import jwt
+import requests
+import unicodedata
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, expiry_hours=1, **extra_payload):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, expiry_hours=1):
+    return self._get_token(expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, params=params)

common/api/comma_connect.py

@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"

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

@@ -109,35 +109,35 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT},
-    {"DisableUpdates", PERSISTENT},
-    {"DisengageOnAccelerator", PERSISTENT},
+    {"DisablePowerDown", PERSISTENT | BACKUP},
+    {"DisableUpdates", PERSISTENT | BACKUP},
+    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"ExperimentalMode", PERSISTENT | BACKUP},
+    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT},
-    {"GithubUsername", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT | BACKUP},
+    {"GithubUsername", PERSISTENT | BACKUP},
     {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT},
-    {"GsmMetered", PERSISTENT},
-    {"GsmRoaming", PERSISTENT},
+    {"GsmApn", PERSISTENT | BACKUP},
+    {"GsmMetered", PERSISTENT | BACKUP},
+    {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT},
-    {"IsMetric", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT | BACKUP},
+    {"IsMetric", PERSISTENT | BACKUP},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
@@ -145,7 +145,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT},
+    {"LanguageSetting", PERSISTENT | BACKUP},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -157,7 +157,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT | BACKUP},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -173,17 +173,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT},
+    {"RecordFront", PERSISTENT | BACKUP},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},
+    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT},
+    {"SshEnabled", PERSISTENT | BACKUP},
     {"TermsVersion", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
@@ -199,6 +199,36 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // --- sunnypilot params --- //
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
+
+    // MADS params
+    {"Mads", PERSISTENT | BACKUP},
+    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+
+    // Model Manager params
+    {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+
+    // sunnylink params
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
+    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"SunnylinkDongleId", PERSISTENT},
+    {"SunnylinkdPid", PERSISTENT},
+    {"SunnylinkEnabled", PERSISTENT},
+
+    // sunnypilot car specific params
+    {"HyundaiRadarTracks", PERSISTENT},
+    {"HyundaiRadarTracksConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksPersistent", PERSISTENT},
+    {"HyundaiRadarTracksToggle", PERSISTENT},
 };
 
 } // namespace

common/params.h

@@ -16,6 +16,7 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
+  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 

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)

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>||

openpilot/sunnypilot

@@ -0,0 +1 @@
+../sunnypilot

pyproject.toml

@@ -159,6 +159,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]

release/ci/install_github_runner.sh

@@ -0,0 +1,253 @@
+#!/usr/bin/env bash
+set -e
+
+# Default values
+DEFAULT_REPO_URL="https://github.com/sunnypilot"
+START_AT_BOOT=false
+RESTORE_MODE=false
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --start-at-boot)
+            START_AT_BOOT=true
+            shift
+            ;;
+        --token)
+            GITHUB_TOKEN="$2"
+            shift 2
+            ;;
+        --repo)
+            REPO_URL="$2"
+            shift 2
+            ;;
+        --restore)
+            RESTORE_MODE=true
+            shift
+            ;;
+        *)
+            if [ -z "$GITHUB_TOKEN" ]; then
+                GITHUB_TOKEN="$1"
+            elif [ -z "$REPO_URL" ]; then
+                REPO_URL="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    BASE_DIR="/data/media/0/github"
+else
+    BASE_DIR="/data/github"
+fi
+
+# Constants
+RUNNER_USER="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+RUNNER_DIR="${BASE_DIR}/runner"
+BUILDS_DIR="${BASE_DIR}/builds"
+LOGS_DIR="${BASE_DIR}/logs"
+CACHE_DIR="${BASE_DIR}/cache"
+OPENPILOT_DIR="${BASE_DIR}/openpilot"
+
+# Basic utility functions (no dependencies)
+remount_rw() {
+    sudo mount -o remount,rw /
+}
+
+remount_ro() {
+    sync || true  # Try to sync but continue even if it fails
+    sudo mount -o remount,ro /  # Always try to remount as read-only
+}
+
+# Always ensure we try to remount as read-only on exit
+trap remount_ro EXIT
+
+setup_runner_user() {
+    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+    export BASE_DIR
+    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
+}
+
+create_sudoers_entry() {
+    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
+
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod g+rwx "$BASE_DIR"
+    sudo chmod g+s "$BASE_DIR"
+}
+
+setup_directories() {
+    echo "Creating necessary directories..."
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+}
+
+# System configuration functions (depends on basic utility functions)
+setup_system_configs() {
+    echo "Setting up system configurations..."
+    setup_runner_user
+    create_sudoers_entry
+    set_directory_permissions
+}
+
+# Runner setup functions
+install_runner() {
+    echo "Downloading and setting up runner..."
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
+}
+
+configure_runner() {
+    echo "Configuring runner..."
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
+create_service_template() {
+    echo "Creating service template..."
+    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
+[Unit]
+Description={{Description}}
+After=network-online.target nss-lookup.target time-sync.target
+Wants=network-online.target nss-lookup.target time-sync.target
+StartLimitInterval=5
+StartLimitBurst=10
+
+[Service]
+Type=simple
+User=root
+ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
+WorkingDirectory={{RunnerRoot}}
+KillMode=process
+KillSignal=SIGTERM
+TimeoutStopSec=5min
+Restart=always
+RestartSec=120
+
+[Install]
+WantedBy=multi-user.target
+EOL
+}
+
+install_service() {
+    echo "Installing systemd service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh install $RUNNER_USER
+
+    if [ "$START_AT_BOOT" = false ]; then
+        local service_name
+        if [ -f "${RUNNER_DIR}/.service" ]; then
+            service_name=$(cat "${RUNNER_DIR}/.service")
+        else
+            service_name="actions.runner.sunnypilot.$(uname -n)"
+        fi
+        sudo systemctl disable "${service_name}"
+    fi
+}
+
+check_restore_prerequisites() {
+    local needs_restore=false
+    local can_restore=false
+    local service_name=""
+
+    # Check if base runner directory exists
+    if [ ! -d "${RUNNER_DIR}" ]; then
+        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
+        echo "This directory is required for restore operations"
+        exit 1
+    fi
+
+    # First check if we have the required files for restoration
+    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
+        can_restore=true
+        service_name=$(cat "${RUNNER_DIR}/.service")
+        echo "Found required runner configuration files"
+    else
+        echo "Missing required runner configuration files"
+        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
+        exit 1
+    fi
+
+    # Then check if restoration is needed (if either service or user is missing)
+    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
+        echo "Service ${service_name} not found in systemd"
+        needs_restore=true
+    fi
+
+    if ! id "${RUNNER_USER}" &>/dev/null; then
+        echo "User ${RUNNER_USER} does not exist"
+        needs_restore=true
+    fi
+
+    # Only proceed if we can restore AND need to restore
+    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
+        echo "Restoration is needed and possible"
+        return 0
+    else
+        if [ "$needs_restore" = false ]; then
+            echo "System is already properly configured (user and service exist)"
+        fi
+        exit 0
+    fi
+}
+
+perform_restore() {
+    echo "Starting runner restoration..."
+    setup_directories
+    remount_rw
+    setup_system_configs
+    install_service
+    remount_ro
+    echo "Runner restoration completed successfully"
+}
+
+perform_install() {
+    echo "Starting fresh installation..."
+    setup_directories
+    install_runner
+    create_service_template
+    remount_rw
+    setup_system_configs
+    configure_runner
+    install_service
+    remount_ro
+    echo "Installation completed successfully"
+}
+
+main() {
+    if [ "$RESTORE_MODE" = true ]; then
+        echo "Running in restore mode - will only restore system configurations..."
+        check_restore_prerequisites
+        perform_restore
+    else
+        # Check required arguments for normal installation
+        if [ -z "$GITHUB_TOKEN" ]; then
+            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
+            echo "Required argument (except for --restore): github_token"
+            echo "Optional arguments:"
+            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+            echo "  --restore         Restore existing runner configuration"
+            exit 1
+        fi
+
+        # Set repository URL if not provided
+        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+        perform_install
+    fi
+
+    echo "Starting runner service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh start
+}
+
+main

release/ci/publish.sh

@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# Take parameters as arguments
+SOURCE_DIR=$1
+OUTPUT_DIR=$2
+DEV_BRANCH=$3
+VERSION=$4
+GIT_ORIGIN=$5
+EXTRA_VERSION_IDENTIFIER=$6
+
+# Check parameters
+if [ -z "$SOURCE_DIR" ] || [ -z "$OUTPUT_DIR" ]; then
+    echo "Error: No source or output directory provided."
+    exit 1
+fi
+
+if [ -z "$DEV_BRANCH" ] || [ -z "$VERSION" ]; then
+    echo "Error: No dev branch or version provided."
+    exit 1
+fi
+
+if [ -z "$GIT_ORIGIN" ]; then
+    echo "Error: No GIT_ORIGIN provided"
+    exit 1
+fi
+
+# "Tagging"
+echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+
+## set git identity
+#source $DIR/identity.sh
+#export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+echo "[-] Setting up repo T=$SECONDS"
+cd $OUTPUT_DIR
+git init
+
+# set git username/password
+#source /data/identity.sh
+
+git rm -rf $OUTPUT_DIR/.git || true # Doing cleanup, but it might fail if the .git doesn't exist or not allowed to delete
+git remote remove origin || true # ensure cleanup
+git remote add origin $GIT_ORIGIN
+#git push origin -d $DEV_BRANCH || true # Ensuring we delete the remote branch if it exists as we are wiping it out
+git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --allow-empty -m "sunnypilot v$VERSION release" && git push -u origin $DEV_BRANCH)
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "sunnypilot v$VERSION release"
+git branch --set-upstream-to=origin/$DEV_BRANCH
+
+# include source commit hash and build date in commit
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+
+# Add built files to git
+git add -f .
+if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
+  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
+  git commit --amend -m "sunnypilot v$VERSION"
+else
+  git commit --amend -m "sunnypilot v$VERSION
+  version: sunnypilot v$SP_VERSION release
+  date: $DATETIME
+  master commit: $GIT_HASH
+  "
+fi
+git branch -m $DEV_BRANCH
+
+# Push!
+echo "[-] pushing T=$SECONDS"
+git push -f origin $DEV_BRANCH

release/ci/squash_and_merge.py

@@ -0,0 +1,361 @@
+#!/usr/bin/env python3
+import argparse
+import subprocess
+import sys
+import shutil
+import signal
+import contextlib
+import tempfile
+import os
+
+
+def run_command(command: str) -> tuple[int, str, str]:
+  """Run a shell command and return exit code, stdout, and stderr."""
+  process = subprocess.Popen(
+    command,
+    shell=True,
+    stdout=subprocess.PIPE,
+    stderr=subprocess.PIPE,
+    text=True
+  )
+  stdout, stderr = process.communicate()
+  return process.returncode, stdout.strip(), stderr.strip()
+
+
+def is_gh_available() -> bool:
+  """Check if GitHub CLI is available."""
+  return shutil.which('gh') is not None
+
+
+def get_current_branch() -> str | None:
+  """Get the name of the current git branch."""
+  code, output, error = run_command("git rev-parse --abbrev-ref HEAD")
+  if code != 0:
+    print(f"Error getting current branch: {error}")
+    return None
+  return output
+
+
+def backup_branch(branch_name: str) -> bool:
+  """Create a backup of the current branch."""
+  backup_name = f"{branch_name}-backup-$(date +%Y%m%d_%H%M%S)"
+  code, _, error = run_command(f"git branch {backup_name}")
+  if code != 0:
+    print(f"Error creating backup branch: {error}")
+    return False
+  print(f"Created backup branch: {backup_name}")
+  return True
+
+
+def get_commit_messages(source_branch: str, target_branch: str) -> list[str] | None:
+  """Get all commit messages between source and target branches."""
+  code, output, error = run_command(f"git log {target_branch}..{source_branch} --format=%B")
+  if code != 0:
+    print(f"Error getting commit messages: {error}")
+    return None
+  return [msg.strip() for msg in output.splitlines() if msg and not msg.startswith('Merge')]
+
+
+def get_pr_info(branch_name: str) -> str | None:
+  """Get PR title using GitHub CLI."""
+  if not is_gh_available():
+    print("Warning: GitHub CLI not found. Install it to auto-fetch PR titles:")
+    print("  https://cli.github.com/")
+    return None
+
+  # Try to get PR info using gh cli
+  code, output, error = run_command(f"gh pr view --json title --jq .title {branch_name}")
+  if code != 0:
+    print(f"No open PR found for branch '{branch_name}'")
+    return None
+
+  return output
+
+
+def create_squash_message(pr_title: str | None, commit_messages: list[str], source_branch: str) -> str:
+  """Create a squash commit message from PR title and commit messages."""
+  parts = []
+
+  # Add PR title if provided
+  if pr_title:
+    parts.append(pr_title)
+  else:
+    parts.append(f"Squashed changes from {source_branch}")
+  parts.append("")  # Empty line after title
+
+  # Add original commits section
+  if commit_messages:
+    parts.append("Original commits:")
+    parts.append("")  # Empty line before list
+    parts.extend(f"* {msg}" for msg in commit_messages)
+
+  return '\n'.join(parts)
+
+
+def prompt_for_title() -> str:
+  """Prompt user for a commit title."""
+  return input("Enter commit title (or press Enter to use default): ").strip()
+
+
+@contextlib.contextmanager
+def workspace_manager(original_branch: str):
+  """Context manager to handle workspace state and cleanup."""
+  stash_created = False
+  stash_restored = False
+  temp_branch: str | None = None
+
+  def cleanup_handler(signum=None, frame=None):
+    """Clean up workspace state."""
+    nonlocal temp_branch, stash_created, stash_restored
+    try:
+      if signum and stash_restored:
+        # If we're handling Ctrl+C but stash was already restored,
+        # just clean up branches and exit
+        current = get_current_branch()
+        if current and current != original_branch:
+          run_command(f"git checkout {original_branch}")
+        if temp_branch:
+          run_command(f"git branch -D {temp_branch}")
+        print("\nOperation interrupted, but changes were already restored.")
+        sys.exit(1)
+
+      # First, switch back to original branch
+      current = get_current_branch()
+      if current and current != original_branch:
+        run_command(f"git checkout {original_branch}")
+
+      # Then clean up temp branch
+      if temp_branch:
+        run_command(f"git branch -D {temp_branch}")
+
+      # Finally, restore stash if needed - AFTER switching branches
+      if stash_created and not stash_restored:
+        print("Restoring your uncommitted changes...")
+        code, stash_list, _ = run_command("git stash list")
+        if code == 0 and "Automatic stash by squash script" in stash_list:
+          run_command("git stash pop")
+          stash_restored = True
+          stash_created = False
+
+      if signum:
+        print("\nOperation interrupted. Cleaned up and restored original state.")
+        sys.exit(1)
+
+    except Exception as e:
+      print(f"Error during cleanup: {e}")
+      if signum:
+        sys.exit(1)
+
+  try:
+    # Set up signal handlers
+    signal.signal(signal.SIGINT, cleanup_handler)
+    signal.signal(signal.SIGTERM, cleanup_handler)
+
+    # Check for changes (including untracked files)
+    code, output, _ = run_command("git status --porcelain")
+    if output:
+      print("Stashing uncommitted changes...")
+      run_command("git stash push -u -m 'Automatic stash by squash script'")
+      stash_created = True
+
+    yield lambda x: setattr(x, 'temp_branch', temp_branch)
+
+  except Exception as e:
+    print(f"\nError occurred: {str(e)}")
+    cleanup_handler()
+    raise
+  finally:
+    cleanup_handler()
+
+
+def create_commit_with_message(message: str) -> bool:
+  """Create a commit with the given message using a temporary file."""
+  try:
+    with tempfile.NamedTemporaryFile(mode='w', delete=False) as f:
+      f.write(message)
+      temp_path = f.name
+
+    # Use the temporary file for the commit message
+    code, _, error = run_command(f"git commit -F {temp_path}")
+    os.unlink(temp_path)  # Clean up the temp file
+
+    if code != 0:
+      print(f"Error creating commit: {error}")
+      return False
+    return True
+  except Exception as e:
+    print(f"Error handling commit message: {e}")
+    if os.path.exists(temp_path):
+      os.unlink(temp_path)
+    return False
+
+
+def squash_and_merge(source_branch: str, target_branch: str, manual_title: str | None, backup: bool = False, push: bool = False) -> bool:
+  """
+  Squash the source branch and merge into target branch.
+  """
+  # Get original branch right away
+  original_branch = get_current_branch()
+  if not original_branch:
+    return False
+
+  class State:
+    temp_branch: str | None = None
+
+  state = State()
+
+  with workspace_manager(original_branch) as set_temp_branch:
+    # Validate source branch exists
+    code, _, error = run_command(f"git rev-parse --verify {source_branch}")
+    if code != 0:
+      print(f"Error: Source branch {source_branch} not found")
+      return False
+
+    if source_branch == target_branch:
+      print(f"Error: Source and target branches cannot be the same ({source_branch})")
+      return False
+
+    # Ensure target branch exists
+    code, _, error = run_command(f"git rev-parse --verify {target_branch}")
+    if code != 0:
+      print(f"Error: Target branch {target_branch} not found")
+      return False
+
+    # Find merge base
+    code, merge_base, error = run_command(f"git merge-base {target_branch} {source_branch}")
+    if code != 0:
+      print(f"Error finding merge base: {error}")
+      return False
+
+    # Create backup unless explicitly skipped
+    if backup and not backup_branch(source_branch):
+      return False
+
+    # Get commit messages
+    commit_messages = get_commit_messages(source_branch, target_branch)
+    if commit_messages is None:
+      return False
+
+    # Get title (priority: manual title > PR title > prompt user)
+    title = manual_title
+    if not title:
+      title = get_pr_info(source_branch)
+    if not title:
+      title = prompt_for_title()
+
+    try:
+      # Create and switch to temporary branch
+      temp_branch = f"temp-squash-{source_branch}"
+      state.temp_branch = temp_branch
+      set_temp_branch(state)
+
+      print(f"\nCreating temporary branch {temp_branch}...")
+      code, _, error = run_command(f"git checkout -b {temp_branch} {source_branch}")
+      if code != 0:
+        print(f"Error creating temp branch: {error}")
+        return False
+
+      print("Preparing squash by resetting temporary branch to merge base...")
+      code, _, error = run_command(f"git reset --soft {merge_base}")
+      if code != 0:
+        print(f"Error resetting for squash: {error}")
+        return False
+
+      # Create commit with message
+      print("Creating squash commit...")
+      squash_message = create_squash_message(title, commit_messages, source_branch)
+      if not create_commit_with_message(squash_message):
+        return False
+
+      # Switch to target and try merge
+      print(f"\nSwitching to target branch {target_branch}...")
+      code, _, error = run_command(f"git checkout {target_branch}")
+      if code != 0:
+        print(f"Error checking out target branch: {error}")
+        return False
+
+      print(f"Attempting to merge changes from {temp_branch}...")
+      code, _, error = run_command(f"git merge {temp_branch}")
+
+      if code != 0:
+        print(f"\nMerge failed with error: {error}")
+        print("\nThe squash was successful, and your changes are preserved in the temporary branch.")
+        print("To complete the merge manually, follow these steps:")
+        print(f"\n1. Your squashed changes are in branch: '{temp_branch}'")
+        print(f"2. The target branch is: '{target_branch}'")
+        print("\nTo resolve the conflicts:")
+        print(f"   git checkout {target_branch}")
+        print(f"   git merge {temp_branch}")
+        print("   # resolve conflicts in your editor")
+        print("   git add <resolved-files>")
+        print("   git commit")
+        print(f"   git push origin {target_branch}  # when ready to push")
+        print("\nTo clean up after successful merge:")
+        print(f"   git branch -D {temp_branch}")
+
+        # Make sure to abort the merge
+        print("\nAborting current merge attempt...")
+        run_command("git merge --abort")
+
+        # Return to original branch, but keep temp branch
+        print(f"Returning to {original_branch}...")
+        run_command(f"git checkout {original_branch}")
+        return False
+
+      # Clean up temp branch on success
+      run_command(f"git branch -D {temp_branch}")
+
+      # Push if requested
+      if push:
+        code, _, error = run_command(f"git push origin {target_branch}")
+        if code != 0:
+          print(f"Error pushing to {target_branch}: {error}")
+          return False
+        print(f"Successfully pushed to {target_branch}")
+      else:
+        print(f"Changes squashed and merged into {target_branch} locally")
+        print(f"To push the changes: git push origin {target_branch}")
+
+      # Return to original branch
+      code, _, error = run_command(f"git checkout {original_branch}")
+      if code != 0:
+        print(f"Warning: Failed to return to original branch: {error}")
+        return False
+
+      return True
+
+    except Exception as e:
+      print(f"Error during squash process: {e}")
+      return False
+
+
+def main():
+  parser = argparse.ArgumentParser(
+    description='Squash branch and merge into target branch'
+  )
+  parser.add_argument('--target', '-t', required=True,
+                      help='Target branch to merge changes into')
+  parser.add_argument('--source', '-s',
+                      help='Source branch to squash (default: current branch)')
+  parser.add_argument('--title', '-m',
+                      help='Optional manual title (overrides PR title)')
+  parser.add_argument('--backup', action='store_true',
+                      help='Creates a backup branch for the source branch')
+  parser.add_argument('--push', action='store_true',
+                      help='Push changes to remote after squashing')
+
+  args = parser.parse_args()
+
+  # Determine source branch early
+  source_branch = args.source
+  if not source_branch:
+    source_branch = get_current_branch()
+    if not source_branch:
+      sys.exit(1)
+
+  if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

release/ci/uninstall_github_runner.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    GITHUB_BASE_DIR="/data/media/0/github"
+else
+    GITHUB_BASE_DIR="/data/github"
+fi
+
+# Define directories and user
+BIN_DIR="$GITHUB_BASE_DIR/bin"
+BUILDS_DIR="$GITHUB_BASE_DIR/builds"
+OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
+LOGS_DIR="$GITHUB_BASE_DIR/logs"
+CACHE_DIR="$GITHUB_BASE_DIR/cache"
+RUNNER_USERNAME="github-runner"
+# Define the systemd service name
+SERVICE_NAME="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+
+# Function to stop and disable the systemd service
+stop_and_uninstall_service() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo ./svc.sh stop
+    sudo ./svc.sh uninstall
+}
+
+# Function to remove the systemd service file
+remove_runner() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo rm .runner
+    sudo su -c './config.sh remove' github-runner
+}
+
+# Function to delete the Github Runner directories
+delete_directories() {
+    sudo rm -rf "$BIN_DIR/github-runner"
+    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+}
+
+# Function to remove the Github Runner user
+delete_user() {
+    for group in ${USER_GROUPS//,/ }
+    do
+       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
+    done
+    sudo userdel -r ${RUNNER_USERNAME}
+}
+
+# Function to remove sudoers entry
+remove_sudoers_entry() {
+    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
+}
+
+# Make filesystem writable
+sudo mount -o remount rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount ro /" EXIT
+
+# Call functions
+stop_and_uninstall_service
+remove_runner
+delete_directories
+delete_user
+remove_sudoers_entry
+# End of uninstall script

release/release_files.py

@@ -6,40 +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/",
-  "Darwin/",
-  ".vscode",
-
-  # common things
-  "LICENSE",
-  "Dockerfile",
-  ".pre-commit",
-
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
@@ -48,77 +19,7 @@ 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",
+whitelist: list[str] = [
 ]
 
 

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|.*\.zst"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
@@ -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

scripts/manage-powersave.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import argparse
+import multiprocessing
+from openpilot.system.hardware import HARDWARE
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Control power saving mode')
+  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
+  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
+  args = parser.parse_args()
+
+  if args.enable and args.disable:
+    parser.error("Cannot specify both --enable and --disable")
+  elif not (args.enable or args.disable):
+    parser.error("Must specify either --enable or --disable")
+
+  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
+  HARDWARE.set_power_save(args.enable)
+
+  state = "enabled" if args.enable else "disabled"
+  print(f"Power save mode set to: [{state}]")
+  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
+
+
+if __name__ == "__main__":
+  main()

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:
@@ -191,7 +191,7 @@ class CarSpecificEvents:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
       events.add(EventName.brakeHold)
     if CS.parkingBrake:
       events.add(EventName.parkBrake)
@@ -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

@@ -22,6 +22,9 @@ 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
+from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -72,6 +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()
@@ -98,6 +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)
       self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -113,6 +118,10 @@ 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
@@ -180,8 +189,12 @@ 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)
+
+    # 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)
 
@@ -224,6 +237,7 @@ 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)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
@@ -238,9 +252,6 @@ 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
@@ -249,6 +260,7 @@ 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():

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
@@ -130,6 +130,6 @@ class VCruiseHelper:
     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/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
@@ -106,15 +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)
@@ -179,7 +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
@@ -30,7 +29,7 @@ _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 +42,7 @@ 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 +54,9 @@ 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
@@ -139,7 +138,7 @@ 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 +150,7 @@ 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 +175,7 @@ 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 +199,9 @@ 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)

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/uiview.py

@@ -3,14 +3,19 @@ import time
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes, is_snpe_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  Params().put("CarParams", CP.to_bytes())
+  params = Params()
+  params.put("CarParams", CP.to_bytes())
+  if use_snpe_modeld := is_snpe_model(False, params, CP):
+    print("Using SNPE modeld")
+  HARDWARE.set_power_save(False)
 
-  procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
+  procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
+  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 

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/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.),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentLkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  EventName.silentDoorOpen: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.silentSeatbeltNotLatched: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventName.controlsMismatchLateral: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
+  },
+
+  EventName.hyundaiRadarTracksConfirmed: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+  }
+
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -23,6 +23,10 @@ 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
+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
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -41,7 +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()
 
@@ -131,6 +135,14 @@ 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)
+
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+
+    ExperimentalSwitcher.__init__(self, self.params)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -171,6 +183,9 @@ class SelfdriveD:
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
+      car_events_sp = self.car_events_sp.update().to_msg()
+      self.events.add_from_msg(car_events_sp)
+
       if self.CP.notCar:
         # wait for everything to init first
         if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
@@ -355,12 +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)
@@ -440,6 +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)
 
@@ -451,11 +473,25 @@ 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)
@@ -473,6 +509,9 @@ class SelfdriveD:
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
+
+      self.mads.read_params()
+      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):

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/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.]
 

selfdrive/test/process_replay/.gitignore

@@ -1 +1 @@
-fakedata/
+!fakedata/*