Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into rivian-non-pcm

# Conflicts: # opendbc_repo
ui: update longitudinal-related settings handling (#1401 )
2026-06-24 01:22:05 +08:00 · 2025-10-20 10:51:08 -04:00 · 2025-10-18 04:04:48 -04:00 · 2025-10-17 23:41:33 -04:00 · 2025-10-17 23:30:06 -04:00 · 2025-10-17 22:53:31 -04:00
40 changed files with 845 additions and 423 deletions
@@ -69,6 +69,48 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -404,12 +446,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
-}

-enum TurnDirection {
-  none @0;
-  turnLeft @1;
-  turnRight @2;
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
 }

 struct CustomReserved10 @0xcb9fd56c7057593a {
@@ -160,9 +160,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -205,6 +205,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // sunnypilot car specific params
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416
@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):

      self.LaC.extension.update_model_v2(self.sm['modelV2'])

-      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
      self.LaC.extension.update_lateral_lag(self.lat_delay)

    long_plan = self.sm['longitudinalPlan']
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
    while not evt.is_set():
      self.get_params_sp()

+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
      time.sleep(0.1)

  def run(self):
@@ -6,6 +6,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = custom.ModelDataV2SP.TurnDirection

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -32,9 +33,9 @@ DESIRES = {
 }

 TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
 }


@@ -49,7 +50,7 @@ class DesireHelper:
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = TurnDirection.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -126,7 +127,7 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != TurnDirection.none:
      self.desire = TURN_DESIRES[self.lane_turn_direction]
    else:
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -43,6 +44,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection

 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

@@ -130,7 +132,12 @@ class SelfdriveD(CruiseHelper):
    self.logged_comm_issue = None
    self.not_running_prev = None
    self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
    self.recalibrating_seen = False
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -299,9 +306,9 @@ class SelfdriveD(CruiseHelper):

    # Handle lane turn
    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
+    if lane_turn_direction == TurnDirection.turnLeft:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
+    elif lane_turn_direction == TurnDirection.turnRight:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)

    for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -33,13 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

  update_model(model, lead_one);
  drawLaneLines(painter);
-  drawPath(painter, model, surface_rect);
+  drawPath(painter, model, surface_rect.height());

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -173,7 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;
@@ -39,9 +39,6 @@ protected:
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -58,5 +55,4 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
-
 };
@@ -4,7 +4,7 @@ import time
 import wave


-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,8 +26,15 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied

 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert


+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
+}
+
 sound_list: dict[int, tuple[str, int | None, float]] = {
  # AudibleAlert, file name, play count (none for infinite)
  AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -40,6 +47,8 @@ sound_list: dict[int, tuple[str, int | None, float]] = {

  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }

 def check_selfdrive_timeout_alert(sm):
@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
    "Onroad Brightness",
    "",
    "",
-    {0, 100}, 10, true);
+    {0, 90}, 10, true);

  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };

 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QObject::tr("None"),
-  QObject::tr("Fixed"),
-  QObject::tr("Percent"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
 };

 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };

 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QObject::tr("Car\nOnly"),
-  QObject::tr("Map\nOnly"),
-  QObject::tr("Car\nFirst"),
-  QObject::tr("Map\nFirst"),
-  QObject::tr("Combined\nData")
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
 };

 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };

 inline const QString SpeedLimitModeTexts[]{
-  QObject::tr("Off"),
-  QObject::tr("Information"),
-  QObject::tr("Warning"),
-  QObject::tr("Assist"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
 };
@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
  ListWidgetSP *list = new ListWidgetSP(this);

  std::vector<QString> speed_limit_policy_texts{
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
-    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
  };
  speed_limit_policy = new ButtonParamControlSP(
    "SpeedLimitPolicy",
@@ -7,6 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"

+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
  subPanelFrame = new QFrame();
  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -25,10 +27,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  speedLimitPolicyScreen = new SpeedLimitPolicy(this);

  std::vector<QString> speed_limit_mode_texts{
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
-    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
  };
  speed_limit_mode_settings = new ButtonParamControlSP(
    "SpeedLimitMode",
@@ -64,9 +66,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);

  std::vector<QString> speed_limit_offset_texts{
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
  };
  speed_limit_offset_settings = new ButtonParamControlSP(
    "SpeedLimitOffsetType",
@@ -109,7 +111,7 @@ void SpeedLimitSettings::refresh() {
  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));

  bool has_longitudinal_control;
-  bool intelligent_cruise_button_management_available;
+  bool has_icbm;
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -121,10 +123,16 @@ void SpeedLimitSettings::refresh() {
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();

    has_longitudinal_control = hasLongitudinalControl(CP);
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    if (!has_longitudinal_control && !has_icbm) {
+      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      }
+    }
  } else {
    has_longitudinal_control = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
  }

  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -144,13 +152,14 @@ void SpeedLimitSettings::refresh() {
    speed_limit_offset->showDescription();
  }

-  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+  if (has_longitudinal_control || has_icbm) {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
  } else {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
  }

+  speed_limit_mode_settings->refresh();
  speed_limit_mode_settings->showDescription();
  speed_limit_offset->showDescription();
 }
@@ -35,6 +35,7 @@ private:
  SpeedLimitPolicy *speedLimitPolicyScreen;
  ButtonParamControlSP *speed_limit_offset_settings;
  OptionControlSP *speed_limit_offset;
+  bool icbm_available = false;

  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
    QString none_str = tr("⦿ None: No Offset");
@@ -7,6 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"

+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  setStyleSheet(R"(
    #back_btn {
@@ -40,9 +42,20 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
    "",
    this
  );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    refresh(offroad);
+  });
  list->addItem(intelligentCruiseButtonManagement);

+  dynamicExperimentalControl = new ParamControlSP(
+    "DynamicExperimentalControl",
+    tr("Dynamic Experimental Control (DEC)"),
+    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+    "",
+    this
+  );
+  list->addItem(dynamicExperimentalControl);
+
  SmartCruiseControlVision = new ParamControl(
    "SmartCruiseControlVision",
    tr("Smart Cruise Control - Vision"),
@@ -103,11 +116,41 @@ void LongitudinalPanel::refresh(bool _offroad) {

    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
+      intelligentCruiseButtonManagement->setEnabled(offroad);
+    } else {
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->setEnabled(false);
+    }
+
+    if (has_longitudinal_control || has_icbm) {
+      // enable Custom ACC Increments when long is available and is not PCM cruise
+      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
+      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
+      SmartCruiseControlVision->setEnabled(true);
+      SmartCruiseControlMap->setEnabled(true);
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      params.remove("DynamicExperimentalControl");
+      params.remove("SmartCruiseControlVision");
+      params.remove("SmartCruiseControlMap");
+      customAccIncrement->setEnabled(false);
+      dynamicExperimentalControl->setEnabled(false);
+      SmartCruiseControlVision->setEnabled(false);
+      SmartCruiseControlMap->setEnabled(false);
+    }
+
+    intelligentCruiseButtonManagement->refresh();
+    customAccIncrement->refresh();
+    dynamicExperimentalControl->refresh();
+    SmartCruiseControlVision->refresh();
+    SmartCruiseControlMap->refresh();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
  }

  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -119,33 +162,19 @@ void LongitudinalPanel::refresh(bool _offroad) {
    customAccIncrement->setDescription(onroadOnlyDescription);
    customAccIncrement->showDescription();
  } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-      if (is_pcm_cruise) {
+    if (has_longitudinal_control || has_icbm) {
+      if (has_longitudinal_control && is_pcm_cruise) {
        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
        customAccIncrement->showDescription();
      } else {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
-      params.remove("CustomAccIncrementsEnabled");
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }

-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
-  // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
-  customAccIncrement->refresh();
-
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
-  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
-
  offroad = _offroad;
 }
@@ -25,7 +25,7 @@ private:
  Params params;
  bool has_longitudinal_control = false;
  bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_icbm = false;
  bool offroad = false;

  QStackedLayout *main_layout = nullptr;
@@ -35,6 +35,7 @@ private:
  ParamControl *SmartCruiseControlVision;
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
+  ParamControl *dynamicExperimentalControl = nullptr;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
 };
@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
+  stopAndGoToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoToggle);
+
+  stopAndGoManualParkingBrakeToggle = new ParamControl(
+    "SubaruStopAndGoManualParkingBrake",
+    tr("Stop and Go for Manual Parking Brake (Beta)"),
+    "",
+    ""
+  );
+  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoManualParkingBrakeToggle);
 }

 void SubaruSettings::updateSettings() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    is_subaru = CP.getBrand() == "subaru";
+
+    if (is_subaru) {
+      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
+        has_stop_and_go = true;
+      }
+    }
+  } else {
+    is_subaru = false;
+    has_stop_and_go = false;
+  }
+
+  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
+  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
+  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
+  if (stop_and_go_disabled) {
+    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
+    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
+  }
+
+  stopAndGoToggle->setEnabled(has_stop_and_go);
+  stopAndGoToggle->setDescription(stop_and_go_desc);
+  stopAndGoToggle->showDescription();
+
+  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
+  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
+  stopAndGoManualParkingBrakeToggle->showDescription();
 }
@@ -14,6 +14,9 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

+const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
+const int SUBARU_FLAG_HYBRID = 32;
+
 class SubaruSettings : public BrandSettingsInterface {
  Q_OBJECT

@@ -23,4 +26,32 @@ public:

 private:
  bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };
@@ -12,43 +12,65 @@


 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});

-  int small_max = e2e_alert_small * 2 - 40;
-  int large_max = e2e_alert_large * 2 - 40;
-  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
-  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
-  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
-  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
+  int size = e2e_alert_size * 2 - 40;
+  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
+  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
 }

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);

+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  devUiInfo = s.scene.dev_ui_info;
+  roadName = s.scene.road_name;
+  showTurnSignals = s.scene.turn_signals;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  standstillTimer = s.scene.standstill_timer;
+
  const SubMaster &sm = *(s.sm);
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
  const auto car_control = sm["carControl"].getCarControl();
  const auto radar_state = sm["radarState"].getRadarState();
  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
+  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
  const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();

-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-  roadName = s.scene.road_name;
+  if (sm.updated("carParams")) {
+    steerControlType = car_params.getSteerControlType();
+  }
+
+  if (sm.updated("carParamsSP")) {
+    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
+  }
+
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+  }
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+
  if (sm.updated("liveMapDataSP")) {
    roadNameStr = QString::fromStdString(lmd.getRoadName());
    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -64,7 +86,7 @@ void HudRendererSP::updateState(const UIState &s) {

  static int reverse_delay = 0;
  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
+  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
    reverse_delay = 0;
    reverse_allowed = false;
  } else {
@@ -76,46 +98,47 @@ void HudRendererSP::updateState(const UIState &s) {

  reversing = reverse_allowed;

+  if (sm.updated("liveParameters")) {
+    roll = sm["liveParameters"].getLiveParameters().getRoll();
+  }
+
+  if (sm.updated("deviceState")) {
+    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  }
+
+  if (sm.updated(gps_source)) {
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+    altitude = gpsLocation.getAltitude();
+    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+    bearingDeg = gpsLocation.getBearingDeg();
+  }
+
+  if (sm.updated("liveTorqueParameters")) {
+    torquedUseParams = ltp.getUseParams();
+    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+    liveValid = ltp.getLiveValid();
+  }
+
  latActive = car_control.getLatActive();
+  actuators = car_control.getActuators();
+  longOverride = car_control.getCruiseControl().getOverride();
+  carControlEnabled = car_control.getEnabled();
+
  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
  lead_d_rel = radar_state.getLeadOne().getDRel();
  lead_v_rel = radar_state.getLeadOne().getVRel();
  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
  angleSteers = car_state.getSteeringAngleDeg();
  desiredCurvature = cs.getDesiredCurvature();
  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
  vEgo = car_state.getVEgo();
  aEgo = car_state.getAEgo();
  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();

-  standstillTimer = s.scene.standstill_timer;
  isStandstill = car_state.getStandstill();
-  if (not s.scene.started) standstillElapsedTime = 0.0;
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-
-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+  if (!s.scene.started) standstillElapsedTime = 0.0;

  // override stock current speed values
  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -126,10 +149,11 @@ void HudRendererSP::updateState(const UIState &s) {
  rightBlinkerOn = car_state.getRightBlinker();
  leftBlindspot = car_state.getLeftBlindspot();
  rightBlindspot = car_state.getRightBlindspot();
-  showTurnSignals = s.scene.turn_signals;

-  carControlEnabled = car_control.getEnabled();
  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+
+  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -222,7 +246,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    drawRoadName(p, surface_rect);

    // Green Light & Lead Depart Alerts
-    if (greenLightAlert or leadDepartAlert) {
+    if (greenLightAlert || leadDepartAlert) {
      e2eAlertDisplayTimer = 3 * UI_FREQ;
      // reset onroad sleep timer for e2e alerts
      uiStateSP()->reset_onroad_sleep_timer();
@@ -232,11 +256,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      e2eAlertFrame++;
      if (greenLightAlert) {
        alert_text = tr("GREEN\nLIGHT");
-        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+        alert_img = green_light_alert_img;
      }
      else if (leadDepartAlert) {
        alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
+        alert_img = lead_depart_alert_img;
      }
      drawE2eAlert(p, surface_rect);
    }
@@ -254,7 +278,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    // No Alerts displayed
    else {
      e2eAlertFrame = 0;
-      if (not isStandstill) standstillElapsedTime = 0.0;
+      if (!isStandstill) standstillElapsedTime = 0.0;
    }

    // Blinker
@@ -545,7 +569,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }

 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
  if (!speed_limit_ahead) {
    return;
  }
@@ -639,7 +664,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
  const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 3;
+  const int arrow_spacing = sign_margin * 1.4;
  int arrow_x = sign_rect.right() + arrow_spacing;

  int _set_speed = std::nearbyint(set_speed);
@@ -689,7 +714,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
  }

  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (carControlEnabled) {
+  if (!pcmCruiseSpeed && carControlEnabled) {
    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
      icbm_active_counter = 3 * UI_FREQ;
    } else if (icbm_active_counter > 0) {
@@ -714,26 +739,26 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }

 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
-  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
-  int x = surface_rect.center().x() + surface_rect.width() / 4;
+  if (!allow_e2e_alerts) return;
+
+  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
  int y = surface_rect.center().y() + 20;
-  x += devUiInfo > 0 ? 0 : 50;
-  QRect alertRect(x - size, y - size, size * 2, size * 2);
+  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);

  // Alert Circle
  QPoint center = alertRect.center();
  QColor frameColor;
-  if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
  p.setPen(QPen(frameColor, 15));
  p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, size, size);
+  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);

  // Alert Text
  QColor txtColor;
  QFont font;
  int alert_bottom_adjustment;
-  if (not alert_alt_text.isEmpty()) {
+  if (!alert_alt_text.isEmpty()) {
    font = InterFont(100, QFont::Bold);
    alert_bottom_adjustment = 5;
    txtColor = QColor(255, 255, 255, 255);
@@ -750,7 +775,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
  textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
  p.drawText(textRect, Qt::AlignCenter, alert_text);

-  if (not alert_alt_text.isEmpty()) {
+  if (!alert_alt_text.isEmpty()) {
    // Alert Alternate Text
    p.setFont(InterFont(80, QFont::Bold));
    p.setPen(QColor(255, 175, 3, 240));
@@ -779,7 +804,7 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
  const bool hazard = leftBlinkerOn && rightBlinkerOn;
-  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;

  if (!leftBlinkerOn && !rightBlinkerOn) {
    blinkerFrameCounter = 0;
@@ -83,6 +83,7 @@ private:
  bool speedLimitValid;
  bool speedLimitLastValid;
  float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
  bool speedLimitAheadValid;
  float speedLimitAhead;
  float speedLimitAheadDistance;
@@ -96,16 +97,14 @@ private:
  int speedLimitAssistFrame;
  QPixmap plus_arrow_up_img;
  QPixmap minus_arrow_down_img;
-  int e2e_alert_small = 250;
-  int e2e_alert_large = 300;
-  QPixmap green_light_alert_small_img;
-  QPixmap green_light_alert_large_img;
+  int e2e_alert_size = 250;
+  QPixmap green_light_alert_img;
  bool greenLightAlert;
  int e2eAlertFrame;
  int e2eAlertDisplayTimer = 0;
+  bool allow_e2e_alerts;
  bool leadDepartAlert;
-  QPixmap lead_depart_alert_small_img;
-  QPixmap lead_depart_alert_large_img;
+  QPixmap lead_depart_alert_img;
  QString alert_text;
  QPixmap alert_img;
  bool hideVEgoUI;
@@ -120,4 +119,5 @@ private:
  bool carControlEnabled;
  float speedCluster = 0;
  int icbm_active_counter = 0;
+  bool pcmCruiseSpeed = true;
 };
@@ -21,74 +21,73 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }

-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
  auto &sm = *(s->sm);
-  bool blindspot = s->scene.blindspot_ui;

-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
-
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
  }

-  bool rainbow = s->scene.rainbow_mode;
-  //float v_ego = sm["carState"].getCarState().getVEgo();
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];

-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+  painter.save();

-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();

-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+  update_model(model, lead_one);
+  drawLaneLines(painter);

-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+  if (s->scene.rainbow_mode) {
+    drawRainbowPath(painter, surface_rect);
  } else {
-    // Normal path rendering
    ModelRenderer::drawPath(painter, model, surface_rect.height());
  }

+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  if (s->scene.blindspot_ui) {
+    const bool left_blindspot = car_state.getLeftBlindspot();
+    const bool right_blindspot = car_state.getRightBlindspot();
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
 }

 void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -121,19 +120,16 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
  }

  if (has_lead_one) {
-    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
  }

  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
  }
 }

-void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
-                                               const cereal::RadarState::LeadData::Reader &lead_data,
-                                               const QPointF &chevron_pos,
-                                               int height, int width,
-                                               const QString &label) {
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
  float d_rel = lead_data.getDRel();
  float v_rel = lead_data.getVRel();
  auto *s = uiState();
@@ -223,3 +219,36 @@ void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,

  painter.setPen(Qt::NoPen);
 }
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
+}
@@ -13,17 +13,15 @@ class ModelRendererSP : public ModelRenderer {
 public:
  ModelRendererSP() = default;

+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
-
-  // Lead status display methods
  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                                const cereal::RadarState::LeadData::Reader &lead_data,
-                                const QPointF &chevron_pos,
-                                int height, int width,
-                                const QString &label);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);

  QPolygonF left_blindspot_vertices;
  QPolygonF right_blindspot_vertices;
@@ -122,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
    return std::nullopt;
  }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
  });

  // update timer
@@ -1778,62 +1778,6 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation>sunnypilot</translation>
    </message>
-    <message>
-        <source>None</source>
-        <translation>없음</translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation>고정</translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation>비율</translation>
-    </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation>차량만</translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation>지도만</translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation>차량
-우선</translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation>지도
-우선</translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation>결합
-데이터</translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation>끄기</translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation>정보</translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation>경고</translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation>보조</translation>
-    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2198,6 +2142,34 @@ Data</source>
        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
        <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
+    </message>
 </context>
 <context>
    <name>SpeedLimitSettings</name>
@@ -2245,6 +2217,34 @@ Data</source>
        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
        <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

+from enum import IntEnum
 import hashlib

 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -16,3 +17,23 @@ def get_file_hash(path: str) -> str:
    for byte_block in iter(lambda: f.read(4096), b""):
      sha256_hash.update(byte_block)
  return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val
@@ -8,8 +8,12 @@ from abc import abstractmethod, ABC

 import cereal.messaging as messaging
 from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param

+MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
+

 class BaseMapData(ABC):
  def __init__(self):
@@ -46,9 +50,9 @@ class BaseMapData(ABC):
    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
    live_map_data = mapd_sp_send.liveMapDataSP

-    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
    live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
    live_map_data.speedLimitAhead = next_speed_limit
    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
    live_map_data.roadName = self.get_current_road_name()
@@ -11,6 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode

 import openpilot.system.sentry as sentry

@@ -66,6 +67,30 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)


+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    cloudlog.warning("SteerControlType is angle, cleaning up params")
+    params.remove("NeuralNetworkLateralControl")
+    params.remove("EnforceTorqueControl")
+
+  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
+    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
+    params.remove("IntelligentCruiseButtonManagement")
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
+    params.remove("DynamicExperimentalControl")
+    params.remove("CustomAccIncrementsEnabled")
+    params.remove("SmartCruiseControlVision")
+    params.remove("SmartCruiseControlMap")
+
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP
@@ -74,6 +99,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CP, CP_SP)


 def initialize_params(params) -> list[dict[str, Any]]:
@@ -84,4 +110,10 @@ def initialize_params(params) -> list[dict[str, Any]]:
    "HyundaiLongitudinalTuning"
  ])

+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
+
  return [{k: params.get(k, return_default=True)} for k in keys]
@@ -12,47 +12,159 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-TRIGGER_THRESHOLD = 30
+GREEN_LIGHT_X_THRESHOLD = 30
+LEAD_DEPART_DIST_THRESHOLD = 1.0
+TRIGGER_TIMER_THRESHOLD = 0.3
+
+
+class E2EStates:
+  INACTIVE = 0
+  ARMED = 1
+  CONSUMED = 2


 class E2EAlertsHelper:
  def __init__(self):
    self._params = Params()
-    self._frame = -1
+    self.frame = -1
+    self.green_light_state = E2EStates.INACTIVE
+    self.prev_green_light_state = E2EStates.INACTIVE
+    self.lead_depart_state = E2EStates.INACTIVE
+    self.prev_lead_depart_state = E2EStates.INACTIVE

    self.green_light_alert = False
    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
    self.lead_depart_alert = False
    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

+    self.green_light_trigger_timer = 0
+    self.lead_depart_trigger_timer = 0
+    self.last_lead_distance = -1
+    self.last_moving_frame = -1
+
+    self.allowed = False
+    self.last_allowed = False
+    self.has_lead = False
+
+    self.lead_depart_arm_timer = 0
+    self.lead_depart_confirmed_lead = False
+    self.lead_depart_armed = False
+
  def _read_params(self) -> None:
-    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

-    self._frame += 1
-
-  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
-    self._read_params()
-
-    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
-      return
-
+  def update_alert_trigger(self, sm: messaging.SubMaster):
    CS = sm['carState']
    CC = sm['carControl']

    model_x = sm['modelV2'].position.x
    max_idx = len(model_x) - 1
-    has_lead = sm['radarState'].leadOne.status
-    lead_vRel: float = sm['radarState'].leadOne.vRel
+    self.has_lead = sm['radarState'].leadOne.status
+    lead_dRel = sm['radarState'].leadOne.dRel

-    # Green light alert
-    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
-                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
+    standstill = CS.standstill
+    moving = not standstill and CS.vEgo > 0.1
+
+    if moving:
+      self.last_moving_frame = self.frame
+    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
+
+    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
+
+    # Green Light Alert
+    green_light_trigger = False
+    if self.green_light_state == E2EStates.ARMED:
+      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+        self.green_light_trigger_timer += 1
+      else:
+        self.green_light_trigger_timer = 0
+
+      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        green_light_trigger = True
+    elif self.green_light_state != E2EStates.ARMED:
+      self.green_light_trigger_timer = 0

    # Lead Departure Alert
-    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
-                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
+    close_lead_valid = self.has_lead and lead_dRel < 8.0
+    if self.allowed and not self.last_allowed and close_lead_valid:
+      self.lead_depart_confirmed_lead = True
+    elif not self.allowed:
+      self.lead_depart_confirmed_lead = False
+
+    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
+      self.lead_depart_arm_timer += 1
+
+      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
+        self.lead_depart_armed = True
+    else:
+      self.lead_depart_arm_timer = 0
+      self.lead_depart_armed = False
+
+    lead_depart_trigger = False
+    if self.lead_depart_state == E2EStates.ARMED:
+      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
+        self.last_lead_distance = lead_dRel
+
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
+        self.lead_depart_trigger_timer += 1
+      else:
+        self.lead_depart_trigger_timer = 0
+
+      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        lead_depart_trigger = True
+    elif self.lead_depart_state != E2EStates.ARMED:
+      self.last_lead_distance = -1
+      self.lead_depart_trigger_timer = 0
+
+    self.last_allowed = self.allowed
+
+    return green_light_trigger, lead_depart_trigger
+
+  @staticmethod
+  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
+    if state != E2EStates.INACTIVE:
+      if not allowed or not enabled:
+        state = E2EStates.INACTIVE
+
+      else:
+        if state == E2EStates.ARMED:
+          if triggered:
+            state = E2EStates.CONSUMED
+
+        elif state == E2EStates.CONSUMED:
+          pass
+
+    elif state == E2EStates.INACTIVE:
+      if allowed and enabled:
+        state = E2EStates.ARMED
+
+    return state, triggered
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
+
+    self.prev_green_light_state = self.green_light_state
+    self.prev_lead_depart_state = self.lead_depart_state
+
+    self.green_light_state, self.green_light_alert = self.update_state_machine(
+      self.green_light_state,
+      self.green_light_alert_enabled,
+      self.allowed and not self.has_lead,
+      green_light_trigger
+    )
+
+    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
+      self.lead_depart_state,
+      self.lead_depart_alert_enabled,
+      self.allowed and self.lead_depart_armed,
+      lead_depart_trigger
+    )

    if self.green_light_alert or self.lead_depart_alert:
      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
+
+    self.frame += 1
@@ -9,13 +9,15 @@ from cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS


 class LaneTurnController:
  def __init__(self, desire_helper):
    self.DH = desire_helper
-    self.turn_direction = custom.TurnDirection.none
+    self.turn_direction = TurnDirection.none
    self.params = Params()
    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
    self.param_read_counter = 0
@@ -33,13 +35,13 @@ class LaneTurnController:

  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.TurnDirection.turnLeft
+      self.turn_direction = TurnDirection.turnLeft
    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.TurnDirection.turnRight
+      self.turn_direction = TurnDirection.turnRight
    else:
-      self.turn_direction = custom.TurnDirection.none
+      self.turn_direction = TurnDirection.none

  def get_turn_direction(self):
    if not self.enabled:
-      return custom.TurnDirection.none
+      return TurnDirection.none
    return self.turn_direction
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
+
+from openpilot.sunnypilot import IntEnumBase


-class Policy(IntEnum):
+class Policy(IntEnumBase):
  car_state_only = 0
  map_data_only = 1
  car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
  combined = 4


-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
  off = 0
  fixed = 1
  percentage = 2


-class Mode(IntEnum):
+class Mode(IntEnumBase):
  off = 0
  information = 1
  warning = 2
@@ -27,7 +27,11 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)

 DISABLED_GUARD_PERIOD = 0.5  # secs.
-PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
+# secs. Time to wait after activation before considering temp deactivation signal.
+PRE_ACTIVE_GUARD_PERIOD = {
+  True: 15,
+  False: 5,
+}
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.

 LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
@@ -109,6 +113,16 @@ class SpeedLimitAssist:
  def target_set_speed_confirmed(self) -> bool:
    return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)

+  @property
+  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
+    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def update_active_event(self, events_sp: EventsSP) -> None:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      events_sp.add(EventNameSP.speedLimitChanged)
+    else:
+      events_sp.add(EventNameSP.speedLimitActive)
+
  def get_v_target_from_control(self) -> float:
    if self._has_speed_limit:
      if self.pcm_op_long and self.is_enabled:
@@ -175,7 +189,7 @@ class SpeedLimitAssist:
  @property
  def apply_confirm_speed_threshold(self) -> bool:
    # below CST: always require user confirmation
-    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
      return True

    # at/above CST:
@@ -231,7 +245,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.adapting

@@ -241,7 +255,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.active

@@ -251,7 +265,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -277,7 +291,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.pending

@@ -303,7 +317,7 @@ class SpeedLimitAssist:

          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -317,7 +331,7 @@ class SpeedLimitAssist:
        elif self.state == SpeedLimitAssistState.inactive:
          if self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self._update_non_pcm_long_confirmed_state():
            self.state = SpeedLimitAssistState.active

@@ -333,7 +347,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.active
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.inactive

@@ -351,15 +365,15 @@ class SpeedLimitAssist:

    if self.is_active:
      if self._state_prev not in ACTIVE_STATES:
-        events_sp.add(EventNameSP.speedLimitActive)
+        self.update_active_event(events_sp)

      # only notify if we acquire a valid speed limit
      # do not check has_speed_limit here
      elif self._speed_limit != self.speed_limit_prev:
        if self.speed_limit_prev <= 0:
-          events_sp.add(EventNameSP.speedLimitActive)
+          self.update_active_event(events_sp)
        elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          events_sp.add(EventNameSP.speedLimitChanged)
+          self.update_active_event(events_sp)

  def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
             speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType

@@ -42,6 +42,12 @@ class SpeedLimitResolver:
    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources

    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
    self._policy_to_sources_map = {
      Policy.car_state_only: [SpeedLimitSource.car],
      Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ class SpeedLimitResolver:
      self._reset_limit_sources(source)

    self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

    self.speed_limit = 0.
@@ -131,6 +142,7 @@ class SpeedLimitResolver:
    self.limit_solutions[SpeedLimitSource.map] = speed_limit
    self.distance_solutions[SpeedLimitSource.map] = 0.

+    # FIXME-SP: this is not working as expected
    if 0. < next_speed_limit < self.v_ego:
      adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
      adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
@@ -39,7 +39,7 @@ class TestSpeedLimitAssist:
    self.events_sp = EventsSP()
    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
    self.sla = SpeedLimitAssist(CI.CP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
    self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
    self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH

@@ -114,7 +114,7 @@ class TestSpeedLimitAssist:
    self.sla.state = SpeedLimitAssistState.preActive
    self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)

-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
    assert self.sla.state == SpeedLimitAssistState.inactive

@@ -1,113 +1,113 @@
 import pytest
-from cereal import log
+from cereal import log, custom
 from openpilot.common.params import Params

 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode

-
-class TurnDirection:
-    none = 0
-    turnLeft = 1
-    turnRight = 2
+TurnDirection = custom.ModelDataV2SP.TurnDirection


@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-    (True, False, 5, False, False, TurnDirection.turnLeft),
-    (False, True, 6, False, False, TurnDirection.turnRight),
-    (True, False, 9, False, False, TurnDirection.none),
-    (True, False, 7, True, False, TurnDirection.none),
-    (False, True, 6, False, True, TurnDirection.none),
-    (False, False, 5, False, False, TurnDirection.none),
-    (True, True, 5, False, False, TurnDirection.none),
+  (True, False, 5, False, False, TurnDirection.turnLeft),
+  (False, True, 6, False, False, TurnDirection.turnRight),
+  (True, False, 9, False, False, TurnDirection.none),
+  (True, False, 7, True, False, TurnDirection.none),
+  (False, True, 6, False, True, TurnDirection.none),
+  (False, False, 5, False, False, TurnDirection.none),
+  (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+  assert controller.get_turn_direction() == expected


 def test_lane_turn_desire_disabled():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = False
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, False, True, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = False
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, False, True, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


 def test_lane_turn_overrides_lane_change():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    # left turn desire
-    controller.update_lane_turn(False, False, True, False, 5)
-    assert controller.get_turn_direction() == TurnDirection.turnLeft
-    # right turn desire
-    controller.update_lane_turn(False, False, False, True, 6)
-    assert controller.get_turn_direction() == TurnDirection.turnRight
-    # no turn
-    controller.update_lane_turn(False, False, False, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  # left turn desire
+  controller.update_lane_turn(False, False, True, False, 5)
+  assert controller.get_turn_direction() == TurnDirection.turnLeft
+  # right turn desire
+  controller.update_lane_turn(False, False, False, True, 6)
+  assert controller.get_turn_direction() == TurnDirection.turnRight
+  # no turn
+  controller.update_lane_turn(False, False, False, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


@pytest.mark.parametrize("v_ego,expected", [
-    (8.93, TurnDirection.turnLeft),   # just below threshold
-    (8.96, TurnDirection.none),       # above threshold
-    (8.95, TurnDirection.none),       # just above threshold
+  (8.93, TurnDirection.turnLeft),  # just below threshold
+  (8.96, TurnDirection.none),  # above threshold
+  (8.95, TurnDirection.none),  # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, True, True, False, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, True, True, False, v_ego)
+  assert controller.get_turn_direction() == expected


 class DummyCarState:
-    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=False, steeringTorque=0, brakePressed=False):
-        self.vEgo = vEgo
-        self.leftBlinker = leftBlinker
-        self.rightBlinker = rightBlinker
-        self.leftBlindspot = leftBlindspot
-        self.rightBlindspot = rightBlindspot
-        self.steeringPressed = steeringPressed
-        self.steeringTorque = steeringTorque
-        self.brakePressed = brakePressed
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+

@pytest.fixture
 def set_lane_turn_params():
-    params = Params()
-    params.put("LaneTurnDesire", True)
-    params.put("LaneTurnValue", 20.0)
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+

@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-    # Lane turn desire overrides lane change desire
-    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
-    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
-    # Lane change desire only (no turn desires)
-    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-    # No desire (inactive)
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  # Lane turn desire overrides lane change desire
+  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnLeft),
+  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnRight),
+  # Lane change desire only (no turn desires)
+  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+  # No desire (inactive)
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-    dh = DesireHelper()
-    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-    for _ in range(10):
-        dh.update(carstate, lateral_active, lane_change_prob)
-    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -4,13 +4,13 @@ from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target


 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName


@@ -33,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+  alert_1_str = ""
+  alert_2_str = ""
+  alert_size = AlertSize.none

  if CP.openpilotLongitudinalControl and CP.pcmCruise:
    # PCM long
@@ -40,25 +43,16 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
    speed_unit = "km/h" if metric else "mph"
+
+    alert_1_str = "Speed Limit Assist: Activation Required"
    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-  else:
-    # Non PCM long
-    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
-
-    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
-    arrow_str = ""
-    if req_plus:
-      arrow_str = "RES/+"
-    elif req_minus:
-      arrow_str = "SET/-"
-
-    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
+    alert_size = AlertSize.mid

  return Alert(
-    "Speed Limit Assist: Activation Required",
+    alert_1_str,
    alert_2_str,
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+    AlertStatus.normal, alert_size,
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)


 class EventsSP(EventsBase):
@@ -202,7 +196,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the posted speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitChanged: {
@@ -210,7 +204,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Set speed changed",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitPreActive: {
@@ -222,7 +216,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the last speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.e2eChime: {
@@ -230,6 +224,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "",
      "",
      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
 }
Author	SHA1	Message	Date
Jason Wen	4e4ec9f288	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into rivian-non-pcm # Conflicts: # opendbc_repo	2025-10-20 10:51:08 -04:00
Jason Wen	025a930ce8	ui: update longitudinal-related settings handling (#1401 ) * ui: update ICBM-related settings handling * oops * oops * single location * some more * fix cruise toggles * always init true * check this * nah * should be this	2025-10-18 04:04:48 -04:00
Jason Wen	523c92c6fe	Speed Limit Assist: lower `preActive` timer for Non PCM Longitudinal and ICBM cars (#1403 ) 5 seconds preActive for non pcm long now	2025-10-17 23:41:33 -04:00
Jason Wen	72282f2d2e	Speed Limit Assist: update events handling (#1400 ) * Speed Limit Assist: update active event handling * ok no more for non pcm long it was annoying * 5 seconds preActive for non pcm long now * Revert "5 seconds preActive for non pcm long now" This reverts commit `dfcc601035`. * dynamic alert size * do the same here * lint	2025-10-17 23:30:06 -04:00
Jason Wen	2825c00fcc	controlsd: update lateral delay param in a separate thread (#1402 )	2025-10-17 22:53:31 -04:00
Nayan	063aa994d2	ui: Resize E2E Alerts (#1396 ) because people be enabling ALL THE UI Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-16 01:03:45 -04:00
Jason Wen	50462a1d01	E2E Alert: universal state machine (#1395 ) * E2E Helper: universal state machine * not used * rename * 10 frames for both * time based * magic * lead depart: only arm if we have a confirmed close lead for over a second after allowing alert * less * shorter trigger * lol * always update	2025-10-16 00:55:17 -04:00
Jason Wen	437726b348	Speed Limit Mode: only cleanup param if Assist was selected (#1393 ) Speed Limit Mode: only cleanup param if it was Assist	2025-10-15 18:05:50 -04:00
Nayan	9e6af5ba74	ui: Adjust UI Elements to account for Sidebar & Dev UI (#1390 ) * resize & reposition * Apply suggestion from @sunnyhaibin * sir, this is Wendy's * this is still a Wendy's --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-15 17:40:52 -04:00
Nayan	99bd9075d5	ui: Fix Onroad Screen-Off default param (#1389 ) Change defaults Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-15 17:18:31 -04:00
Jason Wen	c438aeb5a5	ui: check for updated message before updating states in HUD (#1392 )	2025-10-15 16:47:00 -04:00
Jason Wen	f1ca81debf	ui: chevron should always be on top of driving path (#1391 )	2025-10-15 16:20:31 -04:00
Jason Wen	d7e1c42c2b	ui: move Dynamic Experimental Control (DEC) toggle to Longitudinal panel (#1388 ) - Implemented a new toggle for enabling Dynamic Experimental Control (DEC) in longitudinal settings. - Removed previous implementation for DEC from general settings. - Updated accessibility based on longitudinal control status.	2025-10-15 12:25:23 -04:00
Jason Wen	6d51d64285	interfaces: clean up unsupported params during initialization (#1385 ) * interfaces: clean up unsupported params during initialization * fix * logging and no DEC when no long * ui * ui	2025-10-15 09:46:53 -04:00
Jason Wen	e0ccc175e4	liveMapDataSP: improve speed limit validation logic (#1383 )	2025-10-15 00:59:40 -04:00
James Vecellio-Grant	734151f59b	Reapply "capnp: consolidate TurnDirection enum" (#1376 ) (#1382 ) * Reapply "capnp: consolidate TurnDirection enum" (#1376) This reverts commit `339bc0b8b3`. * cache it * format --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-14 23:32:10 -04:00
Nayan	9a14baac4d	Green Light and Lead Departure alerts improvements (#1381 )	2025-10-14 20:01:42 -04:00
Jason Wen	d3e3628a95	ui: only draw ahead speed limit if it's parsed from OSM (#1380 )	2025-10-14 11:40:42 -04:00
Nayan	fec6382b96	UI: Fix Speed Limit Assist (SLA) Translations (#1379 ) Fix SLA Translations	2025-10-14 11:29:27 -04:00
Jason Wen	4bd020e92b	Speed Limit Assist: audible alerts for certain states (#1378 )	2025-10-14 09:19:26 -04:00
Jason Wen	7f5342f378	soundd: custom audible alerts (#1377 ) * Revert "capnp: consolidate TurnDirection enum (#1370)" This reverts commit `7229c7541e`. * soundd: custom audible alerts * comment	2025-10-14 01:13:20 -04:00
Jason Wen	339bc0b8b3	Revert "capnp: consolidate TurnDirection enum" (#1376 ) Revert "capnp: consolidate TurnDirection enum (#1370)" This reverts commit `7229c7541e`.	2025-10-14 00:19:21 -04:00
Jason Wen	59c64acc29	Subaru: Stop and Go support (beta) (#1375 ) * Subaru: Stop and Go auto-resume support * bump * bump * fix * bump * fix init * wat * use just standstill for now * Revert "use just standstill for now" This reverts commit `f72cce6892`. * bump * bump * fix it * only send at 10 * bump * fix type * forget about planner resume, it sucks * try to send off_accel * still need it * always send * disable safety checks for now * same * more * all the time for both * don't need i guess * bump * try 15 frames per try * all should have it * try 3 for all * use throttle for all preglobal? * bump * bump * separate thresholds between preglobal and global * longer wait before sending * shorter time but immediately resend * quick * new timeout * about to cry * same thing but another try * no need * round 3 * try 1.4 * lower! * 1.2 * last try * beta asf * bump	2025-10-13 22:26:47 -04:00
James Vecellio-Grant	7229c7541e	capnp: consolidate TurnDirection enum (#1370 ) Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-13 22:02:53 -04:00
Kumar	39e73cc46e	ui: add ModelRendererSP::draw (#1372 ) * ModelRendererSP::draw * match * less * huh? * unused --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-13 21:45:59 -04:00
Jason Wen	285fd97606	ui: only draw speedCluster speed over "MAX" when ICBM is enabled (#1374 )	2025-10-13 20:36:24 -04:00
Jason Wen	e5f1f86ac2	params: helper to clamp out-of-range int params (#1373 ) * params: helpers to clamp out-of-range values * lint * inline * fix access * actually fix the param * inherit them * more lint	2025-10-13 19:37:58 -04:00
Jason Wen	09cb350d6f	Rivian: treat longitudinal upgrade variants as Non-PCM Longitudinal	2025-10-04 22:32:37 -04:00