cap it so we don't cry

# Conflicts:
#	opendbc_repo

.codespellignore

@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO

.gitattributes

@@ -9,7 +9,6 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
-openpilot/selfdrive/assets/sounds/milestone.wav -filter -diff -merge -text
 
 openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

@@ -0,0 +1,11 @@
+*       @sunnypilot/dev-internal
+/.github/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve

.github/workflows/build-all-tinygrad-models.yaml

@@ -78,7 +78,6 @@ jobs:
       - name: Get next recompiled dir number
         id: create-recompiled-dir
         env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
           HF_REPO: ${{ github.event.inputs.hf_repo }}
         run: |
           pip install huggingface_hub

.github/workflows/build-default-models.yaml

@@ -30,7 +30,6 @@ jobs:
     runs-on: ubuntu-24.04
     outputs:
       model_name: ${{ steps.resolve.outputs.model_name }}
-      safe_model_name: ${{ steps.resolve.outputs.safe_model_name }}
       onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
       onnx_path: ${{ steps.resolve.outputs.onnx_path }}
       hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
@@ -65,9 +64,7 @@ jobs:
             exit 1
           fi
 
-          SAFE_NAME="${NAME// /-}"
           echo "model_name=${NAME}" >> $GITHUB_OUTPUT
-          echo "safe_model_name=${SAFE_NAME}" >> $GITHUB_OUTPUT
           echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
           echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
           echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
@@ -138,7 +135,7 @@ jobs:
 
       - name: Prepare output
         env:
-          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH=${{ github.workspace }}
@@ -161,13 +158,13 @@ jobs:
       - name: Upload small model artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
           path: ${{ github.workspace }}/small_output/
 
       - name: Upload artifact name file
         uses: actions/upload-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
           path: ${{ github.workspace }}/small_output/artifact_name.txt
 
       - name: Re-enable powersave
@@ -257,7 +254,7 @@ jobs:
 
       - name: Prepare output
         env:
-          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+          MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH=${{ github.workspace }}
@@ -280,13 +277,13 @@ jobs:
       - name: Upload big model artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
           path: ${{ github.workspace }}/big_output/
 
       - name: Upload artifact name file
         uses: actions/upload-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
           path: ${{ github.workspace }}/big_output/artifact_name.txt
 
       - name: Re-enable powersave
@@ -321,7 +318,7 @@ jobs:
         if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
         uses: actions/download-artifact@v4
         with:
-          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          name: artifact-name-${{ needs.resolve.outputs.model_name }}
           path: artifact_name
 
       - name: Read artifact name
@@ -341,7 +338,7 @@ jobs:
       - name: Upload model to HF
         if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
         env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
           ARTIFACT_NAME: ${{ steps.artifact.outputs.artifact_name }}
         run: |
           rm -f output/artifact_name.txt
@@ -367,7 +364,7 @@ jobs:
       - name: Generate DM metadata and upload to HF
         if: ${{ inputs.target == 'dm' }}
         env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
         run: |
           export PYTHONPATH=$(pwd)
           python3 -c "
@@ -484,29 +481,11 @@ jobs:
           print(f'Chunked {pkl} into {len(targets)} chunks')
           "
 
-      - name: Compile DM warp
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
-          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-
-          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
-            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
-            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
-              --camera-resolution ${res} \
-              --warp-to ${DM_SIZE} \
-              --output ${WARP_PKL}
-          done
-
       - name: Prepare DM output
         run: |
           mkdir -p dm_output
           cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
           cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
-          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
 
       - name: Upload DM artifact
         uses: actions/upload-artifact@v4

.github/workflows/build-single-tinygrad-model.yaml

@@ -146,7 +146,7 @@ jobs:
 
       - name: Validate hf_repo and JSON version
         env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
         run: |
           if [ ! -f "$JSON_FILE" ]; then
             echo "JSON file $JSON_FILE does not exist!"
@@ -155,8 +155,13 @@ jobs:
           python3 -c "
           import sys
           from huggingface_hub import HfApi
-          HfApi().repo_info(repo_id=sys.argv[1], repo_type='dataset')
-          print(f'Success: Repo {sys.argv[1]} exists.')
+          try:
+              api = HfApi()
+              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
+              print(f'Success: Repo {sys.argv[1]} exists.')
+          except Exception as e:
+              print('HF validation failed:', e)
+              sys.exit(1)
           " "${{ inputs.hf_repo }}"
 
       - name: Download artifact name file
@@ -187,7 +192,7 @@ jobs:
 
       - name: Upload to Hugging Face
         env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
           hf upload ${{ inputs.hf_repo }} \

.github/workflows/download-hf-model-chunks/action.yml

@@ -46,13 +46,6 @@ runs:
             printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
           done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
           echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
-
-          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
-            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
-              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
-              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
-            done
-          fi
         }
 
         echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do

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

@@ -121,7 +121,7 @@ jobs:
           if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, "${{ inputs.target_hardware == 'chestnut' && 'chestnut' || 'tici' }}"]
+    runs-on: [self-hosted, chestnut]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -188,7 +188,7 @@ jobs:
           if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
             echo "CHESTNUT build"
             export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"

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

@@ -216,9 +216,6 @@ jobs:
     needs: [ prepare_strategy ]
     runs-on: ubuntu-24.04
     if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
-    concurrency:
-      group: prepare-chestnut
-      cancel-in-progress: false
     outputs:
       onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
     env:
@@ -231,10 +228,8 @@ jobs:
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
 
-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
-          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          ONNX_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
           echo "ONNX hash: $ONNX_HASH"
-          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
           echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -243,7 +238,7 @@ jobs:
           JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
 
           check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
             TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
             [ "$TINYGRAD_MATCH" = "true" ] || return 1
             BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -257,35 +252,18 @@ jobs:
 
           echo "No matching model on HF — dispatching build"
           gh workflow run build-default-models.yaml --ref "$REF" -f target=big
-          sleep 10
 
-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for big model availability..."
           for i in $(seq 1 90); do
             sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/90: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "Big model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "Big model available on HF after $((i * 30))s"
+              exit 0
             fi
+            echo "Poll $i/90: not yet available"
           done
 
-          echo "::error::Build run did not complete within 45 minutes"
+          echo "::error::Big model not available on HF after 45 minutes"
           exit 1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -299,9 +277,6 @@ jobs:
   prepare_small_model:
     needs: [ prepare_strategy ]
     runs-on: ubuntu-24.04
-    concurrency:
-      group: prepare-small-model
-      cancel-in-progress: false
     outputs:
       driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
     env:
@@ -314,10 +289,8 @@ jobs:
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
 
-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.sha')
-          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          DRIVING_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
           echo "Driving ONNX hash: $DRIVING_HASH"
-          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
           echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -326,7 +299,7 @@ jobs:
           JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
 
           check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
             TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
             [ "$TINYGRAD_MATCH" = "true" ] || return 1
             DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -340,35 +313,18 @@ jobs:
 
           echo "No matching model on HF — dispatching build"
           gh workflow run build-default-models.yaml --ref "$REF" -f target=small
-          sleep 10
 
-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for model availability..."
           for i in $(seq 1 60); do
             sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "Small model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "Model available on HF after $((i * 30))s"
+              exit 0
             fi
+            echo "Poll $i/60: not yet available"
           done
 
-          echo "::error::Small model build did not complete within 30 minutes"
+          echo "::error::Small driving model not available on HF after 30 minutes"
           exit 1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -382,9 +338,6 @@ jobs:
   prepare_dm_model:
     needs: [ prepare_strategy ]
     runs-on: ubuntu-24.04
-    concurrency:
-      group: prepare-dm-model
-      cancel-in-progress: false
     outputs:
       dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
     env:
@@ -397,10 +350,8 @@ jobs:
         run: |
           REF="${{ github.head_ref || github.ref_name }}"
 
-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.sha')
-          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          DM_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
           echo "DM ONNX hash: $DM_HASH"
-          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
           echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
 
           TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
@@ -409,7 +360,7 @@ jobs:
           JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
 
           check_defaults() {
-            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
             TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
             [ "$TINYGRAD_MATCH" = "true" ] || return 1
             DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
@@ -423,35 +374,18 @@ jobs:
 
           echo "No matching DM model on HF — dispatching build"
           gh workflow run build-default-models.yaml --ref "$REF" -f target=dm
-          sleep 10
 
-          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
-          echo "Dispatched build run: $BUILD_RUN_ID"
-
-          echo "Waiting for build run to complete..."
+          echo "Polling HF for DM model availability..."
           for i in $(seq 1 60); do
             sleep 30
-            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
-            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
-            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
-            if [ "$STATUS" = "completed" ]; then
-              if [ "$CONCLUSION" = "success" ]; then
-                echo "Build run succeeded, verifying HF..."
-                sleep 10
-                if check_defaults; then
-                  echo "DM model verified on HF"
-                  exit 0
-                fi
-                echo "::error::Build succeeded but DM model not found on HF"
-                exit 1
-              else
-                echo "::error::Build run failed with conclusion=$CONCLUSION"
-                exit 1
-              fi
+            if check_defaults; then
+              echo "DM model available on HF after $((i * 30))s"
+              exit 0
             fi
+            echo "Poll $i/60: not yet available"
           done
 
-          echo "::error::DM model build did not complete within 30 minutes"
+          echo "::error::DM model not available on HF after 30 minutes"
           exit 1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </clean>
       </configuration>
     </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,4 +20,11 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

.run/Replay for controls + ui.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>

.run/replay for controls.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

docs/ford_c1_carryover.md

@@ -1,102 +0,0 @@
-# Ford C1 correction carryover experiment
-
-The feedback controller at `5fbb583e5` can retain a correction from an earlier
-turn that outweighs the new base C1. The measured curvature can already be
-opposite the desired curvature, yet total C1 continues to request the old
-direction while the integral works back toward zero.
-
-This experiment keeps the existing 1:1 feedback strength and adds a conditional
-reset of that correction. It is a command-policy experiment, not a demonstrated
-improvement in physical steering response.
-
-## Release rule
-
-All of the following must be true on a valid, active cycle:
-
-- Feedback is enabled and a fresh steering publication advances measurement time.
-- Base C1 is nonzero by at least one DBC step (0.0005 rad).
-- Both target C0 and the slewed C0 request agree with base C1's direction,
-  by at least one DBC step (0.01 m).
-- Measured steering-derived curvature points opposite the desired curvature.
-- The accumulated correction prevents total C1 from requesting the base direction:
-  the sum of base C1 and correction is zero or opposite base C1.
-
-The stored correction is then set to zero before the usual feedback increment.
-The final C1 command still passes through its existing ±0.5 rad amplitude and
-0.5 rad/s slew limits. The reset cannot directly jump the transmitted command.
-The DBC steps reject requests smaller than one representable step; they are
-not new strength multipliers. This reset policy is itself an engineering choice.
-
-There is no reset simply because steering error crosses zero, or because C1
-and its correction have opposite signs. Matched curvature, neutral/conflicting
-C0, a correction that does not outweigh base C1, and repeated measurements all
-preserve normal integration. The condition can apply to small steering
-corrections as well as large turns; it has no turn-size or speed threshold.
-
-No previous-turn direction or timer is stored. Agreement between current path
-requests and disagreement with measured curvature are the confirmation. This
-does not establish which part of the combined C0/C1 request a PSCM physically
-needs. In particular, when C0 still points into the previous turn, this rule
-deliberately leaves the integral alone.
-
-## Preserved behavior and diagnostics
-
-C0's 7 m mapping, its limits, the base C1 mapping, upstream curvature limiting,
-the original integral strength, driver/PSCM arbitration, C2=C3=0 and the 100 Hz
-sender are unchanged. No fitted PSCM model, proportional term or gain schedule
-is added. There are still three values used by the command law: C0, C1 and
-the correction. A diagnostic-only `carryover_release_count` is added and resets
-with the controller. It is included in the existing periodic diagnostic event.
-
-The same default-off Sunnylink toggle selects this version. Its diagnostic
-identity is `model-action-c1-feedback-v2`. See the [drive-test instructions](ford_model_action_drive_test.md).
-
-## Offline evidence
-
-The two mirrored command-regression tests failed before the change. After
-building correction through actual feedback, the old controller still requested
-the old C1 direction 0.4 s into a reversal. Both tests now pass with the original
-output slew. Additional tests cover holding a steady curve, small error
-crossings, neutral and conflicting C0, representable command boundaries,
-freshness, driver override and PSCM limits. Integration tests execute the actual
-controlsd selection and upstream limiter, Float32 publication and Ford CAN
-builder, using both model and maneuver-plan requests and both turn directions.
-
-The combined suite passes **567 tests and 9,146 subtests**, with the same 178
-inherited/unsupported safety-test skips as the original feedback validation.
-The randomized checks include mirrored inputs, zero-error compatibility, and
-comparison against the exact previous controller from cloned pre-update states.
-
-Frozen b8 replay triggers 11 releases; b9 triggers 14. Activation and C0 match
-the previous controller exactly on every reconstructed cycle. In b9, most
-releases concern small corrections; one follows the large turn around 13:28.
-The C0/C1 disagreement at 14:36 is preserved. Numerical details and source
-hashes are in `ford_c1_carryover_validation.json`.
-
-At the release around 13:28, the candidate C1 crosses into the requested
-direction 0.255 s earlier than the previous controller on identical frozen
-inputs. This is a command zero-crossing comparison, not a measured improvement
-in the truck's steering response. The lab checks total 669,343 Float32/CAN
-round trips, in addition to the integration tests.
-
-Replay preserves recorded model requests and measured motion. A difference
-between candidate and baseline commands can persist because the recorded
-steering does not respond to the changed command. Replay cannot predict wheel
-angles, centering, oscillation, or how much earlier the vehicle would unwind.
-No device build, boot, installation or physical validation was performed.
-
-## Reproduction
-
-Use the branch's native dependencies and pinned opendbc revision
-`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The route commands require the existing
-full-rlog b8/b9 extracts and the baseline Git revision. Run:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_carryover/stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_carryover/zero_error_stress.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb8
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb9
-```

docs/ford_c1_carryover_validation.json

@@ -1,177 +0,0 @@
-{
-  "created_at_utc": "2026-09-10T14:00:37.853762+00:00",
-  "scope": "Conditional release of accumulated C1 correction; offline command behavior only, no predicted vehicle response.",
-  "baseline_commit": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
-  "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "hypothesis": "model-action-c1-feedback-v2",
-  "calibration_approved": false,
-  "toggle": {
-    "key": "FordModelActionController",
-    "default_enabled": false,
-    "activation": "Existing controlsd startup selection"
-  },
-  "release_rule": "Fresh enabled feedback; target and slewed C0 agree with base C1 by >= one DBC step; measured curvature is opposite; stored correction makes total C1 zero or opposite base. Clear correction, then apply original integration and output slew.",
-  "engineering_choices": "Conditional reset policy, using existing DBC steps (0.01 m, 0.0005 rad) to confirm nonzero commands. Original 1:1 integral strength is unchanged.",
-  "preserved": [
-    "C0 mapping and limits",
-    "Base C1 mapping",
-    "Original integral strength",
-    "Final C1 amplitude and slew limits",
-    "Driver and PSCM arbitration",
-    "Upstream selection and limiting",
-    "100 Hz sender",
-    "C2=C3=0"
-  ],
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
-    "total_lines": 194,
-    "code_lines_excluding_blanks_comments_docstrings": 131,
-    "core_command_state_values": 3,
-    "core_diagnostic_counters": 1
-  },
-  "tests": {
-    "combined_suite": "567 passed, 178 skipped, 9146 subtests passed in 6.45s",
-    "safety_skips": "Same 178 inherited or unsupported variants recorded in ford_c1_feedback_validation.json.",
-    "regression": "Two mirrored carryover command tests fail on the exact baseline class and pass in the candidate suite.",
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "settings_compiler_check": "pass",
-    "carryover_controlsd_to_can_frames": 1120,
-    "existing_feedback_controlsd_to_can_frames": 1010,
-    "integration_scope": "Actual source selection, upstream limiting, controller, Float32 publication, Ford sender, both plan sources and signs, all counters and checksums."
-  },
-  "routes": {
-    "b8": {
-      "cycles": 160431,
-      "active_cycles": 68217,
-      "validity_and_c0_match_baseline_exactly": true,
-      "c1_changed_cycles": 6065,
-      "max_abs_c1_change_rad": 0.09250000000000003,
-      "can_round_trips": 160431,
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
-      "carryover_release_count": 11,
-      "input_sha256": {
-        "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
-        "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
-        "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
-      }
-    },
-    "b9": {
-      "cycles": 90774,
-      "active_cycles": 86474,
-      "validity_and_c0_match_baseline_exactly": true,
-      "c1_changed_cycles": 15208,
-      "max_abs_c1_change_rad": 0.10400000000000004,
-      "can_round_trips": 90774,
-      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
-      "carryover_release_count": 14,
-      "input_sha256": {
-        "route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
-        "model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
-        "metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee"
-      }
-    }
-  },
-  "command_timing_example": {
-    "event": {
-      "time_s": 808.286646083,
-      "correction_before_rad": -0.13089810321135922,
-      "correction_after_rad": 0.0,
-      "base_c1_rad": 0.06412824021622576,
-      "desired_angle_deg": -24.17155647277832,
-      "actual_angle_deg": -0.30000001192092896,
-      "speed_m_s": 11.804088592529297,
-      "baseline_c0_c1": [
-        0.15000000000000036,
-        -0.06600000000000006
-      ],
-      "candidate_c0_c1": [
-        0.15000000000000036,
-        -0.062000000000000055
-      ]
-    },
-    "scope": "Command zero crossing on identical frozen recorded inputs; not wheel response.",
-    "baseline_c1_rightward_at_s": 808.67241324,
-    "candidate_c1_rightward_at_s": 808.4169884780001,
-    "command_crossing_advance_s": 0.25542476199984776
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "carryover_release_count": 946,
-    "baseline_revision": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
-    "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-    "exact_unchanged_state_and_commands_without_release": 199054,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552"
-  },
-  "zero_error_stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_lab_float32_can_round_trips": 669343,
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "04935fb941a795cb243870a4c03f7073c68147b01da3cedf2872476aa5fb798e",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "e2e98d3a0a531235abd032fc4d3564796613ad51ff6ba22a230c48e36f6f6848",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "90fb42ce580f0085e349467086a2eef28c2512c671755d0771f6331d30b19035",
-    "tools/ford_pscm_lab/feedback_replay.py": "9bf145fbff6ed685aec2c0e5d0584e2dc7ff831021f15110f939e8a94c93280b",
-    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8",
-    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
-    "docs/ford_c1_carryover.md": "e8d08375963efc6d1ae6ce503bb580ba00cfa90adb71c941d56fe6e3701d5cbb",
-    "docs/ford_c1_feedback.md": "1b440a03082e5cec264a1d6693833ed0a7e07b6c6e2122f8e4455c5971121b57",
-    "docs/ford_model_action_drive_test.md": "7ac5ca0faf9690a23e7058d09b55f23e21e2ba74666001cacb56b67e8d8b4376",
-    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
-    "opendbc_repo/opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e",
-    "opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401"
-  },
-  "artifact_sha256": {
-    ".cache/ford_c1_carryover/tests.txt": "cd65146df93632e4a2c1e086781e1da4673db7d038c7e673124f227efefbb567",
-    ".cache/ford_c1_carryover/baseline_regression.txt": "4469873f95ccf45a376a27fed05be3bdad5f808af7ceca472c6e2cb9d973eb7f",
-    ".cache/ford_c1_carryover/stress.json": "7a8d20d7abd7cf444f55b7316e8bedbed0fbe8e9587e09f90d5b1946c3c2e98c",
-    ".cache/ford_c1_carryover/zero_error_stress.json": "09e64eaac35df4ec324b41fabdc8baf91931106ac98b89c1ca71f4c8bf8796a4",
-    ".cache/ford_c1_carryover/timing.json": "0d18ed4164803adedbbd660fe024f4c28de8eb7921caa60659346ff386d3847f",
-    ".cache/ford_c1_carryover/routeb8/report.json": "d2c6f767cef29a74e292b6a16263d2da13b8c302e4653e419b0e232e1aaf762e",
-    ".cache/ford_c1_carryover/routeb8/commands.npz": "89b5c3474940b61afce060111c27fd9bad9e24d703c59fca61adf4ce10473df3",
-    ".cache/ford_c1_carryover/routeb9/report.json": "e3ff7bfa70e770eca763b125c283fd8a1d509ef1b6e7f26a81c398aca89a87da",
-    ".cache/ford_c1_carryover/routeb9/commands.npz": "e4f5f341146e2897a479baf222d678fd16352c8da931876a2471c3719faf9edf"
-  },
-  "test_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "PYTHONDONTWRITEBYTECODE": "1",
-    "LOG_ROOT": "/private/tmp/ford-carryover-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-carryover-params"
-  },
-  "limitations": [
-    "Frozen replay preserves recorded requests and measured motion; changed commands do not establish changed wheel angles, centering or stability.",
-    "C0/C1 agreement is a reset-policy choice, not an identified relationship between PSCM input and wheel angle.",
-    "The rule can release small corrections and does not promise unchanged centering during transients.",
-    "No device build, boot, installation or physical validation was performed."
-  ]
-}

docs/ford_c1_feedback.md

@@ -1,129 +0,0 @@
-# Ford C1 feedback experiment
-
-This document records the original feedback change at `5fbb583e5`. The current
-version retains its feedback law and adds [conditional carryover release](ford_c1_carryover.md).
-The validation counts below describe the original change; current results are
-recorded in `ford_c1_carryover_validation.json`.
-
-The restored original v1 can leave a steering error while C0 and C1 still have
-room. Its command law does not directly correct measured steering error. This
-experiment keeps that mapping and adds one accumulated C1 correction:
-
-```text
-error = selected_limited_desired_curvature - measured_curvature
-correction += error * speed * elapsed_measurement_time
-C1_target = original_model_C1 + correction
-```
-
-Curvature (1/m) multiplied by traveled distance (m) gives heading mismatch in
-radians. Applying that mismatch to C1 at **1:1 is an explicit feedback-strength
-choice**. Dimensional consistency does not prove that every PSCM responds
-correctly to that strength. There is no fitted PSCM response model or new
-tunable multiplier.
-
-For example, at 20 m/s, a constant curvature shortfall of 0.001/m adds 0.02 rad
-to C1 over one second when the output can accept it. When measured curvature
-matches the request, the correction holds. If the vehicle turns more than
-requested, the correction moves in the unwind direction. Changing the model
-request still changes the base immediately, subject to the existing slew.
-
-## Preserved mapping and limits
-
-- C0 is the current model path's lateral offset at 7 m of arc distance, holding
-  the available endpoint for shorter paths; its limits remain ±5.11 m and 4 m/s.
-- Base C1 is `max(7 m, speed × 1 s) × selected_limited_desired_curvature`, clipped
-  to ±0.5 rad. Final C1 uses the same ±0.5 rad and 0.5 rad/s limits as v1.
-- C2 and C3 are zero. Sign conversion, Float32/CAN rounding, upstream curvature
-  limiting and the 100 Hz sender retain their existing behavior.
-
-The core holds three values: unquantized C0, unquantized C1 and the correction.
-Zero error from a reset leaves the correction at zero and preserves the old
-command arithmetic exactly. There is no separate percentage or distance cap
-on the correction.
-
-## Feedback measurement, timing and limits
-
-The measurement is `controlsd.curvature`, computed from measured steering
-angle with the existing live vehicle parameters. It matches the curvature
-used for the desired-versus-actual steering comparison. It is not an independent
-measurement of tire slip or the vehicle's actual ground path. CAN yaw remains
-an input-health gate and does not drive this feedback.
-
-The adapter integrates only elapsed time between fresh `carState` publications.
-The first publication after reset integrates zero time. Duplicate timestamps
-integrate zero; a fresh timestamp accounts for the elapsed measurement interval.
-Output slew continues on valid control cycles. Existing service-age, speed,
-model-geometry and clock-order gates remain, with the same finite/range check
-also applied to measured curvature. Disengagement or invalid input clears all
-three core states.
-
-The correction cannot accumulate farther into an unavailable C1 amplitude or
-slew request. Increments that move back toward the available output remain
-allowed. Moving the base request does not itself rewrite the correction.
-
-Fresh PSCM status means a valid message whose original CAN receipt timestamp
-is within the existing −5 to +150 ms age allowance. Reached-limit status (2)
-prevents extra accumulation in the measured turn direction. An old correction
-opposing that direction can return to zero; it cannot be trapped below the
-base request by the limit flag. Unwind and base model changes remain available.
-Close-to-limit status (1) does not block feedback. Missing or stale status
-does not gate it; local amplitude and slew anti-windup still apply.
-
-Driver steering-pressed, torque above the existing 1 Nm allowance, nonfinite
-torque, or fresh driver-limit status (3) clears the correction. Fresh denied
-or inactive PSCM status also clears it. The base model request continues
-through existing engagement and driver arbitration; clearing the correction
-does not bypass the final output slew.
-
-## Offline evidence and reproduction
-
-`ford_c1_feedback_validation.json` records the source hashes and completed
-checks. Tests exercise build, hold, unwind, saturation, limit flags, immediate
-driver input, stale and repeated measurements, invalid inputs and both signs.
-Integration tests execute actual controlsd selection and limiting, Float32
-publication, CarControlSP conversion and the Ford CarController CAN builder.
-Randomized runs check feedback invariants separately from zero-error
-compatibility with the original independent scalar oracle.
-
-The combined suite passes **511 tests and 9,146 subtests**. Its 178 skips are
-in inherited safety base classes or unsupported safety-test variants. Ruff,
-the controller's Ty check and settings compilation pass. Feedback stress,
-zero-error stress and the b8 replay total **578,569 Float32/CAN round trips**;
-the integration test separately verifies 1,010 transmitted packet constructions,
-including every counter and checksum. No packets are sent to hardware.
-
-The b8 replay retains recorded desired/measured curvature, model publications,
-driver input and PSCM flags. It compares candidate commands with the restored
-v1 at `a7d70e2b0890184636827351e4789d866f2a7c97`. All 160,431 reconstructed
-activation decisions and C0 commands match. C1 changes on 58,106 cycles.
-At 4:12.493, for example, reconstructed host C1 changes from −0.1625 to
-−0.2035 rad; at 3:56.250 it changes from −0.1280 to −0.1080 rad. These are
-changes to commands on frozen measurements, not predicted wheel angles.
-
-Controls publication time proxies the unlogged computation clock, and the
-full SubMaster health state cannot be reconstructed. This route uses the
-consumed model publication as its reference and has no maneuver-plan messages.
-Replay cannot show whether this feedback fixes weak turns, hanging turns or
-oscillation. A new drive is needed to measure those outcomes.
-
-Use the branch's native dependencies and pinned opendbc revision
-`c21a9013700734dd20b09e05aa68329ad8cc20f9`:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:opendbc_repo
-python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
-python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
-python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_feedback/feedback_stress.json
-python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_feedback/zero_error_stress.json
-python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --output .cache/ford_c1_feedback/routeb8
-```
-
-The last command requires the existing full-rlog b8 extract (`route.npz`,
-`model_paths.npz`, `metadata.json`), identified by hashes in the validation
-record. The historical route90/95 replay deliberately sets measured curvature
-equal to requested curvature to check zero-error compatibility; it does not
-exercise recorded steering feedback.
-
-Enable using the [existing Sunnylink toggle](ford_model_action_drive_test.md).
-The diagnostic identity is `model-action-c1-feedback-v1`.

docs/ford_c1_feedback_validation.json

@@ -1,258 +0,0 @@
-{
-  "created_at_utc": "2026-09-09T14:45:33.853345+00:00",
-  "baseline_commit": "a7d70e2b0890184636827351e4789d866f2a7c97",
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev"
-  },
-  "scope": "C1 measured-curvature feedback on restored original v1. Offline software validation only; no predicted or measured physical improvement.",
-  "calibration_approved": false,
-  "toggle": {
-    "key": "FordModelActionController",
-    "default_enabled": false,
-    "activation": "Existing startup selection after offroad-to-onroad cycle"
-  },
-  "feedback_law": "correction += (desired_curvature - measured_curvature) * speed * elapsed_measurement_time, subject to output and PSCM anti-windup",
-  "feedback_strength": "Explicit 1:1 heading-error-to-C1 choice; no fitted PSCM plant or new tunable multiplier",
-  "preserved": [
-    "C0 mapping and limits",
-    "C2=C3=0",
-    "C1 final amplitude and slew limits",
-    "100 Hz sender",
-    "upstream selection and limiting"
-  ],
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
-    "total_lines": 181,
-    "code_lines_excluding_blanks_comments_docstrings": 123,
-    "core_persistent_values": 3,
-    "adapter_timestamps": 3
-  },
-  "tests": {
-    "combined_suite": "511 passed, 178 skipped, 9146 subtests passed in 5.14s",
-    "suite_log_sha256": "001ef6633b22513317593dd8debc160a0ca8aaf78ea53418c5f7a50c370cc818",
-    "ruff_changed_python": "pass",
-    "ty_controller": "pass",
-    "settings_compiler_check": "pass",
-    "safety_skip_reasons": [
-      "SKIPPED [145] ../../../../dev/sunnypilot/.venv/lib/python3.12/site-packages/_pytest/unittest.py:523: Skipped",
-      "SKIPPED [9] opendbc_repo/opendbc/safety/tests/common.py:64: Safety mode implements no _user_regen_msg",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:51: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:254: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:67: Skipping test because _acc_state_msg is not implemented for this car",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because MADS button is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because ACC main is not supported",
-      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:411: MADS button not supported",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:378: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:361: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:351: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:327: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:341: CAN FD only",
-      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:320: CAN FD only"
-    ],
-    "safety_native_build": "Pinned safety C source is compiled locally by libsafety_py before testing.",
-    "controlsd_to_can_feedback_integration_frames": 1010,
-    "integration_checks": "Both signs: build, hold, unwind, rebuild, immediate driver override; actual 100 Hz sender, counter, checksum, fields and publication. Separate integration tests validate PSCM service forwarding.",
-    "regression_test_evidence": [
-      "Nonzero-error integration failed with zero correction before implementing feedback.",
-      "Both sign tests failed when a reached limit trapped an old opposing correction; they pass after allowing return to zero."
-    ]
-  },
-  "route_b8": {
-    "baseline_revision": "a7d70e2b0890184636827351e4789d866f2a7c97",
-    "baseline_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-    "cycles": 160431,
-    "active_cycles": 68217,
-    "validity_and_c0_match_original_v1_exactly": true,
-    "status_counts": {
-      "inactive": 92214,
-      "active": 68217
-    },
-    "feedback_enabled_seconds": 598.256888772994,
-    "pscm_limit_2_seconds": 12.139079590997426,
-    "c1_changed_cycles": 58106,
-    "max_abs_c1_change_rad": 0.29800000000000004,
-    "max_abs_correction_rad": 0.29816844327770786,
-    "can_round_trips": 160431,
-    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
-    "reference_limit": "Uses exact consumed model publication as reference; the b8 route has no maneuver-plan messages.",
-    "example_points": [
-      {
-        "time_s": 130.9368894940053,
-        "old_c0_c1": [
-          -0.7400000000000002,
-          -0.18700000000000006
-        ],
-        "candidate_c0_c1": [
-          -0.7400000000000002,
-          -0.22899999999999998
-        ],
-        "correction_rad": -0.042171663052515254,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 235.3960996990063,
-        "old_c0_c1": [
-          -2.04,
-          -0.40449999999999997
-        ],
-        "candidate_c0_c1": [
-          -2.04,
-          -0.4145
-        ],
-        "correction_rad": -0.00989648519895422,
-        "feedback_enabled": true,
-        "pscm_limited": true
-      },
-      {
-        "time_s": 236.25034470800165,
-        "old_c0_c1": [
-          -1.46,
-          -0.128
-        ],
-        "candidate_c0_c1": [
-          -1.46,
-          -0.10799999999999998
-        ],
-        "correction_rad": 0.01990758350705991,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 252.49320156300382,
-        "old_c0_c1": [
-          -0.6699999999999999,
-          -0.16249999999999998
-        ],
-        "candidate_c0_c1": [
-          -0.6699999999999999,
-          -0.20350000000000001
-        ],
-        "correction_rad": -0.040907632902654506,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 674.430371745002,
-        "old_c0_c1": [
-          0.4299999999999997,
-          0.128
-        ],
-        "candidate_c0_c1": [
-          0.4299999999999997,
-          0.1345
-        ],
-        "correction_rad": 0.00639271291315417,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      },
-      {
-        "time_s": 1534.5190040400048,
-        "old_c0_c1": [
-          2.62,
-          0.5
-        ],
-        "candidate_c0_c1": [
-          2.62,
-          0.5
-        ],
-        "correction_rad": 0.0,
-        "feedback_enabled": true,
-        "pscm_limited": true
-      },
-      {
-        "time_s": 1562.5074677500015,
-        "old_c0_c1": [
-          -0.1200000000000001,
-          -0.051000000000000045
-        ],
-        "candidate_c0_c1": [
-          -0.1200000000000001,
-          -0.046499999999999986
-        ],
-        "correction_rad": 0.004453988923883501,
-        "feedback_enabled": true,
-        "pscm_limited": false
-      }
-    ]
-  },
-  "route_input_sha256": {
-    "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
-    "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
-    "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
-  },
-  "feedback_stress": {
-    "cycles": 200000,
-    "mirrored_updates": 200000,
-    "can_round_trips": 200000,
-    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, integration direction/size, PSCM anti-windup, CAN fields.",
-    "scope": "Numerical software invariants only; no model of vehicle motion.",
-    "calibration_approved": false,
-    "controller_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34"
-  },
-  "zero_error_stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_lab_float32_can_round_trips": 578569,
-  "artifact_sha256": {
-    ".cache/ford_c1_feedback/routeb8/report.json": "648887eebb76260a60f7c0f0d9aaac83d0f1c06b443e28bc6fdf296bad4526c0",
-    ".cache/ford_c1_feedback/routeb8/commands.npz": "1aef98365572b3fb3cb8ba2a93cf30041ff3be133718d469145b710f2c94dc32",
-    ".cache/ford_c1_feedback/feedback_stress.json": "abf4e7bccc1e460008cc7450fcd92e9b2a6108bd71e53a01bdc24e31e5b5ad32",
-    ".cache/ford_c1_feedback/zero_error_stress.json": "2a3f284e10e5054205a788cce59bcf57bd837e13afff327457244141ba5522f0",
-    ".cache/ford_c1_feedback/safety_skip_reasons.txt": "5384c82b07b7cc20c6b22b8e94246cb104d53f8866af02b28fda7d4138cf377f"
-  },
-  "native_params": {
-    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
-    "sources_match_original_rebuild_record": true,
-    "provenance": "Same locally rebuilt native library and source hashes recorded in ford_model_action_drive_test_validation.json; verified for this run."
-  },
-  "test_environment": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
-    "LOG_ROOT": "/private/tmp/ford-feedback-logs",
-    "PARAMS_ROOT": "/private/tmp/ford-feedback-params",
-    "PYTHONDONTWRITEBYTECODE": "1"
-  },
-  "source_sha256": {
-    "docs/ford_c1_feedback.md": "c1bc7f24c5ebe28679b4a04d09085d7b937926e63a38d43a3abfac93dfcfa0f9",
-    "docs/ford_model_action_candidate.md": "20cd8d10008cd796cc8719f5795ee80f50d8133d6e7684fb057a78fb05323fbe",
-    "docs/ford_model_action_drive_test.md": "7860ae26a61682aff86743ba302eb23c8f271d5700a2e616da1b6b38d438b57d",
-    "opendbc_repo/opendbc/car/vehicle_model.py": "ddc2a93d9c2b2ef6c9a913a5aef4c51e2bc387db1f7640473657e5ade4e50fac",
-    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
-    "openpilot/selfdrive/controls/lib/drive_helpers.py": "916bcd83c2a909a89795da58c7c43d7b168c9b82e1a6d281484bae45c667c01e",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
-    "openpilot/selfdrive/controls/lib/ford_path.py": "383538fc7cdae3bc28dffb71fe12ac5f3f9866ffbe6adfb7457f3593e9fc903a",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "84113b1b7800c868117af0034278f53a1a6153c7bb5fadc1ea45958e62c4f0d0",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "cbe1b2aa1961deba3a42e1d82f5f75ae0c3d7a219428dea5f50cb70e1b27fd11",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "c7f5ffd650e804e6e02fa12d435e0867b56b13a49c3d9fa511993188d5cb625a",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "f7a956c082a246d9506e21adbf348cbdc7f94d5342d832841058c71f7e264eeb",
-    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "7a13dc5ce49b40e27e05e62cdb9ef1bb764de8ed8167f7e982d54a4dffe97ed4",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "410e306958ece12e49fc114707741c57a2dd927c6ba3410e160834e52a759ea9",
-    "tools/ford_pscm_lab/feedback_replay.py": "ca552217953f3cce35da0b1666252fd43b6f8ab6c067e5c9102da8ea8d97c2f3",
-    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
-    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8"
-  },
-  "limitations": [
-    "Frozen route replay changes commands only; it cannot establish tracking, unwind response or closed-loop stability.",
-    "Measured curvature uses the existing steering-angle vehicle model; it is not an independent ground-path measurement.",
-    "No full device build, device boot, installation or road validation was performed."
-  ]
-}

docs/ford_model_action_candidate.md

@@ -1,155 +0,0 @@
-# Offline Ford selected-action candidate
-
-This document and `ford_model_action_validation.json` record the offline
-stage committed as `7ca3c6e3b`. The candidate is now available behind a
-separate default-off Sunnylink toggle; see
-[drive-test setup and validation](ford_model_action_drive_test.md).
-The counts, source hashes and selector status below describe that earlier
-stage. The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
-to this original mapping; the historical no-feedback description below is
-not the current controller specification.
-
-The decision is `C0 = current model y(7 m)`,
-`C1 = max(7 m, speed × 1 s) × selected upstream-limited desiredCurvature`,
-with C2=C3=0. The 7 m station and one-second scale are engineering choices,
-not identified PSCM gains. `calibration_approved=false`.
-
-`openpilot/selfdrive/controls/lib/ford_model_action.py` contains the core
-and a separate adapter compatible with the existing controlsd call.
-At that stage, the production selector, v8 implementation, settings, opendbc
-submodule and Panda safety remained unchanged. Tests injected the adapter
-offline; there was no production setting. No hardware or CAN transmission
-occurs in the lab tools.
-
-## Construction and integration
-
-Only the unquantized C0 and C1 slew positions persist in the core.
-Each field is clipped independently (±5.11 m / ±0.5 rad), slewed independently
-(4 m/s / 0.5 rad/s), then packed using the existing Float32/sign-negation
-rounding contract (0.01 m / 0.0005 rad). Heading overflow is not transferred
-to C0. No yaw integral, blend, additional curvature contribution, reference
-filter, turn modes, or 10 m C1 cap is introduced.
-
-The selected standalone implementation from worktree 3548 is the provenance
-for this law. Its two-state packer has been moved into the library core so
-the controller does not depend on experimental lab code. Invalid numeric
-types, overflowing arc geometry and malformed paths reset the core instead
-of throwing or retaining a command.
-
-Arc stations use cumulative model x/y distance, not forward x. As in the
-reviewed standalone core, a path ending before 7 m holds its available
-endpoint instead of extrapolating. This matters: route95 contains 44 active
-cycles with 5.45–6.94 m of path at 2.78–3.46 m/s. A tested strict 7 m
-coverage gate would have introduced disengagements and was removed. There
-is no speed-dependent C0 horizon beyond this existing endpoint behavior.
-
-The adapter retains the existing input age allowance (−5 to +150 ms),
-speed domain (0.3–55 m/s), yaw sanity bound (±3 rad/s), selected curvature
-sanity bound (±1/m), and control interval (2–100 ms). It rejects backward
-model/measurement timestamps and invalid services. Repeated timestamps may
-continue slew, but geometry is validated again on each tick. Disengagement,
-invalid inputs and timing faults clear all command and adapter timing state.
-The first valid tick after reset uses 10 ms, as v8 does.
-
-controlsd still owns reference selection, upstream curvature limiting,
-service health and engagement. Tests execute its actual source-selection
-and limiter code, its Ford call, Float32 publication in ControlsExt, conversion
-to CarControlSP, and the pinned Ford CarController's in-memory CAN builder.
-Both model-action and maneuver-planner selection are covered, including
-disabling latActive after invalid output. Only the test chooses the adapter.
-
-Yaw is not an input to the control law. The adapter checks it solely for the
-inherited invalid-input policy. Driver override and optional PSCM status
-do not modify the candidate base; existing engagement and downstream driver
-arbitration remain responsible for authorization, as with v8's base request.
-
-## Offline evidence
-
-The checked-in `ford_model_action_validation.json` records the completed
-checks and source hashes. Full arrays and detailed reports are generated
-locally under `.cache/ford_model_action/`; original route files are read-only.
-
-Completed validation: **264 Ford tests and 150 subtests pass**, including
-120 new core/adapter/replay-validator cases. The candidate module has 100%
-statement and branch coverage (78 statements, 24 branches). Ruff and Ty pass.
-The 200,000-cycle numerical stress test also checks 200,000 mirrored core
-updates and 18,138 field-boundary cases. Across route and stress runs,
-485,238 Float32/CAN round trips pass. Eight deliberately injected faults
-(heading gain/cap, erased C0, wrong C0 slew, retained invalid state, stale
-model acceptance, model clock rollback and reversed C0 sign) are all caught
-by the tests. Mutation runs replace code only inside isolated Python
-processes; production source files are never modified by those probes.
-
-Independent Standards and Spec reviews reported zero findings. The full
-suite's Params setting test uses an existing local native library from
-worktree 3548 after checking relevant source files are byte-identical;
-its hash and provenance are in the manifest. That library is an ignored
-test dependency, not part of this change. This is the full relevant Ford
-suite, not the hardware-dependent test suite for every openpilot subsystem.
-
-The replay has two separate passes:
-
-* Core compatibility uses the archived eligibility mask and requires exact
-  equality with the independently implemented `action_heading` commands.
-* Adapter reconstruction derives eligibility from recorded service streams
-  independently of the archived output mask. It retains original timestamps,
-  gaps and consumed model frames. Controls publication time proxies the
-  unlogged computation clock, and complete SubMaster health is unavailable.
-
-All 54,738 route95 and 78,812 route90 core cycles match exactly, including
-37,614 and 73,055 active cycles. The adapter preserves those active counts.
-Its 59 / 19 changed commands arise solely from the fresh 10 ms engagement
-tick instead of the archived harness's preceding publication interval;
-the replay checks that attribution on every cycle. Maximum differences are
-0.01 m / 0.001 rad (95) and 0.02 m / 0.002 rad (90).
-
-Every core and adapter replay output is round-tripped through Float32 and
-the real CAN packer/parser, including zero C2/C3, signs, mode and counter.
-Continuous field slew and quantization allowance are checked separately
-from immediate invalid-command resets. The original driver-clean cohorts,
-speed strata and command RMS are reproduced without redoing the encoder search.
-
-The numerical stress harness uses analytic rotated paths, scalar slew
-arithmetic, mirrored requests, irregular intervals and invalid-input resets.
-It also sweeps every representable host field value and the Float32 values
-immediately below, at and above every half-quantum boundary. Direct CAN
-packing of the continuous state must agree with the host's quantized output.
-The unit tests cover releases, reversals, clipping, service freshness,
-clock resets, malformed inputs, endpoint fallback and actual integration.
-
-## Limits of the result
-
-On turns at ≥15 m/s, candidate C0 RMS is 79%/81% below v8 on routes95/90,
-while C1 is 33%/41% higher. Those are command changes, not evidence of
-equivalent steering authority. The PSCM's independent C0/C1 response remains
-unknown. Replay cannot establish physical model following, strong turns,
-centering, overshoot, oscillation or closed-loop stability.
-
-The release probe is intentionally explicit: a model bend can increase
-while selected curvature decreases. At 20 m/s, one synthetic probe changes
-C0/C1 from 0.24 m / 0.10 rad to 0.49 m / 0.08 rad. Zero selected curvature
-sets the C1 target to zero but does not erase a nonzero current model C0.
-Removing a yaw-integral tail does not prove that physical overshoot is solved.
-No additional release policy or unsupported plant model is added to hide
-that uncertainty.
-
-## Reproduce
-
-From this worktree, use the logged construction dependency explicitly:
-
-```sh
-export PYTHONDONTWRITEBYTECODE=1
-export PYTHONPATH=.:/Users/ibpersonal/.codex/worktrees/b926/sunnypilot/opendbc_repo
-PY=/Users/ibpersonal/dev/sunnypilot/.venv/bin/python
-EVIDENCE=/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904
-$PY -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py
-$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route95" --output .cache/ford_model_action/route95
-$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route90" --output .cache/ford_model_action/route90
-$PY -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --output .cache/ford_model_action/stress.json
-```
-
-The route replay refuses an opendbc revision other than
-`72a775d35e54c21ff5c5798acef22016eedcc0a7`. Stress defaults to this pin and
-also accepts an explicitly required commit with `--opendbc-revision` for
-deployment checks. A mismatch still fails. This historical pin reproduces
-logged construction; it does not change the merge's submodule pointer.

docs/ford_model_action_drive_test.md

@@ -1,61 +0,0 @@
-# Ford selected-action drive-test branch
-
-The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
-and [conditional correction release](ford_c1_carryover.md) to the restored
-original v1 mapping. It is selectable on the **Ford CAN FD
-F-150 Lightning** through the existing persistent, default-off Sunnylink
-toggle. Offline checks establish software behavior; physical tracking,
-turn-exit behavior and closed-loop stability remain unvalidated.
-
-## Select and restore
-
-1. Install branch `hiimisaac-dev` from `sunnypilot/sunnypilot` using the device's
-   normal branch-switch process and allow its build to finish.
-2. While offroad, open Sunnylink device settings → Vehicle → Ford and enable
-   **Selected-Action Path Tracking (Experimental)** (`FordModelActionController`).
-3. Complete a real offroad-to-onroad cycle. Selection occurs when `controlsd`
-   starts; a stored toggle change or disengagement alone cannot swap an active
-   controller. Initial physical evaluation remains controlled testing.
-
-The startup event `Ford path controller selected` should report
-`FordModelActionController`. Periodic `Ford C2-free path tracking` events
-identify **`hypothesis=model-action-c1-feedback-v2`**. They report desired and
-measured curvature, base heading, accumulated correction, applied heading,
-feedback timing and driver/PSCM gating. `carryover_release_count` counts
-conditional releases since the last controller reset; it does not control
-steering. `calibration_approved=false` remains.
-
-Turning the toggle off and completing another offroad-to-onroad cycle restores
-**PSCM Coefficient Observer** if selected, otherwise the original Ford path
-controller. The stored observer selection is preserved. The experiment takes
-priority on the supported vehicle; other vehicles retain their existing
-controller. A leftover `FordVirtualAngleController` parameter has no effect.
-
-## Wiring and validation
-
-`controlsd` supplies the selected, upstream-limited desired curvature and the
-measured steering-derived curvature already used in its tracking diagnostics.
-Fresh steering publications advance C1 feedback. Repeated publications may
-advance output slew but cannot integrate the same elapsed interval twice.
-Driver override clears the correction. A fresh PSCM reached-limit flag stops
-extra outward accumulation while preserving unwind and base model changes.
-With fresh feedback, the controller can discard an opposing correction when
-it prevents C1 from following the direction shared by target C0, applied C0
-and base C1, while measured curvature is still opposite. Neutral or conflicting
-C0 and matched curvature preserve the correction. Final output slew still applies.
-
-C0 retains the original 7 m model-path mapping. C2 and C3 remain zero. The
-existing output limits, 100 Hz sender, Float32 publication and CAN builder
-remain in place. No opendbc submodule or Panda safety change is required.
-
-See [the carryover specification and validation](ford_c1_carryover.md) and
-`ford_c1_carryover_validation.json` for current evidence and reproduction
-commands. `ford_c1_feedback_validation.json` records the initial feedback
-version at `5fbb583e5`. `ford_model_action_validation.json` and
-`ford_model_action_drive_test_validation.json` are historical records for the
-original offline candidate and its first wiring, respectively; their counts
-and coverage are not claims about the feedback version.
-
-The full hardware build and device boot are not performed by these offline
-checks. Pushing the branch does not install it on the device or change its
-stored toggle.

docs/ford_model_action_drive_test_validation.json

@@ -1,145 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "7ca3c6e3b3e659c6f446039501c5826bbd14092e",
-  "branch": "codex/ford-model-action-drive-test",
-  "scope": "Default-off Sunnylink selection and v8 retirement; offline validation only. No device installation or physical performance validation.",
-  "calibration_approved": false,
-  "production_selector_changed": true,
-  "toggle": "FordModelActionController",
-  "default_enabled": false,
-  "v8_removed": true,
-  "panda_safety_changed": false,
-  "opendbc_submodule_changed": false,
-  "deployment_opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
-  "controller_size": {
-    "total_lines": 145,
-    "code_lines_excluding_blanks_comments_docstrings": 95,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3,
-    "removed_v8_module_lines": 469
-  },
-  "tests": {
-    "combined_ford_params_sunnylink_suite": "284 passed, 26 subtests passed in 2.63s",
-    "suite_log_sha256": "2e223a507f0630481cf6f83b9f8893d226f3f4273a79a09fc35905aa875b1d2c",
-    "coverage": {
-      "covered_lines": 87,
-      "num_statements": 87,
-      "percent_covered": 100.0,
-      "percent_covered_display": "100",
-      "missing_lines": 0,
-      "excluded_lines": 0,
-      "percent_statements_covered": 100.0,
-      "percent_statements_covered_display": "100",
-      "num_branches": 26,
-      "num_partial_branches": 0,
-      "covered_branches": 26,
-      "missing_branches": 0,
-      "percent_branches_covered": 100.0,
-      "percent_branches_covered_display": "100"
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass",
-    "settings_compiler_check": "pass",
-    "standards_review_remaining_findings": 0,
-    "spec_review_remaining_findings": 0,
-    "resolved_review_finding": "Updated YAML authoring source and regenerated settings JSON before final compiler/schema suite."
-  },
-  "routes": {
-    "route95": {
-      "cycles": 54738,
-      "core_active_cycles": 37614,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 37614,
-      "adapter_exact_match_with_fresh_engagement_dt": true,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 59,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.010000000000000675,
-        0.0010000000000000009
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 109476,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "report_sha256": "72fab710dc81c8c7d9b75d371b97fec32402d3b01fa05517dfa814d8daff3134"
-    },
-    "route90": {
-      "cycles": 78812,
-      "core_active_cycles": 73055,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 73055,
-      "adapter_exact_match_with_fresh_engagement_dt": true,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 19,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.020000000000000462,
-        0.0020000000000000018
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 157624,
-      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-      "report_sha256": "cc2224bae597a341697a7681560a077cb209d77e4d060c0850997691c57d32fb"
-    }
-  },
-  "stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
-    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
-  },
-  "total_float32_can_round_trips": 485238,
-  "native_params": {
-    "source": "Rebuilt locally from this branch with clang++ and generated Capnp headers; ignored test dependency, not committed binary.",
-    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
-    "sources_sha256": {
-      "openpilot/common/params_c.cc": "57e3bcc7eba939bc91aadafb4ed1248b8123a8fe5c48fd8530298d966ea4db63",
-      "openpilot/common/params.cc": "a5adacb1d47cb3bf6e0d87d44ce158b41982d7eaf2e8114e32c48d3a6631304c",
-      "openpilot/common/params.h": "ed03d137e126ecd6f1608016020af18c0339fb987e27d0a2aa6830bba396970c",
-      "openpilot/common/params_keys.h": "39d36465f66405843b926ba18473fb6aee81c0f1c7bea87246aa08ffe3f67c58",
-      "openpilot/common/util.cc": "4479ecf72465e8f453d8af78447f7715f02d9397c58a49048f2bbc87a96d6b8a",
-      "openpilot/common/swaglog.cc": "9c2f88a2f1c3c4253b73defb264cc367a13ade23e02928e1d469b5c5833df176"
-    }
-  },
-  "test_dependency_notes": {
-    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
-    "pyyaml": "6.0.3 from local uv cache",
-    "jsonschema": "Local cached package appended after venv to run schema validator without skips",
-    "hardware_build_and_device_boot": "not performed"
-  },
-  "source_sha256": {
-    "docs/ford_model_action_candidate.md": "c968132348d20891a9396f6e69db1315d570505796e19e09ffbb2da748e6e687",
-    "docs/ford_virtual_angle_experiment.md": "da6322f3c3d2d81463e44c50cc6cad1a962f97008ff9425c314da333ebe47a87",
-    "openpilot/common/params_c.cc": "57e3bcc7eba939bc91aadafb4ed1248b8123a8fe5c48fd8530298d966ea4db63",
-    "openpilot/common/params_keys.h": "39d36465f66405843b926ba18473fb6aee81c0f1c7bea87246aa08ffe3f67c58",
-    "openpilot/common/tests/test_params.py": "557a1f616af5fd9f5e623fbee0fd6f44cb059a30c290c68ce2b57e9bcceed081",
-    "openpilot/selfdrive/controls/controlsd.py": "102b383e5beff43b8dd7c219178bef62e8a4b54443ebe682694606862bcd4e7f",
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
-    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "1c9448d88d8021e5d34a5dccd14a17c6c1bc64b5531342bfc6d15574d9d3e710",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "2c5b14f814e84e59d749f61a43ef1dcfe06253f6e185443fa123c37525ac8466",
-    "openpilot/sunnypilot/sunnylink/settings_ui.json": "9974df3ac4cc58ae78d47848cd18ef4aca1bcbb00edb257f28b4220d92890528",
-    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "7a3fa18e562d5a03a5b85c72ee3f3ebeb836c497285dcd9aaad24f8fb4dd6942",
-    "openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py": "3db566612381fd87d3655a3ccff470be7da998c4ea7f6365f53e58cdb9c0ffb7",
-    "tools/ford_pscm_lab/model_action_replay.py": "827a6dc488d554bdf6e87438c6a2a985b3195bf6d01ab09002bfd6049d22a868",
-    "tools/ford_pscm_lab/stress_model_action.py": "2d5c72cc4b8ae214f2f5a19a050fe138f5c2ab0294d92d24e2481af5f8185613",
-    "tools/ford_pscm_lab/test_model_action_replay.py": "ebf6bcd9260745100311521f8e11e85b7aebdd5561ab0876bfc2e802429d6896",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "f826c6328f0abac2a61f1a0a6f8d119fdbab858e363cb466d84ba9a7783059cd",
-    "docs/ford_model_action_drive_test.md": "d825b177cd099efd797fe89b7041695d6d41e4b9e8bba6bcaeb32aece164262b"
-  },
-  "deployment_target": {
-    "repository": "sunnypilot/sunnypilot",
-    "branch": "hiimisaac-dev",
-    "validated_code_commit": "ea1ed70c718d32539ef6b9a89b89c0e297c92e06"
-  }
-}

docs/ford_model_action_validation.json

@@ -1,220 +0,0 @@
-{
-  "date": "2026-09-07",
-  "baseline_commit": "c4b3c55c826fca1ce09618e418e95f0a24478d96",
-  "calibration_approved": false,
-  "production_selector_changed": false,
-  "vehicle_settings_changed": false,
-  "panda_safety_changed": false,
-  "scope": "Offline command construction, adapter integration, numerical fault probes and Ford regression tests. Physical response remains unvalidated.",
-  "controller_size": {
-    "total_lines": 131,
-    "code_lines_excluding_blanks_comments_docstrings": 86,
-    "core_persistent_values": 2,
-    "adapter_timestamps": 3
-  },
-  "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
-  "tests": {
-    "ford_suite": "264 passed, 150 subtests passed in 14.29s",
-    "new_core_adapter_tests": 107,
-    "new_replay_validator_tests": 13,
-    "controller_coverage": {
-      "statements": 78,
-      "missing_statements": 0,
-      "branches": 24,
-      "partial_branches": 0,
-      "percent": 100
-    },
-    "ruff": "pass",
-    "ty_controller_and_lab": "pass"
-  },
-  "routes": {
-    "route95": {
-      "cycles": 54738,
-      "core_active_cycles": 37614,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 37614,
-      "adapter_status_counts": {
-        "inactive": 17124,
-        "active": 37614
-      },
-      "adapter_exact_match_with_fresh_engagement_dt": true,
-      "core_active_path_shorter_than_7m_cycles": 44,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 59,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.010000000000000675,
-        0.0010000000000000009
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 109476,
-      "turn_speed_15_55": {
-        "seconds": 33.332073582999925,
-        "core_c0_c1_rms": [
-          0.07257996778378971,
-          0.03628926246224237
-        ],
-        "recorded_v8_c0_c1_rms": [
-          0.3416081588451539,
-          0.027322786376822172
-        ],
-        "adapter_eligible_seconds": 33.332073582999925,
-        "adapter_c0_c1_rms": [
-          0.07257996778378971,
-          0.03628926246224237
-        ]
-      },
-      "input_sha256": {
-        "route.npz": "6e5438867ea618e53ca395b60ff4b9b146256f1bf6f07dc8e92d663286074154",
-        "encoder_comparison.npz": "23bd05c4b6400299844acaba1d97051c96c23c682bf17b46e89e7f2cca5fce38",
-        "pose_replay.npz": "9cfbb3c6f0b1fdb7e3d38e6b64b8c94cffbcc9fabe41f6344d84a9b657b6af9b"
-      },
-      "report_sha256": "cf4e3804f2ebdb0e50f3c49636bf60a30e3c1180411b582826a115970ab972fc"
-    },
-    "route90": {
-      "cycles": 78812,
-      "core_active_cycles": 73055,
-      "core_exact_archived_match": true,
-      "cohorts_reproduced": true,
-      "adapter_active_cycles": 73055,
-      "adapter_status_counts": {
-        "inactive": 5757,
-        "active": 73055
-      },
-      "adapter_exact_match_with_fresh_engagement_dt": true,
-      "core_active_path_shorter_than_7m_cycles": 0,
-      "adapter_validity_differs_from_archive_cycles": 0,
-      "adapter_command_differs_from_archive_cycles": 19,
-      "adapter_max_absolute_command_difference_c0_c1": [
-        0.020000000000000462,
-        0.0020000000000000018
-      ],
-      "field_slew_zero_c2_c3_pass": true,
-      "float32_can_round_trips": 157624,
-      "turn_speed_15_55": {
-        "seconds": 47.53485040600012,
-        "core_c0_c1_rms": [
-          0.08686835454709245,
-          0.043216347944464766
-        ],
-        "recorded_v8_c0_c1_rms": [
-          0.4471065308273131,
-          0.030663943784303503
-        ],
-        "adapter_eligible_seconds": 47.53485040600012,
-        "adapter_c0_c1_rms": [
-          0.08686835454709245,
-          0.043216347944464766
-        ]
-      },
-      "input_sha256": {
-        "route.npz": "51e8c26eedde253e171af47d704c1967ba45ae6825d883393bec1fb9e00251c1",
-        "encoder_comparison.npz": "7a625d3ed5cbd8013d1028aa3bc421740551dcae5c3d60981208bd047af9794c",
-        "pose_replay.npz": "4457ccc0868354749da5b72c1dea0faf750f783dfdc87038101288fdcba1e707"
-      },
-      "report_sha256": "b95247bdf6bbec16e5dc4781eaf7a678aca787418251cd161f6438e3173ad490"
-    }
-  },
-  "stress": {
-    "seed": 20260907,
-    "random_cycles": 200000,
-    "mirrored_core_updates": 200000,
-    "invalid_or_inactive_resets": 3537,
-    "field_boundary_cases": 18138,
-    "float32_can_round_trips": 218138,
-    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
-    "direct_raw_float32_packing_matches_host_output": true,
-    "max_continuous_step_c0_c1": [
-      0.40000000000000147,
-      0.05000000000000002
-    ],
-    "calibration_approved": false,
-    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
-    "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7"
-  },
-  "mutation_checks": {
-    "mutations": [
-      {
-        "mutation": "halve_heading",
-        "detected_by_tests": true,
-        "failed_tests": 9
-      },
-      {
-        "mutation": "cap_heading_preview",
-        "detected_by_tests": true,
-        "failed_tests": 9
-      },
-      {
-        "mutation": "erase_centering",
-        "detected_by_tests": true,
-        "failed_tests": 15
-      },
-      {
-        "mutation": "slow_c0_to_c1_rate",
-        "detected_by_tests": true,
-        "failed_tests": 11
-      },
-      {
-        "mutation": "retain_invalid_state",
-        "detected_by_tests": true,
-        "failed_tests": 18
-      },
-      {
-        "mutation": "ignore_model_freshness",
-        "detected_by_tests": true,
-        "failed_tests": 2
-      },
-      {
-        "mutation": "ignore_model_clock_rollback",
-        "detected_by_tests": true,
-        "failed_tests": 1
-      },
-      {
-        "mutation": "reverse_c0_wire_sign",
-        "detected_by_tests": true,
-        "failed_tests": 11
-      }
-    ],
-    "all_detected": true
-  },
-  "native_test_dependency": {
-    "scope": "Native dependency for inherited Params selection test only; copied existing local build, not rebuilt.",
-    "source_library": "/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/openpilot/common/libparams_c.dylib",
-    "sha256": "ddde738108eab18b75f085c865c43aa197fd79a0384b390b1515ff90116e20e0",
-    "byte_identical_source_files": [
-      "openpilot/common/params.cc",
-      "openpilot/common/params.h",
-      "openpilot/common/params_c.cc",
-      "openpilot/common/params.py",
-      "openpilot/common/params_keys.h",
-      "openpilot/common/queue.h",
-      "openpilot/common/util.cc",
-      "openpilot/common/util.h",
-      "openpilot/common/hardware/hw.h"
-    ]
-  },
-  "review": {
-    "standards_findings": 0,
-    "spec_findings": 0,
-    "method": "Independent parallel read-only reviews; 120 focused tests independently passed."
-  },
-  "source_sha256": {
-    "openpilot/selfdrive/controls/lib/ford_model_action.py": "cb6353f00f2f5c84df4e606c6b7e20650f8c1e908b9fd71890f72aa4a5e42592",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "c3b971622cc4041575aeec1826d45b76cebab9a2f77b2b9525c85d4184961295",
-    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "5aaa29c1f11080b7df0165fd0202a29b065053809e5f9c4b9ed8abfcce47e41b",
-    "tools/ford_pscm_lab/__init__.py": "db4b8b7d2e317ed34ca0ec220bf9d53e7b80a23e766f4e1cb2c8224dada45f2e",
-    "tools/ford_pscm_lab/model_action_replay.py": "c114c479bd22e4fc61a3e8d3ee7fae5d71d1d80ec4b952faad8f8f3692fb1508",
-    "tools/ford_pscm_lab/stress_model_action.py": "a78a50eed1f801f3b096d694ab8c2fd70804b6c250465b4152f38d83770a982b",
-    "tools/ford_pscm_lab/test_model_action_replay.py": "09d024c59d44b83ec081d6416d0f946a7719a73f22213af1f4ddc03dc4e6f4ac"
-  },
-  "artifacts": {
-    "directory": ".cache/ford_model_action",
-    "route_reports": [
-      "route95/report.json",
-      "route90/report.json"
-    ],
-    "stress_report": "stress.json",
-    "mutation_report": "mutations/report.json",
-    "test_log": "ford_suite.txt"
-  }
-}

docs/ford_virtual_angle_experiment.md

@@ -1,327 +0,0 @@
-# Ford C2-free model-pose tracking with measured feedback
-
-This experiment is retired. Its implementation, setting and dedicated tests
-were removed from the selected-action drive-test branch. For current setup,
-see [Ford selected-action drive testing](ford_model_action_drive_test.md).
-The material below is historical; it does not describe an available toggle.
-
-Hypothesis `model-pose-c0-c1-feedback-v8` retains the model-pose C0/C1 base
-and adds two guarded release policies. When measured turning exceeds both
-current and delayed requests, a separate output guard prevents same-direction
-C0/C1 growth, including while feedback history rebuilds after driver input.
-When turning instead falls below both requests and is no longer increasing,
-bounded C1 tracking can use remaining release-entry command headroom.
-Existing opposing-bias recovery still stops at zero bias. Geometry, blending,
-feedback gain, slew rates and field limits are unchanged; C2/C3 remain zero.
-
-This is an experimental outer controller around the multivariable PSCM.
-Its geometry does not define a calibrated C0/C1-to-wheel mapping or an angle
-servo. V8 has offline validation only. Command replay cannot establish the
-truck's response, closed-loop stability, or an overshoot improvement.
-
-## Evidence and scope
-
-Route80 ran v3 and contains both sustained under-response and over-response.
-Representative eligible windows had median CAN response/request ratios of
-0.78, 1.77 and 0.69 with a declared 0.2-second comparison interval. These
-are descriptive tracking ratios, not identified controller gains.
-
-V4 replaced separate model-heading C1 with selected-curvature C1 and reduced
-heading demand in several large maneuvers. The user subsequently reported
-weak turning and steering repeatedly stopping near 85 degrees. Older logs
-contain larger wheel angles; the inspected host code has no fixed 85-degree
-wheel stop, although upstream curvature limits depend on speed.
-
-Route83 had the Sunnylink toggle on, but omitted EPS firmware responses.
-The former firmware gate selected the default `FordPathController`; replay
-reproduced its recorded C0/C1/C2 requests. Its favorable turns are evidence
-for the existing model-pose construction, not validation of v5 or v6.
-V6 reuses that construction while replacing its remaining C2 request with
-C0/C1 geometry. Removing C2 changes the request received by the PSCM, so
-matching large C0/C1 commands does not guarantee matching vehicle motion.
-
-Route8a ran v6 and was reported as the best drive. Route8e ran v7 throughout
-with the experiment enabled; it includes entry lag and excessive turning
-while requests release. Fixed-input v6/v7 replay produced identical commands
-in the main reversal and over-response examples, so the v7 recovery change
-does not directly explain their command behavior. In the over-response
-example, model C0/C1 grew while selected curvature fell and driver resets
-repeatedly removed feedback history. Another exit remained deficient after
-opposing bias reached zero. These observations motivate the v8 guards; they
-do not isolate an EPS transfer function or demonstrate the proposed response.
-
-## Base request
-
-controlsd selects valid `lateralManeuverPlan.desiredCurvature`, otherwise
-`modelV2.action.desiredCurvature`, after the existing curvature limiter.
-This action already includes upstream delay handling; it receives no extra
-response advance here.
-
-The model contribution uses the existing allocator's raw forward pose and
-bounded short-pose correction. `_model_pose` advances 0.1 seconds, retains
-the model's remaining forward geometry, and separately corrects the short
-pose using measured curvature and its recent change. Its offset preview is
-up to 7 m and its heading preview is up to max(7 m, speed × 1 s), bounded by
-available path length. This raw pose is not passed through a second model
-filter. The filtered, ego-aligned reference remains available for comparison
-and the existing geometry-validity checks.
-
-```text
-share(k) = clip((k - 0.006/m) / (0.012/m - 0.006/m), 0, 1)
-aligned = desired_curvature × model_forward_heading > 0
-model_share = min(share(abs(desired_curvature)), share(model_curvature_demand))
-              if aligned, otherwise 0
-model_pair = existing_pose_encoder(model_pose, model_share, C2=0)
-
-remaining_curvature = desired_curvature × (1 - model_share)
-L0 = max(8 m, speed × 1 s)
-L1 = max(7 m, speed × 1 s)
-curvature_C0 = 0.5 × remaining_curvature × L0²
-curvature_C1 = remaining_curvature × L1
-C0_base = clip(model_pair.C0 + curvature_C0, ±5.11 m)
-C1_base = clip(model_pair.C1 + curvature_C1, ±0.5 rad)
-```
-
-`model_curvature_demand` is the larger absolute curvature implied by the
-forward offset and heading previews. The share uses the existing allocator's
-0.006–0.012/m thresholds. Both model and action must request a substantial
-turn in the same direction before model pose supplies the full base.
-Small, flat, opposed or zero requests use the curvature contribution; zero
-action produces a zero base. Partial shares combine both contributions.
-The existing pose encoder retains its quantization and field-allocation rules.
-The residual-curvature lift is geometric, not a claim of EPS equivalence to C2.
-
-The inherited pose encoder allocates heading overflow using its asymmetric
-limits (+0.5235/−0.5 rad), before the symmetric final ±0.5 rad
-heading bound. On clipped tails, this can leave mirrored C0 requests differing
-by up to 0.0235 rad × 7 m = 0.1645 m. The favorable comparison anchors lie
-below that heading cap; full model-base odd symmetry is not claimed.
-
-## Measured feedback and limits
-
-```text
-past_request = selected curvature held at or before (measurement_time - delay)
-yaw_error = measured_speed × past_request - measured_yaw_rate
-bias_trial = released_bias + feedback_gain × yaw_error × measurement_dt
-C1_unconstrained = clip(C1_base + accepted_bias, ±0.5 rad)
-C1_target = temporary_backoff_ceiling(C1_unconstrained) if backoff_active
-            otherwise C1_unconstrained
-```
-
-Measured yaw is negated Ford CAN yaw, matching the control sign convention.
-The historical request uses zero-order hold; it never interpolates toward a
-future publication. Nominal comparison delay is `CP.steerActuatorDelay`
-(0.2 seconds on the source vehicle). Feedback compares against selected
-curvature, not curvature inferred from the model-pose coefficients.
-
-| Quantity | Value |
-|---|---:|
-| C0 / C1 final bounds | ±5.11 m / ±0.5 rad |
-| Independent C0 / C1 slew | 4 m/s / 0.5 rad/s |
-| Feedback integration scale | 1.0 |
-| Feedback minimum speed | 2 m/s |
-| Maximum PSCM/core input age | 150 ms |
-| Allowed timestamp lead | 5 ms |
-| Release comparison tolerance | one C1 wire quantum, 0.0005 rad |
-
-The integration scale, preview distances and blend thresholds are effective
-gains; none establishes stability. No wheel-response gain is fitted.
-Zero yaw error retains acquired bias while an eligible turn continues.
-Host anti-windup admits reachable correction within the combined C1 field
-and slew limits. Feedback overflow is not transferred into C0.
-
-The release logic scales bias as the bounded base decreases and resets on
-zero/reversal. When delayed curvature still represents a stronger or opposing
-request, or PSCM reports LimitReached, new integration is normally frozen.
-One exception permits measured-error backoff: measured turning must exceed
-both the delayed and current selected yaw requests in the base's direction,
-and total heading must still have the base's sign. Exceeding only an older,
-smaller request during turn-in does not qualify. The accepted increment may
-only reduce that existing total toward zero; it cannot grow the request or
-carry it through zero. Existing host field and slew limits still apply.
-
-The existing release-recovery exception requires fresh valid PSCM status with
-limit below 2, retained bias opposing the base, and both current and delayed
-requests aligned with that base. Measured turning must be below both requests
-in their direction. It then uses the current yaw deficit × the existing
-feedback gain × measurement interval to unwind only the opposing bias toward
-zero. The increment is clipped so recovery cannot cross zero bias or create
-demand beyond the existing base. Common host anti-windup still limits what
-can be accepted. A separate release-tracking exception is described below;
-other constrained cases remain frozen. PSCM limit 2 never permits either
-request-increasing exception.
-The no-new-bias restriction applies to `release_recovery`. It does not apply
-to the separate bounded `release_tracking` branch. Once release ends,
-ordinary eligible integration can add correction beyond the base as before;
-its existing limits and guards are unchanged.
-
-`release_recovery` and `feedback_recovery_active=true` indicate that the
-recovery branch actually changed bias on that update. If host anti-windup
-blocks the entire increment, the status remains `host_limit` and the flag is
-false. Recovery is evaluated only on fresh measurements; the flag is false
-on repeated-measurement updates and after reset.
-
-Diagnostics distinguish `release_backoff` and `pscm_backoff`; a release takes
-precedence when both conditions apply. While `feedback_backoff_active` is
-true, total C1 is also capped at the preceding continuous heading request in
-the current request direction and at zero in the opposite direction. This
-ceiling affects the output only: it is not stored or projected into bias.
-The measured-error increment can still update bias under the normal limits,
-but a changing model base does not create persistent integral suppression.
-The ceiling persists between repeated measurements; C1 cannot grow or reverse
-while it applies. The next fresh measurement clears it unless backoff is
-again warranted. It does not cap C0, and normal feedback has its own rules
-outside backoff. Independent slew remains 0.5 rad/s for C1 and 4 m/s for C0.
-Backoff still compares against the delayed reference, so response lag remains.
-Reducing a request does not demonstrate that physical overshoot is resolved.
-
-## V8 release guard and tracking
-
-`ReleaseGuard` retains selected-request history independently of feedback
-bias history. Driver-related feedback resets do not erase that reference,
-but the guard still requires current fresh valid PSCM status, no current
-driver override, and the existing input and speed eligibility. Invalid core
-input or disengagement resets its history with the controller.
-
-During release, measured yaw must exceed both the current and delay-matched
-requests in the requested turn direction. Only then does the guard cap
-same-direction C0/C1 growth at each preceding continuous request. Terms
-already reducing the turn, including an opposing C0 centering offset, remain
-available. The guard follows base allocation and C1 feedback, so changing
-model geometry cannot bypass it. Its ceilings affect outputs, never stored
-bias. No scalar-curvature cap replaces strong model geometry during turn-in
-or undertracking. Existing independent slew and field limits still apply.
-
-`release_tracking` addresses an eligible release deficit once bias is zero
-or already in the base's direction. Both current and delayed requests must
-align with that base, measured turning must be below both, and measured
-curvature must not be rising in the turn direction across the response
-interval by more than one C1 wire quantum after scaling by heading preview.
-Fresh valid PSCM status with limit below 2 is required. The current yaw deficit
-uses the existing integration gain and measurement interval;
-new C1 tracking increments are limited by command headroom captured at
-release entry, tapered with remaining desired curvature. The allowance is
-`max(0, entry_command_magnitude - abs(base)) × min(1, abs(desired) / entry_reference)`
-above the current base; any existing same-direction bias consumes it first.
-This limits new tracking integration, not the existing model base or bias.
-Only that additional allowance is tapered; strong model geometry remains
-available. A brief pause does not reacquire a higher entry
-ceiling; a full response interval without release ends the retained episode.
-Common host anti-windup, field and slew bounds still apply. Opposing bias
-continues through `release_recovery`, which stops at zero, before any separate
-tracking exception can be considered.
-
-Neither exception relaxes the PSCM LimitReached growth restriction. The
-reference delay and finite response time remain; these output policies are
-command-construction changes, not evidence of improved physical tracking.
-
-## PSCM status and driver handling
-
-card publishes `Lane_Assist_Data3_FD1` in `carStateSP.fordPscmStatus`, retaining
-the original CAN receipt timestamp. Republishing carStateSP or receiving
-unrelated frames cannot refresh it. The opendbc submodule is unchanged.
-
-Feedback requires valid fresh status, InProgress lateral state (2), capability
-LimitedModeAvailable or ExtendedModeAvailable (1 or 2), and no denial.
-Missing, malformed, stale, backward-timestamped, denied or unavailable status
-clears feedback bias/history and disables the separate release guard,
-leaving the base subject to its core validity gates.
-LimitReached (2) permits only the bounded request-reducing backoff described
-above and otherwise freezes integration. LimitWithDriverActive (3) clears
-feedback. Backoff still requires fresh, valid, InProgress status with an
-available capability and no denial. These generic PSCM reports do not identify
-a specific torque or rate limit.
-
-`steeringPressed`, raw torque above the existing Ford driver allowance, or
-nonfinite torque clear feedback. Below 2 m/s feedback also clears. A fresh
-feedback reference interval is required after override; the independent
-release guard can use retained valid request history once its current gates
-are satisfied. Base requests retain normal
-PSCM driver arbitration while lateral control remains authorized; an unset
-override flag cannot rule out subthreshold driver influence.
-
-## Gates and Sunnylink selection
-
-Core model/action/car-state freshness, finite-value, clock and speed checks
-remain in place. Invalid core inputs reset both commands and clear latActive.
-Raw model geometry is validated on every update, including repeated model
-timestamps; an invalid raw path cannot reuse the cached valid reference.
-Missing PSCM status disables feedback, not an otherwise valid base request.
-
-Vehicle → Ford → **C2-Free Path Tracking (Experimental)** retains the
-`FordVirtualAngleController` key, default-off setting and offroad/onroad cycle
-requirement. Enabled selects v8 on Ford CAN FD `FORD_F_150_LIGHTNING_MK1`
-regardless of missing or different EPS firmware-query results. Other platforms
-retain their existing controller. V8 takes priority over PSCM Coefficient
-Observer while selected; disabling and cycling offroad/onroad restores the
-previous selection. Controller selection does not force lateral engagement.
-
-The analyzed firmware is `RL38-14D003-AA`; removing the eligibility check
-is not validation of other firmware. No live device setting is changed.
-
-## Diagnostics and verification
-
-The 5 Hz `Ford C2-free path tracking` event keeps its name and identifies v8.
-`model_offset_base` / `model_heading_base` report the already weighted and
-encoded model contribution; `curvature_offset_base` / `curvature_heading_base`
-report the residual-curvature contribution. `model_share` and `base_guard`
-identify model-pose, blended, curvature-only, opposed-model and zero-request
-cases. `heading_base` is the bounded pre-feedback C1. `offset_target` and
-`heading_target` are the final targets after the independent release guard;
-`offset_target_unguarded` and `heading_target_unguarded` retain the inputs to
-that guard. The latter C1 already includes its normal feedback/backoff policy.
-
-The event retains source timestamps, measured curvature/yaw, final commands,
-slew scales, feedback bias/status/history, raw torque and PSCM status/age.
-`feedback_backoff_active` records the persistent heading ceiling, including
-cycles whose feedback status is `no_new_measurement`.
-`release_guard_active` and `release_guard_reference_curvature` expose the
-independent C0/C1 guard and its retained delayed reference.
-`feedback_release_tracking_active`, `feedback_release_ceiling` and
-`feedback_curvature_delta` identify accepted release
-tracking, the total-heading threshold used to admit new bias, and the
-measured-curvature change across the response interval (1/m). The tracking
-flag is true only when the branch accepts a bias change on a new measurement;
-it is false on repeated measurements. The ceiling/trend fields can describe
-an evaluated condition even when no increment is accepted.
-`feedback_recovery_active` records an accepted recovery increment on this
-update only; it does not persist between measurements.
-`feedback_yaw_error` retains its delayed-reference meaning. Recovery instead
-uses current error, reconstructed from logged `desired_curvature`,
-synchronized car-state speed and `yaw_rate`; those two errors can differ.
-During backoff or the independent release guard, `heading_target` can be lower in the request direction than
-the bounded sum of `heading_base` and `heading_bias`, because the temporary
-ceiling is not part of the stored bias.
-`model_heading_target` remains a filtered comparison reference; it is not the
-weighted model contribution. `angleState.saturated` is not an EPS-limit signal.
-
-Validation must cover large recorded maneuvers, flat-model centering, both
-turn directions, model/action disagreement, share transitions, release and
-reversal, release/limit backoff without growth or zero crossing, status/driver
-resets, reference causality, bounds, slew and CAN packing with C2/C3 zero.
-Recovery checks cover both directions, stopping at zero bias, repeated
-measurements, current-and-delayed agreement, and rejection at PSCM limit 2.
-Old v3/v4 command-equality expectations do not define
-v8 success. Guard checks also cover driver reset/history rebuilding,
-same-direction growth, opposing coefficients, repeated measurements,
-undertracking and invalid-status inhibition. Tracking checks cover delayed
-curvature trends and tapered release-entry headroom. Historical v5–v7 replay
-results remain historical observations.
-
-The v8 recorded-input fixture contains 15,273 cycles with 4,879 selected
-evidence samples. Base allocation and output eligibility match v7. In the
-clean deficient exit, median absolute C1 changes from 0.0665 to 0.0845 rad
-while C0 stays unchanged. The growth guard also acts while feedback history
-rebuilds; the largest over-growth witness includes nearby driver input and
-is excluded from the strict autonomous tracking score. Both good comparison
-curves in that fixture retain their median requests, and the older large-turn
-fixtures retain their required command scale.
-
-On the earlier good drive, one comparison curve retains extra C1 after
-eligible release tracking: median magnitude changes from 0.121 to 0.128 rad.
-In its 103–110 s interval, tracking increments occur only while measured
-turning falls short, with a median current response/request ratio of 0.895.
-Acquired bias can persist after matching, as with ordinary integral feedback.
-This collateral command change remains a reason to compare new vehicle logs.
-Replay fixes recorded motion and planner outputs, so enabled vehicle logs
-are still required to assess tracking error, oscillation and interventions.

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/custom.capnp

@@ -383,7 +383,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-  fordLateralPath @5 :FordLateralPath;
 
   struct Param {
     key @0 :Text;
@@ -404,14 +403,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   }
 }
 
-struct FordLateralPath {
-  pathOffset @0 :Float32;     # c0 [m]
-  pathAngle @1 :Float32;      # c1 [rad]
-  curvature @2 :Float32;      # c2 [1/m]
-  curvatureRate @3 :Float32;  # c3 [1/m^2]
-  valid @4 :Bool;
-}
-
 struct BackupManagerSP @0xf98d843bfd7004a3 {
   backupStatus @0 :Status;
   restoreStatus @1 :Status;
@@ -456,16 +447,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 
 struct CarStateSP @0xb86e6369214c01c8 {
   speedLimit @0 :Float32;
-  fordPscmStatus @1 :FordPscmStatus;
-
-  struct FordPscmStatus {
-    valid @0 :Bool;
-    canMonoTime @1 :UInt64;  # Last accepted Lane_Assist_Data3_FD1 CAN receipt, not carStateSP publication time.
-    lateralState @2 :UInt8;  # LatCtlSte_D_Stat
-    limit @3 :UInt8;  # LatCtlLim_D_Stat: generic lateral limit, not a torque/rate diagnosis.
-    capability @4 :UInt8;  # LatCtlCpblty_D_Stat
-    denied @5 :Bool;  # LaActDeny_B_Actl
-  }
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -489,30 +470,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct AssistedDrivingMilestoneState @0xcb9fd56c7057593a {
-  enabled @0 :Bool;
-  madsDistanceMeters @1 :Float64;
-  fullAssistDistanceMeters @2 :Float64;
-  event @3 :Event;
-
-  struct Event {
-    id @0 :UInt64;
-    category @1 :Category;
-    distanceMeters @2 :Float64;
-    previousDistanceMeters @3 :Float64;
-    unit @4 :Unit;
-  }
-
-  enum Category {
-    none @0;
-    mads @1;
-    fullAssist @2;
-  }
-
-  enum Unit {
-    imperial @0;
-    metric @1;
-  }
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {

openpilot/cereal/log.capnp

@@ -725,7 +725,6 @@ struct ChestnutState {
   pcieLtssm @7 :UInt8;
   supplyVoltage @8 :UInt16;  # mV
   supplyCurrent @9 :Int16;  # mA
-  supplyFault @10 :Bool;
 }
 
 struct RadarState @0x9a185389d6fdd05f {
@@ -1005,7 +1004,6 @@ struct DrivingModelData {
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
   modelExecutionTime @7 :Float32;
-  big @8 :Bool;
 
   action @2 :ModelDataV2.Action;
 
@@ -2642,7 +2640,7 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    assistedDrivingMilestoneState @136 :Custom.AssistedDrivingMilestoneState;
+    customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;

openpilot/cereal/services.py

@@ -90,7 +90,6 @@ _services: dict[str, tuple] = {
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
-  "assistedDrivingMilestoneState": (True, 10., 1),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),

openpilot/common/hardware/comma/agnos.json

@@ -56,29 +56,29 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
-    "hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
+    "hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
     "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
+    "ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
-    "hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
-    "hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
+    "hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
+    "hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
+    "ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
     "alt": {
-      "hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
+      "hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
       "size": 4718592000
     }
   }
-]
+]

openpilot/common/hardware/comma/modem.py

@@ -5,7 +5,6 @@ import logging
 import os
 import select
 import signal
-import string
 import struct
 import subprocess
 import tempfile
@@ -355,7 +354,7 @@ class Modem:
       imei = ""
 
     iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
-    if not all(c in string.hexdigits for c in iccid):
+    if not iccid.isdigit():
       iccid = ""
 
     imsi = first_line("AT+CIMI")

openpilot/common/hardware/usb.py

@@ -4,17 +4,11 @@ from pathlib import Path
 CHESTNUT_FW_VERSION = "ed4e39b7"
 CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
 CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
-CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
 USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
 TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
 PRIMARY_USB_CONTROLLER = "a600000.ssusb"
 
 
-def is_chestnut_usb_id(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
-  ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS if include_bootloader else CHESTNUT_USB_IDS
-  return (vendor_id, product_id) in ids
-
-
 def get_usb_topology() -> set[str]:
   try:
     return set(os.listdir(USB_DEVICES_PATH))
@@ -87,7 +81,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
     entry.linkErrorCount = device["linkErrorCount"]
     entry.usb3Lane = device.get("usb3Lane", "unknown")
 
-    if is_chestnut_usb_id(entry.vendorId, entry.productId):
+    if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
       chestnut_present = True
 
   device_state.chestnutPresent = chestnut_present

openpilot/common/params.cc

@@ -97,10 +97,6 @@ Params::Params(const std::string &path) {
 }
 
 Params::~Params() {
-  flushNonBlockingWrites();
-}
-
-void Params::flushNonBlockingWrites() {
   if (future.valid()) {
     future.wait();
   }

openpilot/common/params.h

@@ -75,7 +75,6 @@ public:
     return put(key.c_str(), val ? "1" : "0", 1);
   }
   void putNonBlocking(const std::string &key, const std::string &val);
-  void flushNonBlockingWrites();
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }

openpilot/common/params.py

@@ -73,7 +73,6 @@ params_get = _bind("params_get", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool],
 params_get_bool = _bind("params_get_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ctypes.c_bool)
 params_put = _bind("params_put", [ParamsHandle, ctypes.c_char_p, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_bool], ctypes.c_int)
 params_put_bool = _bind("params_put_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool, ctypes.c_bool], ctypes.c_int)
-params_flush = _bind("params_flush", [ParamsHandle])
 params_remove = _bind("params_remove", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
 params_get_path = _bind("params_get_path", [ParamsHandle, ctypes.c_char_p, ctypes.c_size_t], ParamsBuffer)
 params_keys_size = _bind("params_keys_size", [ParamsHandle], ctypes.c_size_t)
@@ -179,10 +178,6 @@ class Params:
   def put_bool(self, key, val, block=False):
     params_put_bool(self.p, self.check_key(key), val, block)
 
-  def flush(self):
-    """Wait for all prior nonblocking writes from this Params instance."""
-    params_flush(self.p)
-
   def remove(self, key):
     params_remove(self.p, self.check_key(key))
 

openpilot/common/params_c.cc

@@ -133,12 +133,6 @@ int params_put_bool(ParamsHandle *handle, const char *key, bool value, bool bloc
   });
 }
 
-void params_flush(ParamsHandle *handle) noexcept {
-  translate_exceptions([&]() {
-    handle->params.flushNonBlockingWrites();
-  });
-}
-
 int params_remove(ParamsHandle *handle, const char *key) noexcept {
   return translate_exceptions(-1, [&]() {
     return handle->params.remove(key);
@@ -168,15 +162,12 @@ ParamsBuffer params_key_at(ParamsHandle *handle, size_t index) noexcept {
 
 size_t params_keys_by_flag(ParamsHandle *handle, uint32_t flag, ParamsBuffer *out, size_t out_size) noexcept {
   return translate_exceptions(size_t{0}, [&]() {
-    size_t count = 0;
-    for (const auto &key : handle->keys) {
-      if (flag == ALL || (handle->params.getKeyFlag(key) & flag)) {
-        // Each buffer borrows a different string, stable for the handle's lifetime.
-        if (count < out_size) out[count] = {key.data(), key.size()};
-        ++count;
-      }
+    auto filtered = handle->params.allKeys(static_cast<ParamKeyFlag>(flag));
+    size_t count = std::min(filtered.size(), out_size);
+    for (size_t i = 0; i < count; i++) {
+      out[i] = return_string(filtered[i]);
     }
-    return count;
+    return filtered.size();
   });
 }
 

openpilot/common/params_keys.h

@@ -92,12 +92,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
@@ -138,13 +132,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AssistedDrivingMilestonesEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"AssistedDrivingMilestoneState", {PERSISTENT, JSON, "{}"}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
@@ -165,7 +156,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"FullAssistDrivenDistanceMeters", {PERSISTENT, FLOAT, "0.0"}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
@@ -175,9 +165,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
-    {"LastDriveAssistedDrivingSummary", {PERSISTENT, JSON, "{}"}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MadsDrivenDistanceMeters", {PERSISTENT, FLOAT, "0.0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
@@ -237,8 +225,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
 
     // sunnypilot car specific params
-    {"FordPscmObserver", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"FordModelActionController", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/common/prefix.h

@@ -27,14 +27,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      util::check_system(util::string_format("rm -rf %s", real_path.c_str()));
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      util::check_system(util::string_format("rm -rf %s", Path::download_cache_root().c_str()));
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
     }
-    util::check_system(util::string_format("rm -rf %s", Path::comma_home().c_str()));
-    util::check_system(util::string_format("rm -rf %s", msgq_path.c_str()));
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 

openpilot/common/tests/test_params.py

@@ -106,13 +106,6 @@ class TestParams(OpenpilotTestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
 
-  def test_flush_non_blocking_writes(self):
-    self.params.put("DongleId", "first")
-    self.params.put("DongleId", "last")
-    self.params.flush()
-
-    assert self.params.get("DongleId") == "last"
-
   def test_params_all_keys(self):
     keys = Params().all_keys()
 
@@ -133,16 +126,6 @@ class TestParams(OpenpilotTestCase):
     assert self.params.get("LiveParametersV2") is None
     assert self.params.get("LiveParametersV2", return_default=True) is None
 
-  def test_filtered_keys_are_distinct_registered_strings(self):
-    registered = set(self.params.all_keys())
-    for flag in (ParamKeyFlag.PERSISTENT, ParamKeyFlag.BACKUP, ParamKeyFlag.CLEAR_ON_MANAGER_START):
-      filtered = self.params.all_keys(flag)
-      assert len(filtered) > 1
-      assert len(filtered) == len(set(filtered))
-      assert set(filtered) <= registered
-      assert all(key.decode('utf-8') for key in filtered)
-      assert self.params.all_keys(flag) == filtered
-
   def test_params_get_type(self):
     # json
     self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)

openpilot/common/version.py

@@ -37,6 +37,8 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }
 
 BUILD_METADATA_FILENAME = "build.json"

openpilot/selfdrive/assets/icons_mici/usb.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:07bda2fe5d6be0b2854044053c384fe002e96406da119863a443b9344258b500
-size 1544

openpilot/selfdrive/car/card.py

@@ -21,7 +21,6 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
-from openpilot.selfdrive.car.ford_pscm_status import populate_ford_pscm_status
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -199,7 +198,6 @@ class Car:
     # Update carState from CAN
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
-    populate_ford_pscm_status(self.CP, self.CI.can_parsers, CS_SP, CS.canValid)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)

openpilot/selfdrive/car/ford_pscm_status.py

@@ -1,36 +0,0 @@
-"""Publish the Ford PSCM's actual CAN status without changing opendbc structs."""
-import math
-
-from opendbc.car import Bus
-from opendbc.car.ford.values import FordFlags
-
-
-MESSAGE = 'Lane_Assist_Data3_FD1'
-SIGNALS = ('LatCtlSte_D_Stat', 'LatCtlLim_D_Stat', 'LatCtlCpblty_D_Stat', 'LaActDeny_B_Actl')
-
-
-def populate_ford_pscm_status(CP, can_parsers, CS_SP, can_valid):
-  if CP.brand != 'ford' or not CP.flags & FordFlags.CANFD:
-    return
-  status = CS_SP.init('fordPscmStatus')
-  parser = can_parsers.get(Bus.pt)
-  if parser is None:
-    return
-  values = parser.vl.get(MESSAGE, {})
-  timestamps = parser.ts_nanos.get(MESSAGE, {})
-  if any(signal not in values or signal not in timestamps for signal in SIGNALS):
-    return
-  received = timestamps[SIGNALS[0]]
-  if received <= 0 or any(timestamps[signal] != received for signal in SIGNALS):
-    return
-  decoded = [values[signal] for signal in SIGNALS]
-  if any(not math.isfinite(value) or int(value) != value or not 0 <= value <= maximum
-         for value, maximum in zip(decoded, (7, 3, 3, 1), strict=True)):
-    return
-  status.canMonoTime = received
-  status.lateralState, status.limit, status.capability = map(int, decoded[:3])
-  status.denied = bool(decoded[3])
-  # CI.update already checked all parser validity. Reading can_valid again here
-  # would advance the parser's invalid-message counter a second time per tick.
-  # Age is evaluated by the feedback consumer using this original CAN timestamp.
-  status.valid = bool(can_valid)

openpilot/selfdrive/car/helpers.py

@@ -63,6 +63,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )
-  struct_dataclass.fordLateralPath = structs.FordLateralPath(**remove_deprecated(struct_dict.get('fordLateralPath', {})))
 
   return struct_dataclass

openpilot/selfdrive/car/tests/test_ford_pscm_status.py

@@ -1,109 +0,0 @@
-import ast
-from pathlib import Path
-from types import SimpleNamespace
-import unittest
-
-from openpilot.cereal import custom
-from openpilot.selfdrive.car.ford_pscm_status import MESSAGE, SIGNALS, populate_ford_pscm_status
-from openpilot.selfdrive.car.helpers import convert_to_capnp
-from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.ford.values import FordFlags
-
-
-class TestFordPscmStatus(unittest.TestCase):
-  def setUp(self):
-    self.cp = SimpleNamespace(brand='ford', flags=FordFlags.CANFD)
-    self.packer = CANPacker('ford_lincoln_base_pt')
-    self.parser = CANParser('ford_lincoln_base_pt', [(MESSAGE, 33), ('Yaw_Data_FD1', 100)], 0)
-
-  def update_status(self, timestamp, *, lateral_state=2, limit=0, capability=2, denied=False):
-    status = self.packer.make_can_msg(MESSAGE, 0, dict(zip(SIGNALS, (lateral_state, limit, capability, denied), strict=True)))
-    yaw = self.packer.make_can_msg('Yaw_Data_FD1', 0, {'VehYaw_W_Actl': 0.1})
-    self.parser.update([(timestamp, [status, yaw])])
-
-  def publish(self, *, can_valid=True):
-    state_sp = convert_to_capnp(structs.CarStateSP(speedLimit=13.5))
-    populate_ford_pscm_status(self.cp, {Bus.pt: self.parser}, state_sp, can_valid)
-    return state_sp
-
-  def test_decodes_status_and_preserves_receipt_time_across_other_can_messages(self):
-    self.update_status(1_000_000_000, limit=2, capability=1, denied=True)
-    original = self.publish()
-    self.assertEqual(original.speedLimit, 13.5)
-    status = original.fordPscmStatus
-    self.assertTrue(status.valid)
-    self.assertEqual(status.canMonoTime, 1_000_000_000)
-    self.assertEqual((status.lateralState, status.limit, status.capability, status.denied), (2, 2, 1, True))
-
-    # carStateSP may publish at 100 Hz while this 33 Hz message is absent. New
-    # unrelated CAN must not freshen the timestamp of an old PSCM status.
-    yaw = self.packer.make_can_msg('Yaw_Data_FD1', 0, {'VehYaw_W_Actl': .2})
-    self.parser.update([(1_080_000_000, [yaw])])
-    copied = self.publish().fordPscmStatus
-    self.assertEqual(copied.canMonoTime, 1_000_000_000)
-    self.assertEqual((copied.limit, copied.capability, copied.denied), (2, 1, True))
-
-    self.update_status(1_090_000_000, lateral_state=3, limit=3, capability=2)
-    next_state = self.publish()
-    with custom.CarStateSP.from_bytes(next_state.to_bytes()) as decoded:
-      latest = decoded.fordPscmStatus
-      self.assertTrue(latest.valid)
-      self.assertEqual(latest.canMonoTime, 1_090_000_000)
-      self.assertEqual((latest.lateralState, latest.limit, latest.capability, latest.denied), (3, 3, 2, False))
-
-  def test_absent_parser_unseen_message_and_invalid_can_do_not_claim_valid_status(self):
-    state = custom.CarStateSP.new_message()
-    populate_ford_pscm_status(self.cp, {}, state, True)
-    self.assertFalse(state.fordPscmStatus.valid)
-    self.assertEqual(state.fordPscmStatus.canMonoTime, 0)
-    self.assertFalse(self.publish().fordPscmStatus.valid)
-    self.update_status(1_000_000_000)
-    invalid = self.publish(can_valid=False).fordPscmStatus
-    self.assertFalse(invalid.valid)
-    self.assertEqual(invalid.canMonoTime, 1_000_000_000)
-
-  def test_mixed_timestamps_or_malformed_status_cannot_enable_feedback(self):
-    self.update_status(1_000_000_000)
-    self.parser.ts_nanos[MESSAGE][SIGNALS[-1]] = 990_000_000
-    self.assertFalse(self.publish().fordPscmStatus.valid)
-    self.parser.ts_nanos[MESSAGE][SIGNALS[-1]] = 1_000_000_000
-    for value in (float('nan'), -1, 1.5, 4):
-      self.parser.vl[MESSAGE]['LatCtlLim_D_Stat'] = value
-      self.assertFalse(self.publish().fordPscmStatus.valid)
-
-  def test_other_vehicles_and_legacy_messages_default_to_unavailable(self):
-    for cp in (SimpleNamespace(brand='toyota'), SimpleNamespace(brand='ford', flags=0)):
-      state = custom.CarStateSP.new_message(speedLimit=10.)
-      populate_ford_pscm_status(cp, {}, state, True)
-      self.assertFalse(state.fordPscmStatus.valid)
-      self.assertEqual(state.fordPscmStatus.canMonoTime, 0)
-      self.assertEqual(state.speedLimit, 10.)
-    # Old recordings/readers have no appended status pointer; defaults must
-    # remain unavailable rather than interpreting zeroed enums as fresh data.
-    self.assertFalse(custom.CarStateSP.new_message().fordPscmStatus.valid)
-
-  def test_actual_card_update_populates_status_after_dataclass_conversion(self):
-    self.update_status(1_000_000_000, limit=1)
-    source_path = Path(__file__).resolve().parents[1] / 'card.py'
-    source = ast.parse(source_path.read_text())
-    car_class = next(n for n in source.body if isinstance(n, ast.ClassDef) and n.name == 'Car')
-    method = next(n for n in car_class.body if isinstance(n, ast.FunctionDef) and n.name == 'state_update')
-    statements = method.body
-    first = next(i for i, n in enumerate(statements) if isinstance(n, ast.Assign) and ast.unparse(n.value) == 'self.CI.update(can_list)')
-    last = next(i for i, n in enumerate(statements) if isinstance(n, ast.Expr) and isinstance(n.value, ast.Call)
-                and isinstance(n.value.func, ast.Name) and n.value.func.id == 'populate_ford_pscm_status')
-    self.assertGreater(last, first)
-    code = compile(ast.Module(body=statements[first:last + 1], type_ignores=[]), str(source_path), 'exec')
-    ci = SimpleNamespace(update=lambda _: (SimpleNamespace(canValid=True), structs.CarStateSP(speedLimit=11.)),
-                         can_parsers={Bus.pt: self.parser})
-    environment = {'self': SimpleNamespace(CP=self.cp, CI=ci), 'can_list': [], 'convert_to_capnp': convert_to_capnp,
-                   'populate_ford_pscm_status': populate_ford_pscm_status}
-    exec(code, environment)
-    self.assertTrue(environment['CS_SP'].fordPscmStatus.valid)
-    self.assertEqual(environment['CS_SP'].fordPscmStatus.canMonoTime, 1_000_000_000)
-    self.assertEqual(environment['CS_SP'].fordPscmStatus.limit, 1)
-
-
-if __name__ == '__main__':
-  unittest.main()

openpilot/selfdrive/controls/controlsd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import math
-import time
 from numbers import Number
 
 from openpilot.cereal import log
@@ -12,11 +11,8 @@ from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.ford.values import FordFlags
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, select_model_action_controller
-from openpilot.selfdrive.controls.lib.ford_path import FordPath, FordPathController, FordPscmObserverPathController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
@@ -48,7 +44,7 @@ class Controls(ControlsExt):
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['lateralDelay', 'vehicleParameters', 'lateralTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carStateSP', 'carOutput',
+                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
@@ -56,15 +52,6 @@ class Controls(ControlsExt):
     self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
-    self.ford_pscm_observer = (self.CP.brand == "ford" and self.CP.flags & FordFlags.CANFD and
-                               self.params.get_bool("FordPscmObserver"))
-    self.ford_path_controller = FordPscmObserverPathController() if self.ford_pscm_observer else FordPathController()
-    self.ford_path_controller = select_model_action_controller(self.CP, self.params.get_bool("FordModelActionController"),
-                                                              self.ford_path_controller)
-    self.ford_model_action = isinstance(self.ford_path_controller, FordModelActionController)
-    if self.CP.brand == "ford":
-      cloudlog.event("Ford path controller selected", controller=type(self.ford_path_controller).__name__)
-    self.ford_path = FordPath()
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
@@ -168,36 +155,6 @@ class Controls(ControlsExt):
       actuators.curvature = float(lateral_output)
     else:
       actuators.steeringAngleDeg = float(lateral_output)
-    if self.CP.brand == "ford":
-      ford_model = model_v2 if self.sm.valid['modelV2'] else None
-      if self.ford_model_action:
-        reference_service = 'lateralManeuverPlan' if self.sm.valid['lateralManeuverPlan'] else 'modelV2'
-        self.ford_path = self.ford_path_controller.update(
-          ford_model, self.desired_curvature, current_curvature=self.curvature, yaw_rate=-CS.yawRate, speed=CS.vEgo, now=time.monotonic(),
-          measurement_time=self.sm.logMonoTime['carState'] * 1e-9,
-          model_time=self.sm.logMonoTime['modelV2'] * 1e-9,
-          reference_time=self.sm.logMonoTime[reference_service] * 1e-9,
-          active=CC.latActive, valid=CS.canValid and self.sm.all_checks(['carState', 'vehicleParameters', 'modelV2', reference_service]),
-          driver_pressed=CS.steeringPressed, driver_torque=CS.steeringTorque,
-          pscm_status=self.sm['carStateSP'].fordPscmStatus if self.sm.valid['carStateSP'] else None,
-        )
-        if not self.ford_path.valid:
-          CC.latActive = False
-        if self.sm.frame % 20 == 0:
-          cloudlog.event("Ford C2-free path tracking", model_mono_time=self.sm.logMonoTime['modelV2'],
-                         measurement_mono_time=self.sm.logMonoTime['carState'],
-                         reference_service=reference_service, reference_mono_time=self.sm.logMonoTime[reference_service],
-                         measured_curvature=self.curvature,
-                         **self.ford_path_controller.diagnostics)
-      elif self.ford_pscm_observer:
-        self.ford_path = self.ford_path_controller.update(ford_model, self.desired_curvature,
-                                                          current_curvature=self.curvature, v_ego=CS.vEgo,
-                                                          v_ego_raw=CS.vEgoRaw, active=CC.latActive)
-      else:
-        self.ford_path = self.ford_path_controller.update(ford_model, self.desired_curvature,
-                                                          current_curvature=self.curvature, v_ego=CS.vEgo,
-                                                          active=CC.latActive)
-      actuators.curvature = float(self.ford_path.curvature)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)

openpilot/selfdrive/controls/lib/ford_model_action.py

@@ -1,194 +0,0 @@
-"""Experimental Ford C2-free controller with measured-curvature C1 feedback.
-
-Selected only by its explicit toggle. The 7 m station and one-second scale are
-engineering choices. Feeding integrated heading mismatch into C1 at 1:1 is an
-explicit feedback-strength choice, not an identified PSCM model or calibration.
-Opposed correction may be released when both path commands confirm the turn.
-"""
-import math
-import struct
-
-import numpy as np
-
-from opendbc.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.controls.lib.ford_path import FordPath, _model_path
-
-
-OFFSET_STATION_M = 7.0
-HEADING_TIME_S = 1.0
-CALIBRATION_APPROVED = False
-
-
-def _packed(value, resolution, offset):
-  """Mirror Float32 carControlSP and sign-reversed CANPacker rounding."""
-  value = struct.unpack("f", struct.pack("f", value))[0]
-  return -(math.floor((-value - offset) / resolution + 0.5) * resolution + offset)
-
-
-def _finite(*values):
-  try:
-    return all(math.isfinite(value) for value in values)
-  except (TypeError, ValueError, OverflowError):
-    return False
-
-
-def encode_model_action(model, desired_curvature, speed):
-  """Encode y(7) and max(7, v*1s)*selected limited curvature.
-
-  Preserve the reviewed core's endpoint hold when the path ends before 7 m.
-  This samples the available geometry; it does not extrapolate an unseen path.
-  """
-  if not _finite(desired_curvature, speed) or not .3 <= speed <= 55 or abs(desired_curvature) > 1:
-    return FordPath()
-  try:
-    path = _model_path(model)
-  except OverflowError:
-    return FordPath()
-  if path is None or not all(_finite(*values) for values in path):
-    return FordPath()
-  station, _, lateral, _ = path
-  c0 = float(np.interp(min(OFFSET_STATION_M, station[-1]), station, lateral))
-  c1 = max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature
-  return FordPath(True, c0, c1, 0., 0.) if _finite(c0, c1) else FordPath()
-
-
-class ModelActionController:
-  """Unquantized C0/C1 slew positions and one C1 feedback correction.
-
-  Feedback integrates requested minus measured curvature over traveled distance.
-  Freshness, measurement cadence and driver/PSCM arbitration belong to the caller.
-  """
-  __slots__ = ('c0', 'c1', 'correction', 'carryover_release_count')
-
-  def __init__(self):
-    self.reset()
-
-  def reset(self):
-    self.c0 = self.c1 = self.correction = 0.
-    self.carryover_release_count = 0  # Diagnostic only; never feeds the command law.
-
-  def update(self, model, desired_curvature, *, current_curvature, speed, dt, active=True, valid=True,
-             feedback_dt=None, feedback_enabled=True, pscm_limited=False):
-    feedback_dt = dt if feedback_dt is None else feedback_dt
-    if (not active or not valid or not _finite(dt, feedback_dt, current_curvature) or not .002 <= dt <= .1
-        or not 0. <= feedback_dt <= .15 or abs(current_curvature) > 1.):
-      self.reset()
-      return FordPath()
-    target = encode_model_action(model, desired_curvature, speed)
-    if not target.valid:
-      self.reset()
-      return FordPath()
-    c0 = float(np.clip(target.path_offset, -5.11, 5.11))
-    self.c0 += float(np.clip(c0-self.c0, -4.*dt, 4.*dt))
-    base_c1 = float(np.clip(target.path_angle, -.5, .5))
-    lower = max(-.5, self.c1-.5*dt)
-    upper = min(.5, self.c1+.5*dt)
-    if not feedback_enabled:
-      self.correction = 0.
-    else:
-      direction = math.copysign(1., base_c1)
-      # Release only correction that prevents C1 from requesting the direction
-      # shared by target C0, slewed C0 and base C1, while measured steering is
-      # still opposite. One DBC step confirms each request is nonzero. Matched
-      # steering, neutral/conflicting centering and duplicate samples retain I.
-      if (feedback_dt > 0. and abs(base_c1) >= .0005 and current_curvature*direction < 0.
-          and min(c0*direction, self.c0*direction) >= .01
-          and (base_c1+self.correction)*direction <= 0.):
-        self.correction = 0.
-        self.carryover_release_count += 1
-      increment = (desired_curvature-current_curvature)*speed*feedback_dt
-      # LimitReached inhibits only extra demand in the measured turn direction.
-      # Opposing correction and changes to the model request remain available.
-      direction = current_curvature if current_curvature else self.c1
-      if pscm_limited and increment*direction > 0.:
-        # An old opposing correction may return to zero; don't trap it below
-        # the base request just because the PSCM now reports a limit.
-        increment = float(np.clip(increment, min(-self.correction, 0.), max(-self.correction, 0.)))
-      # Integrate only as far as this cycle's amplitude/slew envelope permits.
-      # If the base moved outside that envelope, allow increments toward it;
-      # never rewrite existing correction merely because the base changed.
-      request = base_c1+self.correction
-      self.correction += float(np.clip(increment, min(lower-request, 0.), max(upper-request, 0.)))
-    c1 = float(np.clip(base_c1+self.correction, -.5, .5))
-    self.c1 += float(np.clip(c1-self.c1, -.5*dt, .5*dt))
-    return FordPath(True, _packed(self.c0, .01, -5.12), _packed(self.c1, .0005, -.5), 0., 0.)
-
-
-class FordModelActionController:
-  """Input adapter for the opt-in selected-action controller.
-
-  controlsd owns upstream selection/limiting and service health. This adapter
-  checks ages and clock order, then supplies elapsed time to the three-state
-  core. Feedback advances once per fresh steering measurement; repeated samples
-  can still advance output slew. Raw model geometry is checked on every cycle.
-
-  CAN yaw remains a health gate, not the feedback measurement. Driver override
-  clears the correction. Fresh PSCM limits only inhibit outward integration;
-  neither a limit nor a repeated measurement freezes the model request.
-  """
-  def __init__(self):
-    self.core = ModelActionController()
-    self.reset()
-
-  def reset(self, status='inactive'):
-    self.core.reset()
-    self.last_time = self.last_measurement_time = self.last_model_time = None
-    self.diagnostics = {'status': status, 'hypothesis': 'model-action-c1-feedback-v2',
-                        'calibration_approved': CALIBRATION_APPROVED, 'command': (0., 0., 0., 0.)}
-
-  def update(self, model, desired_curvature, *, current_curvature, yaw_rate, speed, now, measurement_time, model_time,
-             reference_time, active, valid=True, driver_pressed=False, driver_torque=0., pscm_status=None):
-    reason = None
-    if not active:
-      reason = 'inactive'
-    elif not valid:
-      reason = 'invalid_service'
-    elif not _finite(desired_curvature, current_curvature, yaw_rate, speed, now, measurement_time, model_time, reference_time):
-      reason = 'nonfinite'
-    elif not all(-.005 <= now - timestamp <= .15 for timestamp in (measurement_time, model_time, reference_time)):
-      reason = 'stale_input'
-    elif not .3 <= speed <= 55 or abs(yaw_rate) > 3 or abs(desired_curvature) > 1 or abs(current_curvature) > 1:
-      reason = 'input_range'
-    if reason is not None:
-      self.reset(reason)
-      return FordPath()
-
-    dt = .01 if self.last_time is None else now - self.last_time
-    feedback_dt = 0. if self.last_measurement_time is None else measurement_time-self.last_measurement_time
-    if not .002 <= dt <= .1 or not 0. <= feedback_dt <= .15 or (
-      self.last_model_time is not None and model_time < self.last_model_time
-    ):
-      self.reset('timing_reset')
-      return FordPath()
-    status_fresh = (pscm_status is not None and pscm_status.valid and pscm_status.canMonoTime > 0
-                    and -.005 <= now-pscm_status.canMonoTime*1e-9 <= .15)
-    pscm_limited = bool(status_fresh and pscm_status.limit == 2)
-    driver_override = bool(driver_pressed or not _finite(driver_torque)
-                           or abs(driver_torque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
-                           or (status_fresh and pscm_status.limit == 3))
-    feedback_enabled = not (driver_override or (status_fresh and (pscm_status.denied or pscm_status.lateralState != 2)))
-    command = self.core.update(model, desired_curvature, current_curvature=current_curvature, speed=speed, dt=dt,
-                               feedback_dt=feedback_dt, feedback_enabled=feedback_enabled, pscm_limited=pscm_limited)
-    if not command.valid:
-      self.reset('invalid_path')
-      return command
-    self.last_time, self.last_measurement_time, self.last_model_time = now, measurement_time, model_time
-    self.diagnostics = {'status': 'active', 'hypothesis': 'model-action-c1-feedback-v2',
-                        'calibration_approved': CALIBRATION_APPROVED, 'desired_curvature': desired_curvature,
-                        'model_age': now - model_time, 'measurement_age': now - measurement_time, 'reference_age': now - reference_time,
-                        'dt': dt, 'offset_request': self.core.c0, 'heading_request': self.core.c1,
-                        'curvature_error': desired_curvature-current_curvature, 'feedback_dt': feedback_dt,
-                        'heading_feedforward': float(np.clip(max(OFFSET_STATION_M, speed*HEADING_TIME_S)*desired_curvature, -.5, .5)),
-                        'heading_correction': self.core.correction, 'feedback_enabled': feedback_enabled,
-                        'carryover_release_count': self.core.carryover_release_count,
-                        'driver_override': driver_override, 'pscm_limited': pscm_limited, 'pscm_status_fresh': bool(status_fresh),
-                        'command': (command.path_offset, command.path_angle, 0., 0.)}
-    return command
-
-
-def select_model_action_controller(CP, enabled, previous_controller):
-  """The separate default-off toggle takes priority on the CAN FD Lightning."""
-  compatible = CP.brand == 'ford' and CP.flags & FordFlags.CANFD and CP.carFingerprint == 'FORD_F_150_LIGHTNING_MK1'
-  if enabled and compatible:
-    return FordModelActionController()
-  return previous_controller

openpilot/selfdrive/controls/lib/ford_path.py

@@ -1,368 +0,0 @@
-from collections import deque
-from dataclasses import dataclass
-import math
-
-import numpy as np
-
-from opendbc.car.ford.values import CarControllerParams
-
-
-DBC_OFFSET = (-5.12, 5.11)
-DBC_ANGLE = (-0.5, 0.5235)
-DBC_CURVATURE = (-0.02, 0.02)
-DBC_CURVATURE_RATE = (-0.001024, 0.001023)
-
-DBC_OFFSET_RESOLUTION = 0.01
-DBC_ANGLE_RESOLUTION = 0.0005
-DBC_CURVATURE_RESOLUTION = 0.00002
-DBC_CURVATURE_RATE_RESOLUTION = 0.000001
-_PATH_MIN_LOOKAHEAD = 7.0
-_POSE_PREDICTION_TIME = 0.1
-_POSE_BLEND_CURVATURE = (0.006, 0.012)
-_PATH_OFFSET_RATE = 4.0
-_PATH_ANGLE_RATE = 1.0
-
-_PSCM_DT = 0.004
-_PSCM_C0_RATE = 1.5
-_PSCM_C1_RATE = 0.100006103515625
-_PSCM_C2_RATE = 0.0030059814453125
-_PSCM_SPEED_KPH = (0.0, 15.0, 40.0, 70.0, 100.0, 150.0, 200.0, 250.0)
-_PSCM_SPEED_GAIN = (32.0, 32.0, 32.0, 30.0, 30.0, 24.0, 12.0, 0.0)
-_PSCM_C0_EFFECTIVE_LIMIT = 1.0
-_PSCM_C1_EFFECTIVE_LIMIT = 0.349609375 / 10.0
-
-
-@dataclass(frozen=True)
-class FordPath:
-  valid: bool = False
-  path_offset: float = 0.0
-  path_angle: float = 0.0
-  curvature: float = 0.0
-  curvature_rate: float = 0.0
-
-
-@dataclass(frozen=True)
-class FordPscmState:
-  path_offset: float = 0.0
-  path_angle: float = 0.0
-  curvature: float = 0.0
-
-
-@dataclass(frozen=True)
-class FordModelPose:
-  path_offset: float
-  path_angle: float
-  offset_horizon: float
-  curvature_demand: float
-  forward_angle: float
-
-
-def _finite(value: float) -> float:
-  return float(value) if math.isfinite(value) else 0.0
-
-
-def _sample(distance: float, distances: list[float], values: list[float]) -> float:
-  return float(np.interp(distance, distances, values))
-
-
-def _blend_share(demand: float) -> float:
-  lower, upper = _POSE_BLEND_CURVATURE
-  return float(np.clip((demand - lower) / (upper - lower), 0.0, 1.0))
-
-
-def _model_path(model) -> tuple[list[float], list[float], list[float], list[float]] | None:
-  try:
-    x = [float(value) for value in model.position.x]
-    y = [float(value) for value in model.position.y]
-    heading = [float(value) for value in model.orientation.z]
-  except (AttributeError, TypeError, ValueError):
-    return None
-  if len(x) < 2 or len(x) != len(y) or len(x) != len(heading):
-    return None
-  if not all(math.isfinite(value) for values in (x, y, heading) for value in values):
-    return None
-
-  distance = [0.0]
-  for i in range(1, len(x)):
-    distance.append(distance[-1] + math.hypot(x[i] - x[i - 1], y[i] - y[i - 1]))
-  if distance[-1] <= 0.0:
-    return None
-
-  unwrapped_heading = [heading[0]]
-  for value in heading[1:]:
-    delta = (value - unwrapped_heading[-1] + math.pi) % (2.0 * math.pi) - math.pi
-    unwrapped_heading.append(unwrapped_heading[-1] + delta)
-  return distance, x, y, unwrapped_heading
-
-
-def _predicted_pose(distance: float, current_curvature: float,
-                    curvature_delta: float) -> tuple[float, float, float]:
-  curvature = current_curvature + 0.5 * curvature_delta
-  heading = curvature * distance
-  if abs(curvature) < 1e-9:
-    return distance, 0.0, 0.0
-  return math.sin(heading) / curvature, (1.0 - math.cos(heading)) / curvature, heading
-
-
-def _relative_pose(target_distance: float, path: tuple[list[float], list[float], list[float], list[float]],
-                   vehicle_pose: tuple[float, float, float]) -> tuple[float, float]:
-  distance, x, y, heading = path
-  vehicle_x, vehicle_y, vehicle_heading = vehicle_pose
-  dx = _sample(target_distance, distance, x) - vehicle_x
-  dy = _sample(target_distance, distance, y) - vehicle_y
-  cosine = math.cos(vehicle_heading)
-  sine = math.sin(vehicle_heading)
-  offset = -sine * dx + cosine * dy
-  angle = math.atan2(math.sin(_sample(target_distance, distance, heading) - vehicle_heading),
-                     math.cos(_sample(target_distance, distance, heading) - vehicle_heading))
-  return offset, angle
-
-
-def _path_pose(target_distance: float,
-               path: tuple[list[float], list[float], list[float], list[float]]) -> tuple[float, float, float]:
-  distance, x, y, heading = path
-  return (_sample(target_distance, distance, x), _sample(target_distance, distance, y),
-          _sample(target_distance, distance, heading))
-
-
-def _bounded_feedback(feedforward: float, feedback: float, resolution: float, zero_path_limit: float) -> float:
-  quantization_threshold = 0.5 * resolution
-  limit = max(abs(feedforward) - resolution, 0.0) if abs(feedforward) >= quantization_threshold else zero_path_limit
-  return float(np.clip(feedback, -limit, limit))
-
-
-def _model_pose(path: tuple[list[float], list[float], list[float], list[float]],
-                current_curvature: float, curvature_delta: float, v_ego: float) -> FordModelPose:
-  distance, _, _, _ = path
-  advance = min(v_ego * _POSE_PREDICTION_TIME, distance[-1])
-  offset_horizon = min(_PATH_MIN_LOOKAHEAD, distance[-1] - advance)
-  angle_horizon = min(max(v_ego, _PATH_MIN_LOOKAHEAD), distance[-1] - advance)
-
-  # Keep the model's remaining path as feedforward. Measured vehicle motion is
-  # a separate, short delay-aligned correction, so catching the requested
-  # curvature cannot erase a turn that is still present in the model path.
-  model_pose = _path_pose(advance, path)
-  model_offset, _ = _relative_pose(advance + offset_horizon, path, model_pose)
-  _, model_angle = _relative_pose(advance + angle_horizon, path, model_pose)
-  vehicle_pose = _predicted_pose(advance, current_curvature, curvature_delta)
-  feedback_offset, feedback_angle = _relative_pose(advance, path, vehicle_pose)
-  gentle_curvature = _POSE_BLEND_CURVATURE[0]
-  feedback_offset = _bounded_feedback(model_offset, feedback_offset, DBC_OFFSET_RESOLUTION,
-                                       0.5 * gentle_curvature * advance ** 2)
-  feedback_angle = _bounded_feedback(model_angle, feedback_angle, DBC_ANGLE_RESOLUTION,
-                                      gentle_curvature * advance)
-
-  offset_curvature = 2.0 * model_offset / max(offset_horizon, 1e-3) ** 2
-  angle_curvature = model_angle / max(angle_horizon, 1e-3)
-  return FordModelPose(model_offset + feedback_offset, model_angle + feedback_angle, offset_horizon,
-                       max(abs(offset_curvature), abs(angle_curvature)), model_angle)
-
-
-def _encode_pose(pose: FordModelPose, pose_share: float, curvature: float) -> FordPath:
-  path_offset = pose_share * pose.path_offset
-  path_angle = pose_share * pose.path_angle
-  if abs(path_offset) < 0.5 * DBC_OFFSET_RESOLUTION:
-    path_offset = 0.0
-  if abs(path_angle) < 0.5 * DBC_ANGLE_RESOLUTION:
-    path_angle = 0.0
-  limited_path_angle = float(np.clip(path_angle, *DBC_ANGLE))
-  path_offset += (path_angle - limited_path_angle) * pose.offset_horizon
-  return FordPath(
-    valid=True,
-    path_offset=float(np.clip(path_offset, *DBC_OFFSET)),
-    path_angle=limited_path_angle,
-    curvature=float(np.clip(curvature, *DBC_CURVATURE)),
-    curvature_rate=0.0,
-  )
-
-
-def _encode_path(path: tuple[list[float], list[float], list[float], list[float]], desired_curvature: float,
-                 current_curvature: float, curvature_delta: float, v_ego: float) -> FordPath:
-  pose = _model_pose(path, current_curvature, curvature_delta, v_ego)
-  pose_share = _blend_share(max(pose.curvature_demand, abs(desired_curvature)))
-
-  # Match upstream's C2-only normal driving, then continuously transfer the
-  # command to the model pose for larger maneuvers. An opposing/finished model
-  # path must unload sticky C2 and retain the fast pose needed to unwind it.
-  c2_opposes_path = desired_curvature != 0.0 and desired_curvature * pose.forward_angle <= 0.0
-  if c2_opposes_path:
-    pose_share = 1.0
-    curvature = 0.0
-  else:
-    curvature = desired_curvature * (1.0 - pose_share)
-
-  return _encode_pose(pose, pose_share, curvature)
-
-
-class FordPathController:
-  """Blend normal C2 following into the model's forward C0/C1 pose."""
-
-  def __init__(self, dt: float = 0.01):
-    self.dt = dt
-    self._last_path = FordPath(valid=True)
-    self._curvature_history = deque(maxlen=max(round(_POSE_PREDICTION_TIME / dt) + 1, 2))
-
-  def _limit(self, target: FordPath) -> FordPath:
-    offset_delta = target.path_offset - self._last_path.path_offset
-    angle_delta = target.path_angle - self._last_path.path_angle
-    scale = min(
-      1.0,
-      _PATH_OFFSET_RATE * self.dt / abs(offset_delta) if offset_delta else 1.0,
-      _PATH_ANGLE_RATE * self.dt / abs(angle_delta) if angle_delta else 1.0,
-    )
-    self._last_path = FordPath(
-      True,
-      self._last_path.path_offset + scale * offset_delta,
-      self._last_path.path_angle + scale * angle_delta,
-      self._last_path.curvature + scale * (target.curvature - self._last_path.curvature),
-      0.0,
-    )
-    return self._last_path
-
-  def update(self, model, desired_curvature: float, *, current_curvature: float = 0.0,
-             v_ego: float = 0.0, active: bool = True) -> FordPath:
-    if not active:
-      self._last_path = FordPath(valid=True)
-      self._curvature_history.clear()
-      return FordPath()
-    current_curvature = _finite(current_curvature)
-    self._curvature_history.append(current_curvature)
-    curvature_delta = (current_curvature - self._curvature_history[0]
-                       if len(self._curvature_history) == self._curvature_history.maxlen else 0.0)
-    path = _model_path(model) if model is not None else None
-    if path is None:
-      return self._limit(FordPath(valid=True))
-    return self._limit(_encode_path(path, _finite(desired_curvature), current_curvature, curvature_delta,
-                                    max(_finite(v_ego), 0.0)))
-
-
-def _pscm_slew(value: float, target: float, rate: float, ticks: int) -> float:
-  step = rate * _PSCM_DT * ticks
-  return float(np.clip(target, value - step, value + step))
-
-
-def _pscm_speed_gain(v_ego: float) -> float:
-  return float(np.interp(max(v_ego, 0.0) * 3.6, _PSCM_SPEED_KPH, _PSCM_SPEED_GAIN))
-
-
-def _wire_path(path: FordPath) -> FordPath:
-  return FordPath(
-    valid=path.valid,
-    path_offset=round(path.path_offset / DBC_OFFSET_RESOLUTION) * DBC_OFFSET_RESOLUTION,
-    path_angle=round(path.path_angle / DBC_ANGLE_RESOLUTION) * DBC_ANGLE_RESOLUTION,
-    curvature=round(path.curvature / DBC_CURVATURE_RESOLUTION) * DBC_CURVATURE_RESOLUTION,
-    curvature_rate=round(path.curvature_rate / DBC_CURVATURE_RATE_RESOLUTION) * DBC_CURVATURE_RATE_RESOLUTION,
-  )
-
-
-def _pscm_contributions(state: FordPscmState, v_ego: float) -> tuple[float, float, float]:
-  gain = _pscm_speed_gain(v_ego)
-  return (
-    float(np.clip(0.5 * gain * state.path_offset, -0.5 * gain, 0.5 * gain)),
-    float(np.clip(10.0 * gain * state.path_angle, -0.349609375 * gain, 0.349609375 * gain)),
-    float(np.clip(0.30078125 * gain * state.curvature * v_ego ** 2, -0.5 * gain, 0.5 * gain)),
-  )
-
-
-class FordPscmObserver:
-  """Mirror the firmware's held-command coefficient states at its 250 Hz step."""
-
-  def __init__(self):
-    self.state = FordPscmState()
-    self.command = FordPath(valid=True)
-    self._phase = 0.0
-
-  def reset(self) -> None:
-    self.state = FordPscmState()
-    self.command = FordPath(valid=True)
-    self._phase = 0.0
-
-  def advance(self, elapsed: float) -> None:
-    self._phase += max(elapsed, 0.0)
-    ticks = int((self._phase + 1e-12) / _PSCM_DT)
-    self._phase -= ticks * _PSCM_DT
-    if ticks == 0:
-      return
-    self.state = FordPscmState(
-      _pscm_slew(self.state.path_offset, self.command.path_offset, _PSCM_C0_RATE, ticks),
-      _pscm_slew(self.state.path_angle, self.command.path_angle, _PSCM_C1_RATE, ticks),
-      _pscm_slew(self.state.curvature, self.command.curvature + 10.0 * self.command.curvature_rate,
-                  _PSCM_C2_RATE, ticks),
-    )
-
-  def set_command(self, command: FordPath) -> None:
-    self.command = _wire_path(command)
-
-
-class FordPscmObserverPathController:
-  """Compensate model-path commands for the PSCM coefficient state it still carries."""
-
-  def __init__(self, dt: float = 0.01):
-    self.dt = dt
-    self._last_path = FordPath(valid=True)
-    self._curvature_history = deque(maxlen=max(round(_POSE_PREDICTION_TIME / dt) + 1, 2))
-    self.observer = FordPscmObserver()
-    self._sent_c2 = 0.0
-
-  def _reset(self) -> None:
-    self._last_path = FordPath(valid=True)
-    self._curvature_history.clear()
-    self.observer.reset()
-    self._sent_c2 = 0.0
-
-  def _command_for_state(self, target: FordPath, v_ego: float) -> FordPath:
-    # The target describes the desired fully-settled PSCM contribution. C0 keeps
-    # the remaining C1-saturated residual. C1 supplies the primary contribution
-    # that the known slow C2 state does not yet provide, without a guessed gain.
-    target_state = FordPscmState(target.path_offset, target.path_angle, target.curvature)
-    target_contribution = sum(_pscm_contributions(target_state, v_ego))
-    _, _, observed_c2 = _pscm_contributions(self.observer.state, v_ego)
-    gain = _pscm_speed_gain(v_ego)
-    required_fast = target_contribution - observed_c2
-    c1_contribution = float(np.clip(required_fast, -0.349609375 * gain, 0.349609375 * gain))
-    c0_contribution = required_fast - c1_contribution
-    path_offset = c0_contribution / (0.5 * gain) if gain > 0.0 else 0.0
-    path_angle = c1_contribution / (10.0 * gain) if gain > 0.0 else 0.0
-    return FordPath(
-      valid=True,
-      path_offset=float(np.clip(path_offset, -_PSCM_C0_EFFECTIVE_LIMIT, _PSCM_C0_EFFECTIVE_LIMIT)),
-      path_angle=float(np.clip(path_angle, -_PSCM_C1_EFFECTIVE_LIMIT, _PSCM_C1_EFFECTIVE_LIMIT)),
-      curvature=target.curvature,
-      curvature_rate=target.curvature_rate,
-    )
-
-  def _limit(self, target: FordPath, v_ego_raw: float) -> FordPath:
-    path_offset = float(np.clip(target.path_offset,
-                                self._last_path.path_offset - _PATH_OFFSET_RATE * self.dt,
-                                self._last_path.path_offset + _PATH_OFFSET_RATE * self.dt))
-    path_angle = float(np.clip(target.path_angle,
-                               self._last_path.path_angle - _PATH_ANGLE_RATE * self.dt,
-                               self._last_path.path_angle + _PATH_ANGLE_RATE * self.dt))
-    curvature = CarControllerParams.CURVATURE_LIMITS.apply_limits(
-      target.curvature, self._sent_c2, v_ego_raw, 0.0, True, CarControllerParams.LMC2_STEP,
-    )
-    self._sent_c2 = curvature
-    self._last_path = FordPath(True, path_offset, path_angle, curvature, target.curvature_rate)
-    self.observer.set_command(self._last_path)
-    return self._last_path
-
-  def update(self, model, desired_curvature: float, *, current_curvature: float = 0.0,
-             v_ego: float = 0.0, v_ego_raw: float = 0.0, active: bool = True) -> FordPath:
-    if not active:
-      self._reset()
-      return FordPath()
-
-    self.observer.advance(self.dt)
-    current_curvature = _finite(current_curvature)
-    self._curvature_history.append(current_curvature)
-    curvature_delta = (current_curvature - self._curvature_history[0]
-                       if len(self._curvature_history) == self._curvature_history.maxlen else 0.0)
-    path = _model_path(model) if model is not None else None
-    if path is None:
-      target = FordPath(valid=True)
-    else:
-      target = _encode_path(path, _finite(desired_curvature), current_curvature, curvature_delta,
-                            max(_finite(v_ego), 0.0))
-    v_ego_raw = max(_finite(v_ego_raw), 0.0)
-    command = self._command_for_state(target, v_ego_raw)
-    return self._limit(command, v_ego_raw)

openpilot/selfdrive/controls/tests/fixtures/ford_c2_free_path_routes.json

@@ -1,229 +0,0 @@
-{
-  "description": "Curvature-driven C0 and full-heading C1 command regression; does not predict counterfactual wheel response. Contains geometry and control signals only, no GPS.",
-  "fixture_sha256": "12782ac1b0d0637945f729a46ad03af16cd58188872b6a65f104e32c4db70e9b",
-  "episodes": [
-    {
-      "name": "left_large",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
-        809.5,
-        815.0
-      ],
-      "evidence_seconds": [
-        812.1,
-        814.0
-      ],
-      "samples": 532
-    },
-    {
-      "name": "right_large",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
-        866.5,
-        872.0
-      ],
-      "evidence_seconds": [
-        869.5,
-        871.0
-      ],
-      "samples": 547
-    },
-    {
-      "name": "left_very_large",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
-        880.0,
-        884.0
-      ],
-      "evidence_seconds": [
-        882.9,
-        883.32
-      ],
-      "samples": 397
-    },
-    {
-      "name": "right_plateau",
-      "route": "84865544361f55cb_00000077--4b55791ce6",
-      "range_seconds": [
-        964.0,
-        970.0
-      ],
-      "evidence_seconds": [
-        967.2,
-        968.93
-      ],
-      "samples": 583
-    },
-    {
-      "name": "oscillation",
-      "route": "84865544361f55cb_00000078--349f5b8695",
-      "range_seconds": [
-        29.0,
-        37.0
-      ],
-      "evidence_seconds": [
-        32.5,
-        36.1
-      ],
-      "samples": 795
-    },
-    {
-      "name": "weak_first",
-      "route": "84865544361f55cb_0000007a--5a95fc717e",
-      "range_seconds": [
-        90.5,
-        95.2
-      ],
-      "evidence_seconds": [
-        93.5,
-        95.08
-      ],
-      "samples": 467
-    },
-    {
-      "name": "weak_second",
-      "route": "84865544361f55cb_0000007a--5a95fc717e",
-      "range_seconds": [
-        119.5,
-        125.3
-      ],
-      "evidence_seconds": [
-        122.5,
-        125.2
-      ],
-      "samples": 576
-    }
-  ],
-  "sources": {
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-  },
-  "pairing": "controlsState cycle time; causal carState speed/yaw/pressed; exact consumed model timestamp and geometry; nearest same-cycle carControl and carControlSP within 5ms.",
-  "yaw_rate": "Negative carState.yawRate, matching the model/control curvature coordinate sign; no wheel-to-curvature conversion.",
-  "desired_curvature": "Exact controlsState.desiredCurvature from the matching controlsState cycle. This is the post-selection, post-limiting request consumed by controlsd; it is not a wheel-angle-to-curvature fit.",
-  "reference_time": "Exact consumed modelV2 publication time, in the same relative seconds as each episode. The extraction cache does not retain consumed lateralManeuverPlan timestamps or validity; model time is an explicit replay assumption and cannot verify alternate-reference freshness."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_curvature_heading_route80.json

@@ -1,67 +0,0 @@
-{
-  "description": "Real route80 turn-command regressions. Signal-only fixture; no GPS. Counterfactual commands do not predict physical vehicle response.",
-  "route": "84865544361f55cb_00000080--1643deea7e",
-  "source_commit": "98662df401217a00ec9fc8e73b16857b6c220150",
-  "frozen_v3_controller_sha256": "576f4ec6f2dbc93f7e6c93a69839f69447eb5a0c2f834bd48b24f84a163dc2eb",
-  "fixture_sha256": "c1460e2cf1d3fd52b1a036d923fec7835a7d361126ee0c2decbc3f101ee6653c",
-  "episodes": [
-    {
-      "name": "under_333_339",
-      "range_seconds": [
-        331.5,
-        339.0
-      ],
-      "evidence_seconds": [
-        333.0,
-        339.0
-      ],
-      "samples": 745
-    },
-    {
-      "name": "over_417_420",
-      "range_seconds": [
-        415.5,
-        420.0
-      ],
-      "evidence_seconds": [
-        417.0,
-        420.0
-      ],
-      "samples": 447
-    },
-    {
-      "name": "under_430_435",
-      "range_seconds": [
-        428.5,
-        435.0
-      ],
-      "evidence_seconds": [
-        430.0,
-        435.0
-      ],
-      "samples": 646
-    }
-  ],
-  "sources": [
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-    {
-      "name": "84865544361f55cb_00000080--1643deea7e--7--rlog.zst",
-      "bytes": 12660797,
-      "sha256": "b311b6ace75819db52b9618154d68c7d12e2751d5046b6d174adb89ef87a223c"
-    }
-  ],
-  "pairing": "Exact controlsState desiredCurvature and consumed model publication timestamp; causal carState speed, negative CAN yaw, and steeringPressed; nearest same-cycle carControl/carControlSP within 5 ms.",
-  "reference_time": "Consumed modelV2 publication time. Controller audit confirms route80 used modelV2 as reference throughout.",
-  "preroll": "Each episode starts from reset 1.5 s before evidence; v3_replay stores those exact cold-start commands and gates, while recorded stores original live path fields.",
-  "benchmark_clean": "Existing route80 benchmark mask: whole interval request minus 0.5 s through response (0.2 s) plus 0.25 s active, unpressed, valid, fresh, and speed >= 2 m/s.",
-  "expected_common_c1": "Independent shadow: clip(desiredCurvature * max(7 m, vEgo * 1 s), +/-0.5 rad), independently slewed at 0.5 rad/s and packed to Float32/sign-reversed CAN semantics. No subtraction of measured curvature."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_heading_feedback_route80_status.json

@@ -1,13 +0,0 @@
-{
-  "description": "PSCM status and raw driver-torque overlay for the existing three route80 request windows. No GPS. No counterfactual vehicle response.",
-  "fixture_sha256": "a9defdc5abdf26724358d606beb16becbdf30faa972974d49b179a9e004d7629",
-  "base_fixture": "ford_curvature_heading_route80.npz",
-  "base_fixture_sha256": "c1460e2cf1d3fd52b1a036d923fec7835a7d361126ee0c2decbc3f101ee6653c",
-  "source_route": "84865544361f55cb_00000080--1643deea7e",
-  "source_commit": "98662df401217a00ec9fc8e73b16857b6c220150",
-  "samples": 1838,
-  "source_cache_sha256": "1cd3e0c00805869ace1c5954dc682644f36f5eddb71785b69e4cb9da40f7f04f",
-  "pairing": "Latest actual bus-0 EPS 972 frame at or before each controlsState cycle; raw steering torque from the exact causal carState used by the base fixture.",
-  "timestamp_policy": "Actual CAN event logMonoTime in route-relative seconds, not the benchmark response-shifted status. The old route predates the new carStateSP status telemetry; source CAN timestamps are an explicit replay approximation.",
-  "validity": "Replay validity uses the paired carState valid and canValid values; enum validity, availability and age are checked by the production feedback controller."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_heading_recovery_requests.json

@@ -1,40 +0,0 @@
-{
-  "description": "Signal-only v6 turn-exit recovery regression; no location, device identity, or predicted new vehicle response.",
-  "recorded_controller_revision": "61dac4977bf9c36504398e8a4959dfed79cf6f05",
-  "baseline_revision": "61dac4977bf9c36504398e8a4959dfed79cf6f05",
-  "response_delay": 0.20000000298023224,
-  "samples": 9134,
-  "models": 1843,
-  "fixture_sha256": "41d5e3efcee03a9e02fcaf7bf456c050c6a671a5b7f7fc9706ddf4d27bad71b8",
-  "windows": [
-    {
-      "name": "overturn_then_underturn",
-      "range_s": [
-        19.99615067150053,
-        29.48070058550053
-      ],
-      "samples": 521
-    },
-    {
-      "name": "well_tracked_curve_a",
-      "range_s": [
-        56.19474309950053,
-        63.68808603150053
-      ],
-      "samples": 729
-    },
-    {
-      "name": "well_tracked_curve_b",
-      "range_s": [
-        101.19780691350051,
-        116.33885445450052
-      ],
-      "samples": 810
-    }
-  ],
-  "selection": "One previously identified overturn-then-underturn event and two previously reported well-tracked curves; selected before recovery implementation.",
-  "mask": "Whole t-0.5 through t+0.65 interval active, valid, fresh, unpressed, raw driver torque magnitude <=1 Nm; requested |curvature|*speed\u00b2 >=.5 m/s\u00b2.",
-  "timing": "Exact consumed model publication; causal CAN/PSCM at estimated control computation time. Subtract observed median computation-to-publication delay; unsampled tick timing remains approximate.",
-  "context": "At least 20 seconds prior context or the available start, extended before the latest observed reset. Overlapping episodes are merged.",
-  "coordinates": "Times are local elapsed seconds; models contain only relative position.x/y and orientation.z arrays."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_large_turn_requests_route83.json

@@ -1,247 +0,0 @@
-{
-  "description": "Signal-only historical fallback evidence and frozen-v5 comparison; no GPS or inferred counterfactual vehicle response.",
-  "route": "route83",
-  "recorded_commit": "79a4caa1f6b71488949108aee9ae6ae6566347b1",
-  "fixture_sha256": "d00312c430ace47000c05b8284ee8d56df56ec24bb17a9ea8f4dce83133527c3",
-  "samples": 11744,
-  "model_count": 2367,
-  "source_cache_sha256": "53d786aff2e0b6338e1991320145305fda3101f7b76e50bd2929adbcaea95b28",
-  "response_delay": 0.20000000298023224,
-  "episodes": [
-    [
-      1861.2933736250002,
-      1874.756970279
-    ],
-    [
-      1878.07372132,
-      1892.07372132
-    ],
-    [
-      1950.874232409,
-      1964.874232409
-    ],
-    [
-      2440.9020600930003,
-      2456.964158177
-    ],
-    [
-      2580.722658577,
-      2611.364366768
-    ],
-    [
-      2734.478264791,
-      2764.574374172
-    ]
-  ],
-  "windows": [
-    {
-      "name": "successful_large_early",
-      "role": "authority_target",
-      "range_s": [
-        1866.722720383,
-        1874.756970279
-      ],
-      "samples": 426,
-      "substantial_demand_required": true,
-      "recorded_can_ratio_02s_median": 1.0233371460413845,
-      "published_median_abs_c0_c1": [
-        1.6002928018569946,
-        0.2796146124601364
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        1.6002928018569946,
-        0.2796146124601364
-      ],
-      "phase_samples": {
-        "phase_turn_in": 15,
-        "phase_held": 122,
-        "phase_release": 402,
-        "phase_reversal": 0
-      }
-    },
-    {
-      "name": "centering_reversal_positive_to_negative",
-      "role": "reversal",
-      "range_s": [
-        1888.07372132,
-        1892.07372132
-      ],
-      "samples": 396,
-      "substantial_demand_required": false,
-      "recorded_can_ratio_02s_median": null,
-      "published_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "phase_samples": {
-        "phase_turn_in": 283,
-        "phase_held": 48,
-        "phase_release": 104,
-        "phase_reversal": 21
-      }
-    },
-    {
-      "name": "centering_reversal_negative_to_positive",
-      "role": "reversal",
-      "range_s": [
-        1960.874232409,
-        1964.874232409
-      ],
-      "samples": 397,
-      "substantial_demand_required": false,
-      "recorded_can_ratio_02s_median": null,
-      "published_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "phase_samples": {
-        "phase_turn_in": 154,
-        "phase_held": 0,
-        "phase_release": 183,
-        "phase_reversal": 21
-      }
-    },
-    {
-      "name": "clean_release",
-      "role": "release",
-      "range_s": [
-        2453.714158177,
-        2456.964158177
-      ],
-      "samples": 323,
-      "substantial_demand_required": false,
-      "recorded_can_ratio_02s_median": null,
-      "published_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        0.0,
-        0.0
-      ],
-      "phase_samples": {
-        "phase_turn_in": 4,
-        "phase_held": 0,
-        "phase_release": 305,
-        "phase_reversal": 17
-      }
-    },
-    {
-      "name": "successful_smaller_positive",
-      "role": "sign_coverage_only",
-      "range_s": [
-        2590.722658577,
-        2600.918740146
-      ],
-      "samples": 175,
-      "substantial_demand_required": true,
-      "recorded_can_ratio_02s_median": 1.0960646334373787,
-      "published_median_abs_c0_c1": [
-        0.42173025012016296,
-        0.1222948431968689
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        0.42173025012016296,
-        0.1222948431968689
-      ],
-      "phase_samples": {
-        "phase_turn_in": 170,
-        "phase_held": 61,
-        "phase_release": 0,
-        "phase_reversal": 0
-      }
-    },
-    {
-      "name": "large_under_response",
-      "role": "under_response_challenge",
-      "range_s": [
-        2604.2254721,
-        2611.364366768
-      ],
-      "samples": 128,
-      "substantial_demand_required": true,
-      "recorded_can_ratio_02s_median": 0.7322859508492778,
-      "published_median_abs_c0_c1": [
-        2.4204851388931274,
-        0.42145511507987976
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        2.4204851388931274,
-        0.42145511507987976
-      ],
-      "phase_samples": {
-        "phase_turn_in": 68,
-        "phase_held": 96,
-        "phase_release": 56,
-        "phase_reversal": 0
-      }
-    },
-    {
-      "name": "successful_large_181deg",
-      "role": "authority_target",
-      "range_s": [
-        2744.478264791,
-        2750.573209708
-      ],
-      "samples": 207,
-      "substantial_demand_required": true,
-      "recorded_can_ratio_02s_median": 1.0087938914780248,
-      "published_median_abs_c0_c1": [
-        2.1044259071350098,
-        0.3815947473049164
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        2.1044259071350098,
-        0.3815947473049164
-      ],
-      "phase_samples": {
-        "phase_turn_in": 137,
-        "phase_held": 94,
-        "phase_release": 64,
-        "phase_reversal": 0
-      }
-    },
-    {
-      "name": "large_over_response_290deg",
-      "role": "over_response_challenge_not_target",
-      "range_s": [
-        2760.493612962,
-        2764.574374172
-      ],
-      "samples": 181,
-      "substantial_demand_required": true,
-      "recorded_can_ratio_02s_median": 1.2515789463064766,
-      "published_median_abs_c0_c1": [
-        4.737145900726318,
-        0.5235000252723694
-      ],
-      "send_clamped_median_abs_c0_c1": [
-        4.737145900726318,
-        0.5
-      ],
-      "phase_samples": {
-        "phase_turn_in": 139,
-        "phase_held": 90,
-        "phase_release": 41,
-        "phase_reversal": 0
-      }
-    }
-  ],
-  "selection": "Authority targets require automatic turn windows with >=1 second strict torque eligibility, eligible |wheel|>=150 degrees, and whole-window CAN response ratio median 0.90..1.10 at fixed 0.2 s. No positive-request large turn qualifies.",
-  "non_targets": "Positive smaller turn supplies sign coverage only. Under/over response and release/reversal windows are regression challenges, not authority targets.",
-  "context": "At least 10 s pre-roll or available route start, extended to include the preceding feedback reset/sign reversal. Overlapping intervals are merged. First episode begins at the partial route boundary with unobserved earlier history.",
-  "phase_policy": "Held means request curvature range over +/-0.25 s times speed squared <0.15 m/s2 at demand>=0.5. Turn-in/release compare current absolute curvature with the historical held request at measurement_time-delay, scaled by max(7,speed), using +/-0.0005 rad. These masks can overlap held; reversal means opposing delayed/current signs.",
-  "wire_policy": "Published coefficients preserve Float32 values. Send-clamped copy caps C0 to +/-5.11 and C1 to +/-0.5 before packing. Actual decoded wire is normalized to controller sign, nearest within 15 ms; wire_time/fresh/mode expose timing approximation.",
-  "model_schema": "models[model_index] contains position.x, position.y, orientation.z; Float32 conversion preserves the original model payload precision.",
-  "v5_reference": "Frozen full sequential replay from command_replay.npz, whose source hash and limitations are recorded in command_replay.json.",
-  "frozen_v5_revision": "09acf8ec2f327769f00ee53563ad2dd9225e37a7",
-  "preroll_validation": "Compact reset replay exactly matches full sequential frozen-v5 C0/C1, gates and bias on all 2233 evidence samples."
-}

openpilot/selfdrive/controls/tests/fixtures/ford_turn_exit_requests.json

@@ -1,156 +0,0 @@
-{
-  "description": "Anonymous recorded-input turn-exit regression fixture; command construction only, not simulated vehicle response.",
-  "baseline_revision": "dfcfddb91ce2409511f5b2dbce25d06d5056b3d6",
-  "baseline_hypothesis": "model-pose-c0-c1-feedback-v7",
-  "baseline_source_hashes": {
-    "controller_sha256": "4951a6352d89fcd66277bbfe682bd22e935a31b5a4db33e617ad21189b6705fd",
-    "allocator_sha256": "383538fc7cdae3bc28dffb71fe12ac5f3f9866ffbe6adfb7457f3593e9fc903a"
-  },
-  "fixture_sha256": "87a030c309061b7dc218715d05440c2077e465a8138079b46e8e8cee94201e54",
-  "source_fixture_sha256": "d476110b83dc628ffbd094220e464d6d3114b709bda2977813c3217964d41086",
-  "response_delay": 0.20000000298023224,
-  "publication_latency_estimate_s": 0.0015483515003040793,
-  "samples": 15273,
-  "model_count": 3078,
-  "evidence_samples": 4879,
-  "context_policy": "At least twenty seconds prior context, extended before the last observed reset. Overlapping intervals are merged.",
-  "provenance": "Selected from a recorded drive running the pinned baseline; request, model, driver and PSCM observations stay fixed during replay.",
-  "baseline_policy": "Stored commands, validity and bias exactly match the complete baseline replay on evidence samples. Context outside evidence initializes state and is not an exact-output target.",
-  "compact_full_baseline_evidence_parity": {
-    "commands": {
-      "exact": true,
-      "max_difference": 0.0
-    },
-    "valid": {
-      "exact": true,
-      "max_difference": 0.0
-    },
-    "heading_bias": {
-      "exact": true,
-      "max_difference": 0.0
-    }
-  },
-  "measurement_policy": "Controller computation time is estimated from publication time using the recorded median latency; exact vehicle motion under changed commands is unknown.",
-  "clean_policy": "Every sample from request time minus 0.5 s through plus 0.65 s is active, valid, fresh, unpressed and within 1 Nm raw driver torque. Demand is absolute desired curvature times current speed squared; substantial means at least 0.5 m/s2.",
-  "driver_policy": "All replay inputs retain driver interference; only comparison metrics use the clean mask. History-reset failures intentionally retain nearby driver context.",
-  "coordinates": "Elapsed seconds shifted to the first fixture control cycle; model x/y/heading are vehicle-relative, not global position.",
-  "retained_fields": [
-    "t",
-    "episode",
-    "model_index",
-    "models",
-    "desired_curvature",
-    "yaw_rate",
-    "speed",
-    "measurement_time",
-    "model_time",
-    "reference_time",
-    "active",
-    "valid",
-    "pressed",
-    "steering_torque",
-    "pscm_timestamp",
-    "pscm_valid",
-    "pscm_lateral_state",
-    "pscm_limit",
-    "pscm_capability",
-    "pscm_denied",
-    "clean_rawtorque",
-    "demand",
-    "window_masks",
-    "evidence",
-    "baseline_commands",
-    "baseline_valid",
-    "baseline_heading_base",
-    "baseline_heading_target",
-    "baseline_heading_bias",
-    "baseline_feedback_yaw_error",
-    "baseline_feedback_reference_curvature",
-    "baseline_status",
-    "baseline_offset_target"
-  ],
-  "omitted_data": "No route/device identifiers, VIN, GPS, private paths, raw wheel angle, wheel rate, EPS torque, or absolute clock origins.",
-  "baseline_status_meaning": "feedback_status from the pinned baseline",
-  "windows": [
-    {
-      "name": "good_curve_a",
-      "role": "comparison",
-      "range_s": [
-        20.0002130975003,
-        25.0002130975003
-      ],
-      "samples": 496,
-      "clean_substantial_samples": 259
-    },
-    {
-      "name": "first_reversal",
-      "role": "reversal",
-      "range_s": [
-        83.0002130975003,
-        92.7002130975003
-      ],
-      "samples": 964,
-      "clean_substantial_samples": 167
-    },
-    {
-      "name": "good_curve_b",
-      "role": "comparison",
-      "range_s": [
-        121.0002130975003,
-        128.0002130975003
-      ],
-      "samples": 695,
-      "clean_substantial_samples": 308
-    },
-    {
-      "name": "second_reversal",
-      "role": "reversal",
-      "range_s": [
-        133.5002130975003,
-        138.9002130975003
-      ],
-      "samples": 537,
-      "clean_substantial_samples": 191
-    },
-    {
-      "name": "large_turn_driver_context_a",
-      "role": "driver_context",
-      "range_s": [
-        150.0002130975003,
-        157.0002130975003
-      ],
-      "samples": 695,
-      "clean_substantial_samples": 0
-    },
-    {
-      "name": "over_growth",
-      "role": "over_response",
-      "range_s": [
-        182.0002130975003,
-        191.0002130975003
-      ],
-      "samples": 897,
-      "clean_substantial_samples": 66
-    },
-    {
-      "name": "large_turn_driver_context_b",
-      "role": "driver_context",
-      "range_s": [
-        199.0002130975003,
-        205.0002130975003
-      ],
-      "samples": 595,
-      "clean_substantial_samples": 281
-    },
-    {
-      "name": "zero_bias_release",
-      "role": "under_response",
-      "range_s": [
-        202.0002130975003,
-        205.0002130975003
-      ],
-      "samples": 297,
-      "clean_substantial_samples": 279
-    }
-  ]
-}

openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py

@@ -1,59 +0,0 @@
-import ast
-import io
-import json
-import logging
-from pathlib import Path
-from types import SimpleNamespace
-import unittest
-
-from openpilot.common.logging_extra import SwagFormatter, SwagLogger
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController
-from openpilot.selfdrive.controls.lib.ford_path import FordPathController, FordPscmObserverPathController
-from openpilot.selfdrive.controls.tests.test_ford_model_action import circle
-
-
-class TestFordControlsLogging(unittest.TestCase):
-  def emit_controls_event(self, event, controls):
-    # Execute the actual controlsd call with the real logger and formatter,
-    # without launching hardware-dependent Controls or opening logging IPC.
-    source_path = Path(__file__).resolve().parents[1] / 'controlsd.py'
-    source = ast.parse(source_path.read_text())
-    calls = [node for node in ast.walk(source) if isinstance(node, ast.Call)
-             and isinstance(node.func, ast.Attribute) and isinstance(node.func.value, ast.Name)
-             and node.func.value.id == 'cloudlog' and node.args
-             and isinstance(node.args[0], ast.Constant) and node.args[0].value == event]
-    self.assertEqual(len(calls), 1)
-    logger = SwagLogger()
-    logger.setLevel(logging.INFO)  # disabled INFO logging would hide this crash
-    stream = io.StringIO()
-    handler = logging.StreamHandler(stream)
-    handler.setFormatter(SwagFormatter(logger))
-    logger.addHandler(handler)
-    try:
-      expression = ast.Expression(body=calls[0])
-      eval(compile(expression, str(source_path), 'eval'), {'cloudlog': logger, 'self': controls, 'reference_service': 'modelV2'})
-      record = json.loads(stream.getvalue())
-    finally:
-      handler.close()
-    self.assertEqual(record['level'], 'INFO')
-    self.assertEqual(record['msg']['event'], event)
-    return record['msg']
-
-  def test_startup_logs_selected_controller_without_crashing(self):
-    for controller in (FordPathController(), FordPscmObserverPathController(), FordModelActionController()):
-      with self.subTest(controller=type(controller).__name__):
-        record = self.emit_controls_event('Ford path controller selected', SimpleNamespace(ford_path_controller=controller))
-        self.assertEqual(record['controller'], type(controller).__name__)
-
-  def test_candidate_diagnostics_identify_the_experiment_and_do_not_claim_calibration(self):
-    controller = FordModelActionController()
-    for active, valid in ((False, True), (True, True), (True, False)):
-      controller.update(circle(.01), .005, current_curvature=.0025, yaw_rate=.05, speed=20., now=1.,
-                        measurement_time=1., model_time=1., reference_time=1., active=active, valid=valid)
-      controls = SimpleNamespace(ford_path_controller=controller, desired_curvature=.005, curvature=.0025,
-                                 sm=SimpleNamespace(logMonoTime={'modelV2': 123456789, 'carState': 123450000}))
-      record = self.emit_controls_event('Ford C2-free path tracking', controls)
-      self.assertEqual(record['hypothesis'], 'model-action-c1-feedback-v2')
-      self.assertIs(record['calibration_approved'], False)
-      self.assertEqual(record['command'][2:], [0., 0.])
-      self.assertEqual(record['status'], controller.diagnostics['status'])

openpilot/selfdrive/controls/tests/test_ford_model_action.py

@@ -1,193 +0,0 @@
-import math
-from types import SimpleNamespace
-
-import numpy as np
-import pytest
-
-from opendbc.can import CANPacker, CANParser
-from opendbc.car.ford.fordcan import CanBus, create_lat_ctl2_msg
-from openpilot.cereal import custom
-from openpilot.selfdrive.controls.lib.ford_path import FordPath
-from openpilot.selfdrive.controls.lib.ford_model_action import ModelActionController, encode_model_action
-
-
-def make_model(x, y, heading):
-  return SimpleNamespace(position=SimpleNamespace(x=x, y=y), orientation=SimpleNamespace(z=heading))
-
-
-def circle(curvature):
-  s = np.linspace(0., 60., 601)
-  return make_model(np.sin(curvature*s)/curvature, (1-np.cos(curvature*s))/curvature, curvature*s)
-
-
-def straight(offset=0.):
-  x = np.linspace(0., 60., 121)
-  return make_model(x, np.full_like(x, offset), np.zeros_like(x))
-
-
-def test_selected_action_controls_heading_even_when_model_previews_another_turn():
-  model = circle(.02)
-  assert encode_model_action(model, 0., 20.).path_angle == 0.
-  assert encode_model_action(model, -.004, 20.).path_angle == pytest.approx(-.08)
-  assert encode_model_action(model, 0., 20.).path_offset > 0.
-
-
-def test_centering_information_is_independent_of_action_and_not_scaled_with_speed():
-  for speed in (2., 7., 20., 35.):
-    target = encode_model_action(straight(.4), 0., speed)
-    assert target == FordPath(True, .4, 0., 0., 0.)
-  for sign in (-1, 1):
-    target = encode_model_action(circle(sign*.01), sign*.01, 20.)
-    assert target.path_offset == pytest.approx(sign*(1-math.cos(.07))/.01, abs=1e-6)
-    assert target.path_angle == pytest.approx(sign*.2)  # No 10 m cap at highway speed.
-
-
-def test_three_control_states_are_sufficient_for_every_next_output():
-  controller = ModelActionController()
-  assert not hasattr(controller, '__dict__')
-  for i in range(300):
-    copied = ModelActionController()
-    copied.c0, copied.c1, copied.correction = controller.c0, controller.c1, controller.correction
-    model = straight(.2*math.sin(i*.1))
-    kwargs = {'speed': 20., 'dt': .01}
-    desired = .005*math.cos(i*.03)
-    assert controller.update(model, desired, current_curvature=0., **kwargs) == copied.update(model, desired, current_curvature=0., **kwargs)
-
-
-def test_held_turn_releases_without_a_bias_tail_or_sign_reversal():
-  for sign in (-1., 1.):
-    controller = ModelActionController()
-    for _ in range(400):
-      out = controller.update(circle(sign*.01), sign*.01, current_curvature=sign*.01, speed=20., dt=.01)
-    assert out.path_angle == pytest.approx(sign*.2)
-    previous = np.array([out.path_offset, out.path_angle])
-    for desired in sign*np.linspace(.01, 0., 101):
-      out = controller.update(straight(), desired, current_curvature=desired, speed=20., dt=.01)
-      values = np.array([out.path_offset, out.path_angle])
-      assert (abs(values) <= abs(previous)+1e-8).all()
-      assert (sign*values >= -1e-8).all()
-      previous = values
-    assert out == FordPath(True, 0., 0., 0., 0.)
-
-
-def test_current_model_replacement_leaves_only_independent_actuator_slew():
-  controller = ModelActionController()
-  for _ in range(150):
-    controller.update(straight(1.), .04, current_curvature=.04, speed=20., dt=.01)
-  for _ in range(25):
-    out = controller.update(straight(), 0., current_curvature=0., speed=20., dt=.01)
-  assert out.path_offset == pytest.approx(0.)
-  assert out.path_angle > 0.  # C1 cannot hold C0 during its longer release.
-  for _ in range(75):
-    out = controller.update(straight(), 0., current_curvature=0., speed=20., dt=.01)
-  assert out == FordPath(True, 0., 0., 0., 0.)
-
-
-@pytest.mark.parametrize('overrides', [{'active': False}, {'valid': False}, {'dt': .2}, {'speed': math.nan}])
-def test_invalid_or_inactive_input_clears_state_before_reengagement(overrides):
-  controller = ModelActionController()
-  for _ in range(100):
-    controller.update(straight(.5), .01, current_curvature=.01, speed=20., dt=.01)
-  kwargs = {'speed': 20., 'dt': .01, 'active': True, 'valid': True}
-  kwargs.update(overrides)
-  assert controller.update(straight(), 0., current_curvature=0., **kwargs) == FordPath()
-  assert (controller.c0, controller.c1) == (0., 0.)
-  assert controller.update(straight(), 0., current_curvature=0., speed=20., dt=.01) == FordPath(True, 0., 0., 0., 0.)
-
-
-def test_malformed_geometry_and_nonfinite_action_never_create_an_active_command():
-  for model, desired in ((None, 0.), (straight(), math.nan), (straight(), math.inf)):
-    assert not encode_model_action(model, desired, 20.).valid
-
-
-def test_selected_core_reversal_through_float32_and_wire_keeps_sign_and_zero_c2():
-  controller = ModelActionController()
-  packer = CANPacker('ford_lincoln_base_pt')
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 100)], 0)
-  bus = CanBus(fingerprint={0: {}})
-  previous = np.zeros(2)
-  for i in range(600):
-    sign = 1. if i < 300 else -1.
-    out = controller.update(straight(sign*8.), sign*.1, current_curvature=sign*.1, speed=30., dt=.01)
-    fields = np.array([out.path_offset, out.path_angle])
-    assert (abs(fields) <= [5.1100001, .5000001]).all()
-    assert (abs(fields-previous) <= [.0500001, .0055001]).all()
-    previous = fields
-    message = custom.CarControlSP.new_message()
-    message.fordLateralPath.pathOffset = out.path_offset
-    message.fordLateralPath.pathAngle = out.path_angle
-    packet = create_lat_ctl2_msg(packer, bus, 2, -message.fordLateralPath.pathOffset,
-                                -message.fordLateralPath.pathAngle, out.curvature, out.curvature_rate, i % 16)
-    parser.update([i*10_000_000, [packet]])
-    decoded = parser.vl['LateralMotionControl2']
-    assert decoded['LatCtlPathOffst_L_Actl'] == pytest.approx(-out.path_offset)
-    assert decoded['LatCtlPath_An_Actl'] == pytest.approx(-out.path_angle)
-    assert decoded['LatCtlCurv_No_Actl'] == decoded['LatCtlCrv_NoRate2_Actl'] == 0.
-
-
-def test_short_path_holds_available_endpoint_without_extrapolation():
-  model = make_model([0., 1.], [0., .1], [0., 0.])
-  assert encode_model_action(model, .01, 20.) == FordPath(True, .1, .2, 0., 0.)
-
-
-def test_overflowing_arc_resets_instead_of_publishing_invalid_geometry():
-  model = make_model([0., 1e308, -1e308], [0., 0., 0.], [0., 0., 0.])
-  controller = ModelActionController()
-  controller.update(straight(.4), .01, current_curvature=.01, speed=20., dt=.01)
-  assert controller.update(model, .01, current_curvature=.01, speed=20., dt=.01) == FordPath()
-  assert (controller.c0, controller.c1) == (0., 0.)
-
-
-@pytest.mark.parametrize('value', [None, 'bad', 10**400])
-@pytest.mark.parametrize('field', ['dt', 'speed', 'desired_curvature'])
-def test_malformed_numeric_input_resets_without_throwing(field, value):
-  controller = ModelActionController()
-  kwargs = {'speed': 20., 'dt': .01, 'desired_curvature': .01}
-  controller.update(straight(.4), current_curvature=kwargs['desired_curvature'], **kwargs)
-  kwargs[field] = value
-  assert controller.update(straight(.4), current_curvature=kwargs['desired_curvature'], **kwargs) == FordPath()
-  assert (controller.c0, controller.c1) == (0., 0.)
-
-
-@pytest.mark.parametrize('model', [
-  make_model([], [], []), make_model([0.], [0.], [0.]),
-  make_model([0., 10.], [0.], [0., 0.]), make_model([0., 10.], [0., 0.], [0.]),
-  make_model([0., 0.], [0., 0.], [0., 0.]),
-  make_model([0., 10.], [0., math.nan], [0., 0.]), make_model([0., math.inf], [0., 0.], [0., 0.]),
-  make_model([0., 10.], [0., 0.], [0., math.inf]),
-  make_model([0., 10**400], [0., 0.], [0., 0.]),
-  make_model([0., 10.], [0., 0.], [1e308, -1e308]),
-])
-def test_malformed_model_arrays_cannot_reuse_a_previous_valid_command(model):
-  controller = ModelActionController()
-  controller.update(straight(.4), .01, current_curvature=.01, speed=20., dt=.01)
-  assert controller.update(model, .01, current_curvature=.01, speed=20., dt=.01) == FordPath()
-  assert (controller.c0, controller.c1) == (0., 0.)
-
-
-@pytest.mark.parametrize('field,value,valid', [
-  ('speed', .2999, False), ('speed', .3, True), ('speed', 55., True), ('speed', 55.0001, False),
-  ('desired_curvature', -1., True), ('desired_curvature', 1., True), ('desired_curvature', -1.0001, False),
-  ('dt', .001999, False), ('dt', .002, True), ('dt', .1, True), ('dt', .100001, False), ('dt', 0., False),
-])
-def test_domain_and_elapsed_time_boundaries(field, value, valid):
-  kwargs = {'speed': 20., 'desired_curvature': .01, 'dt': .01}
-  kwargs[field] = value
-  assert ModelActionController().update(straight(.4), current_curvature=kwargs['desired_curvature'], **kwargs).valid == valid
-
-
-def test_arc_station_not_forward_x_or_model_heading_determines_offset():
-  x = np.array([0., 6., 12.])
-  y = .4+x*.75
-  target = encode_model_action(make_model(x, y, [2., -2., 1.]), -.01, 20.)
-  # Arc length is 1.25*x on this line, so y(arc=7)=.4+.75*(7/1.25).
-  assert target.path_offset == pytest.approx(4.6)
-  assert target.path_angle == pytest.approx(-.2)
-
-
-def test_duplicate_stations_keep_valid_geometry_and_first_cycle_slew():
-  model = make_model([0., 0., 10.], [.4, .4, .4], [0., 0., 0.])
-  assert encode_model_action(model, .01, 20.) == FordPath(True, .4, .2, 0., 0.)
-  out = ModelActionController().update(model, .01, current_curvature=.01, speed=20., dt=.002)
-  assert out.path_offset == pytest.approx(.01)
-  assert out.path_angle == pytest.approx(.001)

openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py

@@ -1,343 +0,0 @@
-"""Exercise the candidate through existing selection, publication and CAN code.
-
-Tests enable the candidate through controlsd's real startup selection.
-No hardware, IPC or CAN transmission is involved.
-"""
-import ast
-from collections import defaultdict
-import json
-import math
-from pathlib import Path
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.can import CANParser
-from opendbc.car import Bus, structs
-from opendbc.car.ford.carcontroller import CarController
-from opendbc.car.ford.fordcan import calculate_lat_ctl2_checksum
-from opendbc.car.ford.values import FordFlags
-from openpilot.cereal import custom
-from openpilot.selfdrive.car.helpers import convert_carControlSP
-from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController
-from openpilot.selfdrive.controls.lib.ford_path import FordPath
-from openpilot.selfdrive.controls.tests.test_ford_model_action import circle, straight
-from openpilot.selfdrive.controls.tests.test_ford_model_action_selection import startup
-
-
-def update(controller, now=1., **overrides):
-  kwargs = {'model': straight(.4), 'desired_curvature': .01, 'speed': 20., 'yaw_rate': 0., 'now': now,
-                'model_time': now, 'measurement_time': now, 'reference_time': now, 'active': True}
-  kwargs.update(overrides)
-  kwargs.setdefault('current_curvature', kwargs['desired_curvature'])  # Preserve feedforward-only compatibility probes.
-  return controller.update(**kwargs)
-
-
-@pytest.mark.parametrize('field', ['model_time', 'measurement_time', 'reference_time'])
-@pytest.mark.parametrize('age', [.151, -.006])
-def test_stale_or_future_service_clears_commands_and_reengages_from_zero(field, age):
-  controller = FordModelActionController()
-  update(controller)
-  assert update(controller, 1.01, **{field: 1.01-age}) == FordPath()
-  assert controller.diagnostics['status'] == 'stale_input'
-  assert update(controller, 1.02).path_offset == pytest.approx(.04)
-
-
-@pytest.mark.parametrize('change,reason', [
-  ({'now': 1.}, 'timing_reset'),
-  ({'now': .99}, 'timing_reset'),
-  ({'now': 1.001}, 'timing_reset'),
-  ({'now': 1.101}, 'timing_reset'),
-  ({'model_time': .999}, 'timing_reset'),
-  ({'measurement_time': .999}, 'timing_reset'),
-  ({'active': False}, 'inactive'),
-  ({'valid': False}, 'invalid_service'),
-  ({'model': None}, 'invalid_path'),
-  ({'yaw_rate': math.nan}, 'nonfinite'),
-  ({'yaw_rate': 3.01}, 'input_range'),
-  ({'speed': 55.01}, 'input_range'),
-  ({'desired_curvature': 1.01}, 'input_range'),
-])
-def test_invalid_cycle_never_keeps_a_previous_active_request(change, reason):
-  controller = FordModelActionController()
-  update(controller)
-  now = change.get('now', 1.01)
-  assert update(controller, **dict(change, now=now)) == FordPath()
-  assert controller.diagnostics['status'] == reason
-  assert (controller.core.c0, controller.core.c1) == (0., 0.)
-  assert update(controller, now+1.).path_angle == pytest.approx(.005)
-
-
-@pytest.mark.parametrize('field', ['now', 'measurement_time', 'model_time', 'reference_time', 'speed', 'yaw_rate', 'desired_curvature'])
-@pytest.mark.parametrize('value', [math.nan, math.inf, -math.inf, None])
-def test_nonfinite_input_never_raises_or_leaks_into_diagnostics(field, value):
-  controller = FordModelActionController()
-  update(controller)
-  assert update(controller, **{field: value}) == FordPath()
-  assert controller.diagnostics['status'] == 'nonfinite'
-  json.dumps(controller.diagnostics, allow_nan=False)
-
-
-def test_repeated_measurements_do_not_freeze_slew_or_cache_invalid_model_geometry():
-  controller = FordModelActionController()
-  for i in range(10):
-    result = update(controller, 1.+i*.01, measurement_time=1., model_time=1., reference_time=1.)
-  assert result.path_offset == pytest.approx(.4)
-  assert result.path_angle == pytest.approx(.05)
-  broken = straight(.4)
-  broken.position.y[5] = math.nan
-  assert update(controller, 1.1, model=broken, model_time=1., measurement_time=1.) == FordPath()
-  assert controller.diagnostics['status'] == 'invalid_path'
-
-
-def test_yaw_offset_does_not_change_the_base():
-  controllers = [FordModelActionController() for _ in range(3)]
-  variants = [{}, {'yaw_rate': .0072}, {'yaw_rate': -.0072}]
-  for i in range(100):
-    outputs = [update(c, 1.+i*.01, **kwargs) for c, kwargs in zip(controllers, variants, strict=True)]
-    assert all(out == outputs[0] for out in outputs)
-  assert outputs[0].path_angle == pytest.approx(.2)
-
-
-def test_reference_source_can_change_to_an_older_but_fresh_publication():
-  controller = FordModelActionController()
-  update(controller, reference_time=.99)
-  assert update(controller, 1.01, reference_time=.98).valid
-
-
-def test_release_keeps_current_geometry_and_may_grow_c0_while_c1_decreases():
-  for sign in (-1., 1.):
-    controller = FordModelActionController()
-    for i in range(100):
-      before = update(controller, 1.+i*.01, model=circle(sign*.01), desired_curvature=sign*.005)
-    for i in range(100):
-      after = update(controller, 2.+i*.01, model=circle(sign*.02), desired_curvature=sign*.004)
-    assert abs(after.path_offset) > abs(before.path_offset)
-    assert abs(after.path_angle) < abs(before.path_angle)
-    for i in range(100):
-      released = update(controller, 3.+i*.01, model=circle(sign*.02), desired_curvature=0.)
-    assert released.path_offset == after.path_offset
-    assert released.path_angle == pytest.approx(0.)
-
-
-def _method(filename, class_name, method):
-  tree = ast.parse(filename.read_text())
-  cls = next(node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == class_name)
-  return next(node for node in cls.body if isinstance(node, ast.FunctionDef) and node.name == method)
-
-
-@pytest.fixture
-def pipeline():
-  root = Path(__file__).resolve().parents[3]
-  controls_file = root/'selfdrive/controls/controlsd.py'
-  body = _method(controls_file, 'Controls', 'state_control').body
-  # Execute the actual source choice, upstream limiter and Ford integration.
-  selection = next(n for n in body if isinstance(n, ast.If) and ast.unparse(n.test) == "self.sm.valid['lateralManeuverPlan']")
-  limiter = next(n for n in body if isinstance(n, ast.Assign) and isinstance(n.value, ast.Call) and
-                 isinstance(n.value.func, ast.Name) and n.value.func.id == 'clip_curvature')
-  branch = next(n for n in body if isinstance(n, ast.If) and ast.unparse(n.test) == "self.CP.brand == 'ford'")
-  call = compile(ast.Module(body=[selection, limiter, branch], type_ignores=[]), str(controls_file), 'exec')
-  publication_file = root/'sunnypilot/selfdrive/controls/controlsd_ext.py'
-  body = _method(publication_file, 'ControlsExt', 'state_control_ext').body
-  publish = [n for n in body if (isinstance(n, ast.Assign) and ast.unparse(n.targets[0]) == 'ford_path') or
-             (isinstance(n, ast.If) and ast.unparse(n.test) == 'ford_path is not None')]
-  assert len(publish) == 2
-  publication = compile(ast.Module(body=publish, type_ignores=[]), str(publication_file), 'exec')
-  return call, publication
-
-
-class Subscriptions:
-  frame = 1
-
-  def __init__(self, maneuver):
-    self.valid = {'lateralManeuverPlan': maneuver, 'modelV2': True, 'carStateSP': True}
-    self.logMonoTime = {'carState': 995_000_000, 'modelV2': 980_000_000, 'lateralManeuverPlan': 990_000_000}
-    self.failed = set()
-    self.messages = {'carStateSP': custom.CarStateSP.new_message(), 'lateralManeuverPlan': SimpleNamespace(desiredCurvature=-.1)}
-
-  def __getitem__(self, service):
-    return self.messages[service]
-
-  def all_checks(self, services):
-    return not self.failed.intersection(services) and all(self.valid.get(s, True) for s in services)
-
-
-@pytest.mark.parametrize('maneuver', [False, True])
-def test_actual_controlsd_selection_limiting_publication_and_downstream_can(pipeline, maneuver):
-  call, publication = pipeline
-  sm = Subscriptions(maneuver)
-  controls = startup()
-  controller = controls.ford_path_controller
-  controls.sm, controls.desired_curvature, controls.curvature = sm, 0., 0.
-  model = straight(.4)
-  model.action = SimpleNamespace(desiredCurvature=.1)
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=-.0072, canValid=True, steeringPressed=False, steeringTorque=0.)
-  environment = {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
-                     'clip_curvature': clip_curvature, 'time': SimpleNamespace(monotonic=lambda: 1.)}
-  exec(call, environment)
-  expected_curvature = (-1 if maneuver else 1)*.000125
-  assert controls.desired_curvature == pytest.approx(expected_curvature)
-  assert controls.ford_path.path_angle == pytest.approx(20.*expected_curvature)
-  assert controls.ford_path.path_offset == pytest.approx(.04)
-  assert cc.latActive and cc.actuators.curvature == 0.
-  assert controller.diagnostics['reference_age'] == pytest.approx(.01 if maneuver else .02)
-
-  cp = structs.CarParams(flags=int(FordFlags.CANFD), carFingerprint='FORD_F_150_LIGHTNING_MK1')
-  downstream = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, structs.CarParamsSP())
-  vehicle = SimpleNamespace(out=structs.CarState(vEgo=20., vEgoRaw=20.), acc_tja_status_stock_values=defaultdict(int),
-                            lkas_status_stock_values=defaultdict(int), buttons_stock_values=defaultdict(int))
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 100)], downstream.CAN.main)
-  for i, fail in enumerate((False, True)):
-    if fail:
-      sm.failed.add('modelV2')
-      exec(call, environment)
-      assert not cc.latActive and controls.ford_path == FordPath()
-    msg = custom.CarControlSP.new_message()
-    exec(publication, {'self': controls, 'CC_SP': msg})
-    _, packets = downstream.update(cc.as_reader(), convert_carControlSP(msg.as_reader()), vehicle, (i+1)*10_000_000)
-    parser.update([(i+1)*10_000_000, packets])
-    wire = parser.vl['LateralMotionControl2']
-    assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-controls.ford_path.path_offset)
-    assert wire['LatCtlPath_An_Actl'] == pytest.approx(-controls.ford_path.path_angle)
-    assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-    assert wire['LatCtl_D2_Rq'] == (0 if fail else 2)
-
-
-@pytest.mark.parametrize('maneuver', [False, True])
-@pytest.mark.parametrize('failed', ['carState', 'modelV2', 'vehicleParameters', 'lateralManeuverPlan'])
-def test_actual_controlsd_service_gates(pipeline, maneuver, failed):
-  sm = Subscriptions(maneuver)
-  sm.failed.add(failed)
-  controls = startup()
-  controls.sm, controls.desired_curvature, controls.curvature = sm, 0., 0.
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=0., canValid=True, steeringPressed=False, steeringTorque=0.)
-  model = straight()
-  model.action = SimpleNamespace(desiredCurvature=.1)
-  exec(pipeline[0], {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model, 'lp': SimpleNamespace(roll=0.),
-                         'clip_curvature': clip_curvature, 'time': SimpleNamespace(monotonic=lambda: 1.)})
-  assert controls.ford_path.valid == cc.latActive == (failed == 'lateralManeuverPlan' and not maneuver)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_feedback_through_actual_controlsd_publication_and_100hz_sender(pipeline, sign):
-  call, publication = pipeline
-  controls, sm = startup(), Subscriptions(False)
-  controls.sm, controls.desired_curvature = sm, sign*.004
-  model = straight(.4)
-  model.action = SimpleNamespace(desiredCurvature=sign*.004)
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=.2, canValid=True, steeringPressed=False, steeringTorque=0.)
-  cp = structs.CarParams(flags=int(FordFlags.CANFD), carFingerprint='FORD_F_150_LIGHTNING_MK1')
-  downstream = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, structs.CarParamsSP())
-  vehicle = SimpleNamespace(out=structs.CarState(vEgo=20., vEgoRaw=20.), acc_tja_status_stock_values=defaultdict(int),
-                            lkas_status_stock_values=defaultdict(int), buttons_stock_values=defaultdict(int))
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 100)], downstream.CAN.main)
-  frame = 0
-  for measured, torque, count, expected in [(sign*.004, 0., 100, 0.), (sign*.003, 0., 100, sign*.02),
-                                           (sign*.004, 0., 100, sign*.02), (sign*.005, 0., 100, 0.),
-                                           (sign*.003, 0., 100, sign*.02), (0., 1.0625, 5, 0.)]:
-    for _ in range(count):
-      now = 1.+frame*.01
-      controls.curvature, cs.steeringTorque = measured, torque
-      sm.logMonoTime.update(carState=round(now*1e9), modelV2=round(now*1e9))
-      environment = {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model,
-                     'lp': SimpleNamespace(roll=0.), 'clip_curvature': clip_curvature,
-                     'time': SimpleNamespace(monotonic=lambda now=now: now)}
-      exec(call, environment)
-      msg = custom.CarControlSP.new_message()
-      exec(publication, {'self': controls, 'CC_SP': msg})
-      _, packets = downstream.update(cc.as_reader(), convert_carControlSP(msg.as_reader()), vehicle, round(now*1e9))
-      received = parser.update([round(now*1e9), packets])
-      assert parser.dbc.name_to_msg['LateralMotionControl2'].address in received
-      wire = parser.vl['LateralMotionControl2']
-      assert wire['LatCtlPath_An_Actl'] == pytest.approx(-controls.ford_path.path_angle)
-      assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-controls.ford_path.path_offset)
-      assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-      assert wire['LatCtl_D2_Rq'] == 2
-      assert wire['LatCtlPath_No_Cnt'] == frame % 16
-      address = parser.dbc.name_to_msg['LateralMotionControl2'].address
-      packet = next(packet for packet in packets if packet[0] == address)
-      assert wire['LatCtlPath_No_Cs'] == calculate_lat_ctl2_checksum(2, frame % 16, packet[1])
-      frame += 1
-    assert controls.ford_path_controller.core.correction == pytest.approx(expected)
-    assert controls.ford_path.path_angle == pytest.approx(sign*.08+expected)
-    assert controls.ford_path.path_offset == pytest.approx(.4)
-
-
-@pytest.mark.parametrize('service_valid', [False, True])
-def test_actual_controlsd_passes_only_valid_pscm_service_to_feedback(pipeline, service_valid):
-  controls, sm = startup(), Subscriptions(False)
-  controls.sm, controls.desired_curvature = sm, .004
-  model = straight(.4)
-  model.action = SimpleNamespace(desiredCurvature=.004)
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=0., canValid=True, steeringPressed=False, steeringTorque=0.)
-  for frame in range(101):
-    now = 1.+frame*.01
-    controls.curvature = .004 if frame < 100 else .003
-    sm.logMonoTime.update(carState=round(now*1e9), modelV2=round(now*1e9))
-    sm.valid['carStateSP'] = service_valid
-    status = sm['carStateSP'].fordPscmStatus
-    status.valid, status.canMonoTime, status.limit, status.lateralState = True, round(now*1e9), 2, 2
-    exec(pipeline[0], {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model,
-                      'lp': SimpleNamespace(roll=0.), 'clip_curvature': clip_curvature,
-                      'time': SimpleNamespace(monotonic=lambda now=now: now)})
-  controller = controls.ford_path_controller
-  assert controller.diagnostics['pscm_limited'] is service_valid
-  assert controller.core.correction == pytest.approx(0. if service_valid else .0002)
-  assert cc.latActive and controls.ford_path.valid
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('maneuver', [False, True])
-def test_carryover_release_through_selected_limited_request_and_actual_can(pipeline, sign, maneuver):
-  call, publication = pipeline
-  controls, sm = startup(), Subscriptions(maneuver)
-  controls.sm, controls.desired_curvature = sm, sign*.004
-  core = controls.ford_path_controller.core
-  cc = structs.CarControl(latActive=True)
-  cs = SimpleNamespace(vEgo=20., yawRate=0., canValid=True, steeringPressed=False, steeringTorque=0.)
-  cp = structs.CarParams(flags=int(FordFlags.CANFD), carFingerprint='FORD_F_150_LIGHTNING_MK1')
-  downstream = CarController({Bus.pt: 'ford_lincoln_base_pt'}, cp, structs.CarParamsSP())
-  vehicle = SimpleNamespace(out=structs.CarState(vEgo=20., vEgoRaw=20.), acc_tja_status_stock_values=defaultdict(int),
-                            lkas_status_stock_values=defaultdict(int), buttons_stock_values=defaultdict(int))
-  parser = CANParser('ford_lincoln_base_pt', [('LateralMotionControl2', 100)], downstream.CAN.main)
-  for frame in range(280):
-    now = 1.+frame*.01
-    desired = sign*(.004 if frame < 200 else -.001)
-    model = straight(sign*(.2 if frame < 200 else -.2))
-    model.action = SimpleNamespace(desiredCurvature=-desired if maneuver else desired)
-    sm.messages['lateralManeuverPlan'].desiredCurvature = desired
-    controls.curvature = sign*(.004 if frame < 100 else .001 if frame < 200 else .003)
-    sm.logMonoTime.update(carState=round(now*1e9), modelV2=round(now*1e9), lateralManeuverPlan=round(now*1e9))
-    before = core.c0, core.c1
-    exec(call, {'self': controls, 'CS': cs, 'CC': cc, 'actuators': cc.actuators, 'model_v2': model,
-                'lp': SimpleNamespace(roll=0.), 'clip_curvature': clip_curvature,
-                'time': SimpleNamespace(monotonic=lambda now=now: now)})
-    assert abs(core.c0-before[0]) <= .0400000001 and abs(core.c1-before[1]) <= .0050000001
-    msg = custom.CarControlSP.new_message()
-    exec(publication, {'self': controls, 'CC_SP': msg})
-    _, packets = downstream.update(cc.as_reader(), convert_carControlSP(msg.as_reader()), vehicle, round(now*1e9))
-    received = parser.update([round(now*1e9), packets])
-    address = parser.dbc.name_to_msg['LateralMotionControl2'].address
-    assert address in received
-    wire = parser.vl['LateralMotionControl2']
-    assert wire['LatCtlPath_An_Actl'] == pytest.approx(-controls.ford_path.path_angle)
-    assert wire['LatCtlPathOffst_L_Actl'] == pytest.approx(-controls.ford_path.path_offset)
-    assert wire['LatCtlCurv_No_Actl'] == wire['LatCtlCrv_NoRate2_Actl'] == 0.
-    assert wire['LatCtl_D2_Rq'] == 2 and wire['LatCtlPath_No_Cnt'] == frame % 16
-    packet = next(packet for packet in packets if packet[0] == address)
-    assert wire['LatCtlPath_No_Cs'] == calculate_lat_ctl2_checksum(2, frame % 16, packet[1])
-    if frame == 199:
-      assert core.correction == pytest.approx(sign*.06)
-      assert core.carryover_release_count == 0
-  assert core.carryover_release_count == 1
-  assert controls.ford_path_controller.diagnostics['carryover_release_count'] == 1
-  assert controls.ford_path_controller.diagnostics['hypothesis'] == 'model-action-c1-feedback-v2'
-  assert sign*controls.ford_path.path_angle < 0.
-  assert controls.ford_path.path_offset == pytest.approx(-sign*.2)
-  controls.ford_path_controller.reset()
-  assert core.carryover_release_count == 0

openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py

@@ -1,290 +0,0 @@
-"""C1 feedback behavior; these tests do not simulate a Ford steering plant."""
-import math
-from types import SimpleNamespace
-
-import pytest
-
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, ModelActionController
-from openpilot.selfdrive.controls.lib.ford_path import FordPath
-from openpilot.selfdrive.controls.tests.test_ford_model_action import straight
-
-
-def tick(controller, desired, measured, **overrides):
-  kwargs = {'current_curvature': measured, 'speed': 20., 'dt': .01}
-  kwargs.update(overrides)
-  return controller.update(straight(.4), desired, **kwargs)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_old_turn_correction_does_not_keep_c1_in_old_direction_after_reversal(sign):
-  controller = ModelActionController()
-  # Build an actual correction through feedback, rather than injecting a state.
-  for _ in range(100):
-    controller.update(straight(), sign*.004, current_curvature=sign*.004, speed=20., dt=.01)
-  for _ in range(100):
-    controller.update(straight(), sign*.004, current_curvature=sign*.001, speed=20., dt=.01)
-  assert controller.correction == pytest.approx(sign*.06)
-  # The request has reversed, but measured steering still points into the old
-  # turn. C0 also confirms the new direction. The existing slew permits
-  # crossing zero within these 0.4 seconds.
-  for _ in range(40):
-    before = controller.c1
-    out = controller.update(straight(-sign*.2), -sign*.001, current_curvature=sign*.003, speed=20., dt=.01)
-    assert abs(controller.c1-before) <= .0050000001
-  assert sign*out.path_angle < 0., 'Stored old-turn correction still overrides the new C1 direction'
-  assert out.path_offset == pytest.approx(-sign*.2)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('limited', [False, True])
-def test_carryover_release_uses_fresh_feedback_and_preserves_final_slew(sign, limited):
-  controller = ModelActionController()
-  controller.c0, controller.c1, controller.correction = -sign*.2, sign*.03, sign*.05
-  kwargs = {'speed': 20., 'dt': .01, 'current_curvature': sign*.003, 'pscm_limited': limited}
-  controller.update(straight(-sign*.2), -sign*.001, feedback_dt=0., **kwargs)
-  assert controller.correction == pytest.approx(sign*.05)
-  before = controller.c1
-  out = controller.update(straight(-sign*.2), -sign*.001, **kwargs)
-  assert controller.correction == 0.
-  assert controller.carryover_release_count == 1
-  assert out.path_angle == pytest.approx(before-sign*.005)
-  for _ in range(30):
-    controller.update(straight(-sign*.2), -sign*.001, **kwargs)
-  assert controller.carryover_release_count == 1
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('case', ['matched', 'same_turn', 'already_turning_new_way', 'c0_opposes', 'c0_neutral',
-                                  'c0_sub_resolution', 'target_c0_opposes', 'c1_sub_resolution',
-                                  'neutral_request', 'neutral_measurement', 'correction_helps', 'correction_not_dominant'])
-def test_carryover_release_preserves_steady_correction_and_ambiguous_requests(sign, case):
-  controller = ModelActionController()
-  offset, desired, measured, correction = -.2, -.001, .003, .05
-  if case == 'matched':
-    measured = desired
-  elif case == 'same_turn':
-    measured = -.0005
-  elif case == 'already_turning_new_way':
-    measured = -.003
-  elif case == 'c0_opposes':
-    offset = .2
-  elif case == 'c0_neutral':
-    offset = 0.
-  elif case == 'c0_sub_resolution':
-    offset = -.001
-  elif case == 'c1_sub_resolution':
-    desired = -.000001
-  elif case == 'neutral_request':
-    desired = 0.
-  elif case == 'neutral_measurement':
-    measured = 0.
-  elif case == 'correction_helps':
-    correction = -.05
-  elif case == 'correction_not_dominant':
-    correction = .01
-  controller.c0, controller.c1, controller.correction = sign*offset, sign*(20.*desired+correction), sign*correction
-  if case == 'target_c0_opposes':
-    offset = .2  # The old slewed C0 alone is not enough to confirm the request.
-  controller.update(straight(sign*offset), sign*desired, current_curvature=sign*measured, speed=20., dt=.01)
-  assert controller.carryover_release_count == 0
-  assert abs(controller.correction-sign*correction) <= abs(desired-measured)*20.*.01+1e-10
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_carryover_release_waits_for_c0_to_finish_opposing_the_new_request(sign):
-  controller = ModelActionController()
-  controller.c0, controller.c1, controller.correction = sign*.2, sign*.03, sign*.05
-  for _ in range(4):
-    controller.update(straight(-sign*.2), -sign*.001, current_curvature=sign*.003, speed=20., dt=.01)
-    assert controller.carryover_release_count == 0
-  for _ in range(3):
-    controller.update(straight(-sign*.2), -sign*.001, current_curvature=sign*.003, speed=20., dt=.01)
-  assert controller.carryover_release_count == 1
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_steady_opposing_correction_is_preserved_through_small_error_crossings(sign):
-  controller = ModelActionController()
-  controller.c0, controller.c1, controller.correction = -sign*.2, sign*.03, sign*.05
-  for i in range(200):
-    measured = sign*(-.001+(-1 if i % 2 else 1)*.000001)
-    controller.update(straight(-sign*.2), -sign*.001, current_curvature=measured, speed=20., dt=.01)
-  assert controller.carryover_release_count == 0
-  assert controller.correction == pytest.approx(sign*.05)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-@pytest.mark.parametrize('offset', [.009999, .01, .010001])
-@pytest.mark.parametrize('heading', [.0004999, .0005, .0005001])
-def test_carryover_direction_confirmation_uses_existing_dbc_steps(sign, offset, heading):
-  controller = ModelActionController()
-  controller.c0, controller.c1, controller.correction = -sign*offset, sign*.03, sign*.05
-  controller.update(straight(-sign*offset), -sign*heading/20., current_curvature=sign*.003, speed=20., dt=.01)
-  assert controller.carryover_release_count == int(offset >= .01 and heading >= .0005)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_feedback_builds_holds_and_unwinds_without_changing_c0(sign):
-  controller, matched = ModelActionController(), ModelActionController()
-  for _ in range(100):
-    tick(controller, sign*.004, sign*.004)
-  for _ in range(100):
-    out = tick(controller, sign*.004, sign*.003)
-    baseline = tick(matched, sign*.004, sign*.004)
-  assert controller.correction == pytest.approx(sign*.02)
-  assert out.path_angle == pytest.approx(sign*.1)
-  assert out.path_offset == baseline.path_offset == pytest.approx(.4)
-  for _ in range(100):
-    out = tick(controller, sign*.004, sign*.004)
-  assert controller.correction == pytest.approx(sign*.02)
-  assert out.path_angle == pytest.approx(sign*.1)
-  for _ in range(200):
-    out = tick(controller, sign*.004, sign*.005)
-  assert controller.correction == pytest.approx(-sign*.02)
-  assert out.path_angle == pytest.approx(sign*.06)
-  assert out.curvature == out.curvature_rate == 0.
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_amplitude_and_slew_limits_do_not_store_unavailable_feedback(sign):
-  controller = ModelActionController()
-  # The unchanged model request is already ahead of the output slew.
-  for _ in range(10):
-    tick(controller, sign*.01, 0.)
-    assert controller.correction == 0.
-  for _ in range(1000):
-    before = controller.c1
-    tick(controller, sign*.01, -sign*.9)
-    assert abs(controller.c1-before) <= .0050000001
-    assert abs(controller.correction) <= .3000000001
-  assert controller.c1 == pytest.approx(sign*.5)
-  assert controller.correction == pytest.approx(sign*.3)
-  for _ in range(200):
-    tick(controller, sign*.01, 0.)
-  assert controller.correction == pytest.approx(sign*.3)
-  tick(controller, sign*.01, sign*.02)
-  assert sign*controller.correction < .3  # Unwind is allowed at the cap.
-  assert sign*controller.c1 < .5
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_pscm_limit_only_blocks_feedback_further_into_measured_turn(sign):
-  controller = ModelActionController()
-  for _ in range(100):
-    tick(controller, sign*.004, sign*.004)
-  for _ in range(100):
-    tick(controller, sign*.004, sign*.003, pscm_limited=True)
-  assert controller.correction == 0.
-  out = tick(controller, sign*.004, sign*.005, pscm_limited=True)
-  assert sign*controller.correction < 0.
-  # A limit cannot stall the new model request itself or its unwind slew.
-  for _ in range(100):
-    out = tick(controller, 0., 0., pscm_limited=True)
-  assert abs(out.path_angle) < .001
-  assert out.path_offset == pytest.approx(.4)
-
-
-@pytest.mark.parametrize('sign', [-1., 1.])
-def test_pscm_limit_cannot_trap_old_correction_below_the_model_request(sign):
-  controller = ModelActionController()
-  controller.correction = -sign*.02
-  controller.c1 = sign*.06
-  for _ in range(200):
-    out = tick(controller, sign*.004, sign*.003, pscm_limited=True)
-  assert controller.correction == pytest.approx(0.)
-  assert out.path_angle == pytest.approx(sign*.08)
-
-
-def test_driver_intervention_clears_feedback_through_existing_output_slew():
-  controller = ModelActionController()
-  for _ in range(100):
-    tick(controller, .004, .004)
-  for _ in range(100):
-    tick(controller, .004, .003)
-  assert controller.correction > 0.
-  previous = controller.c1
-  tick(controller, .004, -.01, feedback_enabled=False)
-  assert controller.correction == 0.
-  assert abs(controller.c1-previous) <= .0050000001
-  for _ in range(100):
-    out = tick(controller, .004, -.01, feedback_enabled=False)
-  assert controller.correction == 0.
-  assert out.path_angle == pytest.approx(.08)
-
-
-@pytest.mark.parametrize('field,value', [('current_curvature', math.nan), ('current_curvature', None),
-                                       ('current_curvature', 1.01), ('feedback_dt', math.nan),
-                                       ('feedback_dt', -.001), ('feedback_dt', .151), ('active', False)])
-def test_bad_feedback_inputs_and_disengagement_clear_every_control_state(field, value):
-  controller = ModelActionController()
-  controller.correction = .03
-  out = tick(controller, .004, .003, **{field: value})
-  assert out == FordPath()
-  assert (controller.c0, controller.c1, controller.correction) == (0., 0., 0.)
-
-
-def adapter_tick(controller, now, **overrides):
-  kwargs = {'current_curvature': .003, 'speed': 20., 'yaw_rate': 0., 'now': now,
-            'measurement_time': now, 'model_time': now, 'reference_time': now, 'active': True}
-  kwargs.update(overrides)
-  return controller.update(straight(.4), .004, **kwargs)
-
-
-def status(now, **overrides):
-  fields = {'valid': True, 'canMonoTime': round(now*1e9), 'limit': 0, 'lateralState': 2, 'denied': False}
-  fields.update(overrides)
-  return SimpleNamespace(**fields)
-
-
-def test_repeated_steering_samples_only_advance_output_slew():
-  controller = FordModelActionController()
-  for i in range(100):
-    adapter_tick(controller, 1.+i*.01, current_curvature=.004)
-  before = controller.core.correction
-  for i in range(1, 6):
-    adapter_tick(controller, 1.99+i*.01, measurement_time=1.99)
-    assert controller.core.correction == before
-  adapter_tick(controller, 2.05)
-  assert controller.core.correction == pytest.approx(.02*.06)
-  assert controller.diagnostics['feedback_dt'] == pytest.approx(.06)
-
-
-@pytest.mark.parametrize('overrides', [{'driver_pressed': True}, {'driver_torque': 1.01},
-                                     {'driver_torque': -1.01}, {'driver_torque': math.nan},
-                                     {'pscm_status': status(2.01, limit=3)},
-                                     {'pscm_status': status(2.01, denied=True)},
-                                     {'pscm_status': status(2.01, lateralState=1)}])
-def test_adapter_clears_feedback_when_driver_or_pscm_overrides(overrides):
-  controller = FordModelActionController()
-  for i in range(101):
-    adapter_tick(controller, 1.+i*.01)
-  assert controller.core.correction > 0.
-  assert adapter_tick(controller, 2.01, **overrides).valid
-  assert controller.core.correction == 0.
-  assert not controller.diagnostics['feedback_enabled']
-
-
-@pytest.mark.parametrize('overrides,limited', [({}, True), ({'valid': False}, False),
-                                            ({'canMonoTime': 0}, False), ({'canMonoTime': 1_800_000_000}, False),
-                                            ({'canMonoTime': 2_020_000_000}, False), ({'limit': 1}, False)])
-def test_only_fresh_reached_pscm_limit_blocks_outward_integration(overrides, limited):
-  controller = FordModelActionController()
-  for i in range(100):
-    adapter_tick(controller, 1.+i*.01, current_curvature=.004)
-  adapter_tick(controller, 2., pscm_status=status(2., **{'limit': 2, **overrides}))
-  assert controller.diagnostics['pscm_limited'] is limited
-  assert (controller.core.correction == 0.) is limited
-
-
-def test_measurement_cadence_preserves_elapsed_distance_integration():
-  results = []
-  for period in (1, 2, 5):
-    controller = FordModelActionController()
-    for i in range(101):
-      now = 1.+i*.01
-      adapter_tick(controller, now, current_curvature=.004)
-    for i in range(1, 101):
-      now = 2.+i*.01
-      adapter_tick(controller, now, measurement_time=2.+(i//period)*period*.01)
-    results.append(controller.core.correction)
-  assert results == pytest.approx([.02, .02, .02])

openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py

@@ -1,100 +0,0 @@
-"""Exercise real startup selection and Sunnylink writes without starting hardware."""
-import ast
-import base64
-import itertools
-from pathlib import Path
-from types import SimpleNamespace
-
-import pytest
-
-from opendbc.car.ford.values import FordFlags
-from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType
-from openpilot.selfdrive.controls.lib.ford_model_action import FordModelActionController, select_model_action_controller
-from openpilot.selfdrive.controls.lib.ford_path import FordPath, FordPathController, FordPscmObserverPathController
-
-
-def car_params(**overrides):
-  return SimpleNamespace(**({'brand': 'ford', 'flags': FordFlags.CANFD, 'carFingerprint': 'FORD_F_150_LIGHTNING_MK1',
-                             'carFw': []} | overrides))
-
-
-def startup(cp=None, params=None):
-  filename = Path(__file__).resolve().parents[1]/'controlsd.py'
-  tree = ast.parse(filename.read_text())
-  cls = next(n for n in tree.body if isinstance(n, ast.ClassDef) and n.name == 'Controls')
-  body = next(n for n in cls.body if isinstance(n, ast.FunctionDef) and n.name == '__init__').body
-  start = next(i for i, n in enumerate(body) if isinstance(n, ast.Assign) and ast.unparse(n.targets[0]) == 'self.ford_pscm_observer')
-  end = next(i for i, n in enumerate(body) if isinstance(n, ast.Assign) and ast.unparse(n.targets[0]) == 'self.ford_path')
-  if params is None:
-    params = SimpleNamespace(get_bool=lambda key: key == 'FordModelActionController')
-  controls = SimpleNamespace(CP=cp or car_params(), params=params)
-  environment = {'self': controls, 'FordFlags': FordFlags, 'FordPath': FordPath,
-                 'FordPathController': FordPathController, 'FordPscmObserverPathController': FordPscmObserverPathController,
-                 'FordModelActionController': FordModelActionController,
-                 'select_model_action_controller': select_model_action_controller,
-                 'cloudlog': SimpleNamespace(event=lambda *args, **kwargs: None)}
-  exec(compile(ast.Module(body=body[start:end+1], type_ignores=[]), str(filename), 'exec'), environment)
-  return controls
-
-
-@pytest.mark.parametrize('candidate,observer', list(itertools.product((False, True), repeat=2)))
-def test_actual_startup_priority(candidate, observer):
-  settings = {'FordModelActionController': candidate, 'FordPscmObserver': observer}
-  selected = startup(params=SimpleNamespace(get_bool=settings.__getitem__))
-  previous = FordPscmObserverPathController if observer else FordPathController
-  expected = FordModelActionController if candidate else previous
-  assert type(selected.ford_path_controller) is expected
-  assert selected.ford_model_action == candidate
-  assert selected.ford_path == FordPath()
-
-
-@pytest.mark.parametrize('overrides', [{'brand': 'tesla'}, {'flags': 0}, {'carFingerprint': 'FORD_F_150_MK14'}])
-@pytest.mark.parametrize('observer', [False, True])
-def test_other_vehicles_keep_their_previous_selection(overrides, observer):
-  settings = {'FordModelActionController': False, 'FordPscmObserver': observer}
-  params = SimpleNamespace(get_bool=settings.__getitem__)
-  before = startup(car_params(**overrides), params)
-  settings['FordModelActionController'] = True
-  after = startup(car_params(**overrides), params)
-  assert type(after.ford_path_controller) is type(before.ford_path_controller)
-  assert not after.ford_model_action
-
-
-@pytest.mark.parametrize('firmware', [[], [SimpleNamespace(ecu='eps', fwVersion=b'other')]])
-def test_candidate_does_not_depend_on_eps_firmware_query(firmware):
-  assert isinstance(startup(car_params(carFw=firmware)).ford_path_controller, FordModelActionController)
-
-
-@pytest.mark.parametrize('observer', [False, True])
-def test_sunnylink_write_takes_effect_on_restart_and_restores_stored_selection(tmp_path, monkeypatch, observer):
-  from openpilot.sunnypilot.sunnylink import utils
-
-  params = Params(str(tmp_path))
-  monkeypatch.setattr(utils, 'Params', lambda: params)
-  assert params.get_default_value('FordModelActionController') is False
-  assert params.get_type('FordModelActionController') == ParamKeyType.BOOL
-  assert b'FordModelActionController' in params.all_keys(ParamKeyFlag.PERSISTENT)
-  assert b'FordModelActionController' in params.all_keys(ParamKeyFlag.BACKUP)
-  params.put_bool('FordPscmObserver', observer, block=True)
-  old = startup(params=params)
-  assert not isinstance(old.ford_path_controller, FordModelActionController)
-  utils.save_param_from_base64_encoded_string('FordModelActionController', base64.b64encode(b'true').decode())
-  enabled = startup(params=params)
-  assert isinstance(enabled.ford_path_controller, FordModelActionController)
-  assert not isinstance(old.ford_path_controller, FordModelActionController)
-  utils.save_param_from_base64_encoded_string('FordModelActionController', base64.b64encode(b'false').decode())
-  assert isinstance(enabled.ford_path_controller, FordModelActionController)
-  assert type(startup(params=params).ford_path_controller) is type(old.ford_path_controller)
-  assert params.get_bool('FordPscmObserver') == observer
-
-
-def test_stored_retired_toggle_cannot_enable_the_candidate(tmp_path):
-  params = Params(str(tmp_path))
-  Path(params.get_param_path('FordVirtualAngleController')).write_text('1')
-  assert b'FordVirtualAngleController' not in params.all_keys()
-  assert params.get_bool('FordModelActionController') is False
-  assert type(startup(params=params).ford_path_controller) is FordPathController
-  params.put_bool('FordModelActionController', True, block=True)
-  params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
-  assert not Path(params.get_param_path('FordVirtualAngleController')).exists()
-  assert params.get_bool('FordModelActionController') is True

openpilot/selfdrive/controls/tests/test_ford_path.py

@@ -1,422 +0,0 @@
-import math
-from types import SimpleNamespace
-
-import numpy as np
-
-from openpilot.cereal import custom
-from openpilot.selfdrive.car.helpers import convert_carControlSP
-from openpilot.selfdrive.controls.lib.ford_path import (DBC_ANGLE, DBC_CURVATURE, DBC_OFFSET, FordPath, FordPathController,
-                                                        FordPscmObserver, FordPscmObserverPathController, FordPscmState,
-                                                        _bounded_feedback, _encode_path, _model_path, _predicted_pose,
-                                                        _pscm_contributions, _relative_pose)
-
-
-def _path(curvature: float, speed: float = 8.0):
-  t = np.linspace(0.0, 3.0, 61)
-  distance = speed * t
-  heading = curvature * distance
-  x = np.zeros_like(distance)
-  y = np.zeros_like(distance)
-  for i in range(1, len(distance)):
-    ds = distance[i] - distance[i - 1]
-    average_heading = 0.5 * (heading[i] + heading[i - 1])
-    x[i] = x[i - 1] + ds * math.cos(average_heading)
-    y[i] = y[i - 1] + ds * math.sin(average_heading)
-  return SimpleNamespace(
-    position=SimpleNamespace(t=t.tolist(), x=x.tolist(), y=y.tolist()),
-    orientation=SimpleNamespace(z=heading.tolist()),
-  )
-
-
-def _changing_path(start_curvature: float, end_curvature: float, speed: float = 8.0):
-  t = np.linspace(0.0, 3.0, 61)
-  distance = speed * t
-  curvature = np.interp(distance, [distance[0], min(distance[-1], 7.0)], [start_curvature, end_curvature])
-  heading = np.zeros_like(distance)
-  x = np.zeros_like(distance)
-  y = np.zeros_like(distance)
-  for i in range(1, len(distance)):
-    ds = distance[i] - distance[i - 1]
-    heading[i] = heading[i - 1] + 0.5 * (curvature[i] + curvature[i - 1]) * ds
-    average_heading = 0.5 * (heading[i] + heading[i - 1])
-    x[i] = x[i - 1] + ds * math.cos(average_heading)
-    y[i] = y[i - 1] + ds * math.sin(average_heading)
-  return SimpleNamespace(
-    position=SimpleNamespace(t=t.tolist(), x=x.tolist(), y=y.tolist()),
-    orientation=SimpleNamespace(z=heading.tolist()),
-  )
-
-
-def _command(model, desired_curvature: float, *, current_curvature: float = 0.0, v_ego: float = 8.0):
-  return FordPathController(dt=1.0).update(model, desired_curvature, current_curvature=current_curvature, v_ego=v_ego)
-
-
-def _equivalent_curvature(command) -> float:
-  return 2.0 * command.path_offset / 7.0 ** 2 + 2.0 * command.path_angle / 7.0 + command.curvature
-
-
-def test_gentle_path_uses_only_c2():
-  command = _command(_path(0.004, speed=20.0), 0.004, current_curvature=0.004, v_ego=20.0)
-  assert command.valid
-  assert command.path_offset == 0.0
-  assert command.path_angle == 0.0
-  assert np.isclose(command.curvature, 0.004, atol=1e-6)
-  assert command.curvature_rate == 0.0
-
-
-def test_gentle_path_uses_only_c2_when_model_and_action_disagree():
-  command = _command(_path(0.005), 0.002, current_curvature=0.005)
-  assert command.path_offset == 0.0
-  assert command.path_angle == 0.0
-  assert np.isclose(command.curvature, 0.002, atol=1e-6)
-
-
-def test_spatially_growing_path_adds_fast_pose_before_action_becomes_large():
-  controller = FordPathController(dt=1.0)
-  command = controller.update(_changing_path(0.0, 0.04), 0.012, current_curvature=0.0, v_ego=8.0)
-  assert command.path_offset > 0.0
-  assert command.path_angle > 0.0
-  assert command.curvature < 0.012
-  assert command.curvature_rate == 0.0
-
-
-def test_growing_model_pose_adds_authority_but_c3_is_never_transmitted():
-  constant = _command(_path(0.012), 0.012)
-  growing = _command(_changing_path(0.0, 0.04), 0.012)
-  assert _equivalent_curvature(growing) > _equivalent_curvature(constant)
-  assert constant.curvature_rate == 0.0
-  assert growing.curvature_rate == 0.0
-
-
-def test_local_tracking_error_corrects_without_replacing_forward_pose():
-  model = _changing_path(0.0, 0.04)
-  local_curvature = 0.5 * 0.04 * 2.0 / 7.0
-  aligned = _command(model, 0.012, current_curvature=local_curvature)
-  under = _command(model, 0.012, current_curvature=0.0)
-  assert aligned.path_offset > 0.0
-  assert aligned.path_angle > 0.0
-  assert under.path_offset > aligned.path_offset
-  assert under.path_angle > aligned.path_angle
-
-
-def test_large_maneuver_uses_fast_pose_and_zeros_c2():
-  command = _command(_path(0.04), 0.04)
-  assert command.path_offset > 0.5
-  assert command.path_angle > 0.2
-  assert command.curvature == 0.0
-  assert command.curvature_rate == 0.0
-
-
-def test_model_pose_can_trigger_maneuver_when_action_is_late():
-  command = _command(_path(0.04), 0.002)
-  assert command.path_offset > 0.5
-  assert command.path_angle > 0.2
-  assert command.curvature == 0.0
-
-
-def test_gentle_model_pose_does_not_replace_a_collapsed_action():
-  command = _command(_path(0.005), 0.0, current_curvature=0.005)
-  assert command.path_offset == 0.0
-  assert command.path_angle == 0.0
-  assert command.curvature == 0.0
-
-
-def test_changing_gentle_curve_keeps_upstream_strength_c2():
-  command = _command(_changing_path(0.0, 0.008), 0.004, current_curvature=0.0)
-  assert np.isclose(command.curvature, 0.004)
-  assert command.path_offset == 0.0
-  assert command.path_angle == 0.0
-
-
-def test_action_only_maneuver_cannot_invent_large_model_pose():
-  command = _command(_path(0.002), 0.04)
-  assert 0.0 < command.path_offset < 0.1
-  assert 0.0 < command.path_angle < 0.03
-  assert command.curvature == 0.0
-
-
-def test_nearby_demands_blend_continuously_without_a_mode_threshold():
-  low = _command(_path(0.0119), 0.0119)
-  high = _command(_path(0.0121), 0.0121)
-  assert abs(high.path_offset - low.path_offset) < 0.05
-  assert abs(high.path_angle - low.path_angle) < 0.03
-  assert abs(high.curvature - low.curvature) < 0.001
-
-
-def test_leaving_c2_normal_band_does_not_drop_total_authority():
-  normal = _command(_path(0.006), 0.006)
-  transition = _command(_path(0.0061), 0.0061)
-  assert transition.curvature <= normal.curvature
-  assert _equivalent_curvature(transition) >= _equivalent_curvature(normal)
-
-
-def test_low_speed_still_uses_available_model_pose():
-  command = _command(_path(0.04, speed=2.0), 0.04, v_ego=2.0)
-  assert command.path_offset > 0.0
-  assert command.path_angle > 0.0
-
-
-def test_higher_speed_advances_predicted_pose_and_extends_heading_horizon():
-  model = _changing_path(0.0, 0.015, speed=20.0)
-  slow = _command(model, 0.012, v_ego=7.0)
-  fast = _command(model, 0.012, v_ego=20.0)
-  assert fast.path_offset > slow.path_offset
-  assert fast.path_angle > slow.path_angle
-
-
-def test_short_model_uses_available_endpoint():
-  model = _path(0.04, speed=1.0)
-  command = _command(model, 0.04, v_ego=1.0)
-  assert command.valid
-  assert command.path_offset > 0.0
-  assert command.path_angle > 0.0
-
-
-def test_turn_entry_coordinates_c2_release_with_fast_pose_attack():
-  controller = FordPathController(dt=0.01)
-  for _ in range(20):
-    assert controller.update(_path(0.004), 0.004, v_ego=8.0).curvature > 0.0
-  outputs = [controller.update(_path(0.04), 0.04, current_curvature=0.01, v_ego=8.0) for _ in range(100)]
-  assert 0.0 < outputs[0].curvature < 0.004
-  assert outputs[0].path_offset > 0.0
-  assert outputs[0].path_angle > 0.0
-  assert outputs[-1].curvature == 0.0
-
-
-def test_turn_exit_allows_c2_to_take_over_while_fast_pose_drains():
-  controller = FordPathController(dt=0.01)
-  for _ in range(20):
-    controller.update(_path(0.04), 0.04, current_curvature=0.02, v_ego=8.0)
-  outputs = [controller.update(_path(0.004), 0.004, current_curvature=0.004, v_ego=8.0) for _ in range(100)]
-  assert 0.0 < outputs[0].curvature < 0.004
-  assert outputs[0].path_offset != 0.0 or outputs[0].path_angle != 0.0
-  assert outputs[-1].path_offset == 0.0
-  assert outputs[-1].path_angle == 0.0
-
-
-def test_100hz_handoff_preserves_total_authority_without_entry_drop_or_exit_overshoot():
-  controller = FordPathController(dt=0.01)
-  normal = controller.update(_path(0.006), 0.006, current_curvature=0.006, v_ego=8.0)
-  entries = [controller.update(_path(0.04), 0.04, current_curvature=0.01, v_ego=8.0) for _ in range(100)]
-  entry_authority = np.asarray([_equivalent_curvature(command) for command in entries])
-  assert np.all(np.diff(entry_authority) >= -1e-9)
-  assert entry_authority[0] >= _equivalent_curvature(normal)
-
-  exits = [controller.update(_path(0.004), 0.004, current_curvature=0.004, v_ego=8.0) for _ in range(100)]
-  exit_authority = np.asarray([_equivalent_curvature(command) for command in exits])
-  assert np.all(np.diff(exit_authority) <= 1e-9)
-  assert np.all(exit_authority >= 0.004 - 1e-9)
-
-
-def test_measured_tracking_error_closes_bidirectionally_without_abandoning_the_turn():
-  model = _path(0.04)
-  under = _command(model, 0.04, current_curvature=0.005)
-  on_target = _command(model, 0.04, current_curvature=0.04)
-  over = _command(model, 0.04, current_curvature=0.05)
-  assert under.path_offset > on_target.path_offset
-  assert under.path_angle > on_target.path_angle
-  assert 0.0 < over.path_offset < on_target.path_offset
-  assert 0.0 < over.path_angle < on_target.path_angle
-
-
-def test_gentle_curve_does_not_add_fast_tracking_trim():
-  model = _path(0.004)
-  under = _command(model, 0.004, current_curvature=0.002)
-  on_target = _command(model, 0.004, current_curvature=0.004)
-  over = _command(model, 0.004, current_curvature=0.006)
-  assert under.path_offset == on_target.path_offset == over.path_offset == 0.0
-  assert under.path_angle == on_target.path_angle == over.path_angle == 0.0
-  assert np.allclose([under.curvature, on_target.curvature, over.curvature], 0.004, atol=2e-6)
-
-
-def test_overshoot_trim_cannot_erase_a_modeled_turn():
-  model = _path(0.04)
-  on_target = _command(model, 0.04, current_curvature=0.04)
-  over = _command(model, 0.04, current_curvature=0.06)
-  assert over.path_offset > 0.95 * on_target.path_offset
-  assert over.path_angle > 0.9 * on_target.path_angle
-
-
-def test_corrupt_measured_curvature_cannot_reverse_a_modeled_turn():
-  command = _command(_path(0.04), 0.04, current_curvature=0.5)
-  assert command.path_offset > 0.0
-  assert command.path_angle > 0.0
-  assert command.curvature == 0.0
-
-
-def test_feedback_preserves_half_lsb_feedforward_direction():
-  for feedforward, resolution in ((0.006, 0.01), (0.0004, 0.0005)):
-    result = feedforward + _bounded_feedback(feedforward, -1.0, resolution, 1.0)
-    assert result >= 0.5 * resolution
-
-
-def test_recent_curvature_trend_advances_vehicle_pose_without_a_response_gain():
-  model = _model_path(_path(0.04))
-  assert model is not None
-  constant = _encode_path(model, 0.04, current_curvature=0.02, curvature_delta=0.0, v_ego=8.0)
-  rising = _encode_path(model, 0.04, current_curvature=0.02, curvature_delta=0.01, v_ego=8.0)
-  assert 0.0 < rising.path_offset < constant.path_offset
-  assert 0.0 < rising.path_angle < constant.path_angle
-
-
-def test_model_path_exit_zeros_lingering_c2_and_countersteers():
-  command = _command(_path(0.0), 0.004, current_curvature=0.006)
-  assert command.path_offset <= 0.0
-  assert command.path_angle < 0.0
-  assert command.curvature == 0.0
-
-
-def test_model_path_reversal_zeros_opposing_lingering_c2():
-  command = _command(_path(-0.004), 0.004, current_curvature=0.002)
-  assert command.path_offset < 0.0
-  assert command.path_angle < 0.0
-  assert command.curvature == 0.0
-
-
-def test_s_turn_reverses_model_pose_without_slow_c2():
-  controller = FordPathController(dt=0.05)
-  for _ in range(10):
-    controller.update(_path(0.04), 0.04, v_ego=8.0)
-  outputs = [controller.update(_path(-0.04), -0.04, v_ego=8.0) for _ in range(10)]
-  assert all(command.curvature == 0.0 for command in outputs)
-  assert np.all(np.diff([command.path_offset for command in outputs]) < 0.0)
-  assert np.all(np.diff([command.path_angle for command in outputs]) < 0.0)
-  assert outputs[-1].path_offset < 0.0
-  assert outputs[-1].path_angle < 0.0
-
-
-def test_output_limits_and_rates_are_bounded():
-  controller = FordPathController()
-  outputs = [controller.update(_path(0.2), 0.2, v_ego=8.0) for _ in range(100)]
-  assert all(DBC_OFFSET[0] <= command.path_offset <= DBC_OFFSET[1] for command in outputs)
-  assert all(DBC_ANGLE[0] <= command.path_angle <= DBC_ANGLE[1] for command in outputs)
-  assert all(DBC_CURVATURE[0] <= command.curvature <= DBC_CURVATURE[1] for command in outputs)
-  assert np.max(np.abs(np.diff([command.path_offset for command in outputs]))) <= 0.04 + 1e-9
-  assert np.max(np.abs(np.diff([command.path_angle for command in outputs]))) <= 0.01 + 1e-9
-
-
-def test_clipped_path_angle_uses_available_offset_to_preserve_endpoint():
-  horizon = 7.0
-  for curvature, angle_limit in ((-0.1, DBC_ANGLE[0]), (0.1, DBC_ANGLE[1])):
-    model = _path(curvature)
-    command = _command(model, curvature, current_curvature=curvature, v_ego=horizon)
-    path = _model_path(model)
-    assert path is not None
-    advance = 0.1 * horizon
-    model_offset, model_angle = _relative_pose(advance + horizon, path,
-                                                _predicted_pose(advance, curvature, 0.0))
-
-    assert command.path_angle == angle_limit
-    assert np.isclose(command.path_offset + horizon * command.path_angle,
-                      model_offset + horizon * model_angle)
-
-
-def test_invalid_model_ramps_pose_to_zero_and_inactive_resets():
-  controller = FordPathController(dt=0.01)
-  for _ in range(20):
-    active = controller.update(_path(0.04), 0.04, v_ego=8.0)
-  invalid = controller.update(None, 0.0, v_ego=8.0)
-  assert invalid.valid
-  assert abs(invalid.path_offset) < abs(active.path_offset)
-  assert abs(invalid.path_angle) < abs(active.path_angle)
-  assert not controller.update(_path(0.0), 0.0, v_ego=8.0, active=False).valid
-
-
-def test_sunnypilot_path_message_round_trip():
-  message = custom.CarControlSP.new_message()
-  message.fordLateralPath.pathOffset = 0.3
-  message.fordLateralPath.pathAngle = -0.2
-  message.fordLateralPath.curvature = 0.008
-  message.fordLateralPath.curvatureRate = -0.0004
-  message.fordLateralPath.valid = True
-  path = convert_carControlSP(message.as_reader()).fordLateralPath
-  assert np.isclose(path.pathOffset, 0.3)
-  assert np.isclose(path.pathAngle, -0.2)
-  assert np.isclose(path.curvature, 0.008)
-  assert np.isclose(path.curvatureRate, -0.0004)
-  assert path.valid
-
-
-def test_pscm_observer_mirrors_exact_250hz_slew_and_c3_target():
-  observer = FordPscmObserver()
-  observer.set_command(FordPath(True, 1.0, 0.5, 0.0, 0.001))
-  observer.advance(1.0)
-  assert np.isclose(observer.state.path_offset, 1.0)
-  assert np.isclose(observer.state.path_angle, 0.100006103515625)
-  assert np.isclose(observer.state.curvature, 0.0030059814453125)
-
-
-def test_pscm_observer_tracks_wire_quantized_commands():
-  observer = FordPscmObserver()
-  observer.set_command(FordPath(True, 0.006, 0.0004, 0.000011, 0.0))
-  assert observer.command.path_offset == 0.01
-  assert observer.command.path_angle == 0.0005
-  assert observer.command.curvature == 0.00002
-
-
-def test_pscm_c2_contribution_is_speed_scheduled():
-  state = FordPscmObserver().state
-  state = type(state)(curvature=0.004)
-  low = _pscm_contributions(state, 5.0)[2]
-  high = _pscm_contributions(state, 20.0)[2]
-  assert high > low * 10.0
-
-
-def test_pscm_observer_fills_missing_gentle_c2_with_fast_fields():
-  controller = FordPscmObserverPathController(dt=0.01)
-  command = controller.update(_path(0.004, speed=20.0), 0.004, current_curvature=0.004,
-                              v_ego=20.0, v_ego_raw=20.0)
-  assert command.path_offset > 0.0
-  assert command.path_angle > 0.0
-  assert command.curvature > 0.0
-
-
-def test_pscm_observer_uses_c0_only_after_c1_reaches_its_effective_limit():
-  controller = FordPscmObserverPathController(dt=0.01)
-  small = controller._command_for_state(FordPath(True, 0.2, 0.0, 0.0, 0.0), 8.0)
-  large = controller._command_for_state(FordPath(True, 1.0, 0.5, 0.0, 0.0), 8.0)
-  assert small.path_offset == 0.0
-  assert small.path_angle > 0.0
-  assert large.path_offset > 0.0
-  assert large.path_angle == 0.349609375 / 10.0
-
-
-def test_pscm_observer_preserves_c2_residual_across_c0_c1_headroom():
-  controller = FordPscmObserverPathController(dt=0.01)
-  target = FordPath(True, 0.0, 0.0, 0.004, 0.0)
-  command = controller._command_for_state(target, 20.0)
-  target_contribution = sum(_pscm_contributions(FordPscmState(curvature=target.curvature), 20.0))
-  command_contributions = _pscm_contributions(FordPscmState(command.path_offset, command.path_angle), 20.0)
-  assert np.isclose(sum(command_contributions), target_contribution)
-
-  controller.observer.state = FordPscmState(curvature=0.004)
-  unwind = controller._command_for_state(FordPath(valid=True), 20.0)
-  unwind_contributions = _pscm_contributions(FordPscmState(unwind.path_offset, unwind.path_angle), 20.0)
-  lingering_c2 = _pscm_contributions(controller.observer.state, 20.0)[2]
-  assert np.isclose(sum(unwind_contributions) + lingering_c2, 0.0)
-
-
-def test_pscm_observer_unloads_fast_residual_as_c2_loads():
-  controller = FordPscmObserverPathController(dt=0.01)
-  outputs = [controller.update(_path(0.004, speed=20.0), 0.004, current_curvature=0.004,
-                               v_ego=20.0, v_ego_raw=20.0) for _ in range(200)]
-  assert outputs[0].path_angle > outputs[-1].path_angle >= 0.0
-  assert controller.observer.state.curvature > 0.003
-
-
-def test_pscm_observer_counters_lingering_c2_during_model_exit():
-  controller = FordPscmObserverPathController(dt=0.01)
-  for _ in range(200):
-    controller.update(_path(0.004, speed=20.0), 0.004, current_curvature=0.004,
-                      v_ego=20.0, v_ego_raw=20.0)
-  command = controller.update(_path(0.0, speed=20.0), 0.0, current_curvature=0.004,
-                              v_ego=20.0, v_ego_raw=20.0)
-  assert command.path_angle < 0.0
-  assert command.curvature < controller.observer.state.curvature
-
-
-def test_pscm_observer_avoids_ineffective_c0_c1_windup():
-  controller = FordPscmObserverPathController(dt=1.0)
-  command = controller.update(_path(0.2), 0.2, v_ego=8.0, v_ego_raw=8.0)
-  assert abs(command.path_offset) <= 1.0
-  assert abs(command.path_angle) <= 0.349609375 / 10.0

openpilot/selfdrive/modeld/SConscript

@@ -10,6 +10,11 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, chestnut_present, modeld_pkl_path
 
 
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+
 Import('env', 'arch')
 chunker_file = File("#openpilot/common/file_chunker.py")
 lenv = env.Clone()
@@ -19,22 +24,20 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
                   if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
 
 def estimate_pickle_max_size(onnx_size):
-  # QCOM programs for models with spatial recurrent features can approach 2x
-  # the ONNX size. Overestimating only adds an empty trailing chunk.
-  return 2.0 * onnx_size + 10 * 1024 * 1024
+  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
 if arch == 'comma_arm64':
-  from openpilot.common.hardware import HARDWARE
-  camera = _os_fisheye if HARDWARE.get_device_type() == "mici" else _ar_ox_fisheye
-  camera_configs = [(camera.width, camera.height)]
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]
   tg_backend = 'CPU'
   tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 tg_devices = { # which device to put jit inputs to at runtime
+  'openpilot.selfdrive.modeld.modeld': {
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
+    'chestnut': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+  },
   'openpilot.selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
   },
@@ -42,7 +45,7 @@ tg_devices = { # which device to put jit inputs to at runtime
 
 CHESTNUT = chestnut_present()
 if CHESTNUT:
-  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1'
+  chestnut_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
   chestnut_lock = File("models/.chestnut.lock").abspath
 
@@ -73,9 +76,10 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 if not os.getenv('SKIP_TINYGRAD_COMPILE'):
   for chestnut in [False, True] if CHESTNUT else [False]:
     target_pkl_path = File(modeld_pkl_path(chestnut)).abspath
-    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
+    # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a chestnut
+    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
     driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
-    camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in camera_configs)
+    camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
     # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
     taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
     cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
@@ -103,7 +107,7 @@ if not os.getenv('SKIP_TINYGRAD_COMPILE'):
     actions = Action(do_compile, "  [CHESTNUT] $TARGET") if chestnut else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
     node = lenv.Command(
       chunk_targets,
-      tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), Value(chunk_targets), chunker_file],
+      tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
       actions,
     )
     if chestnut:
@@ -117,7 +121,7 @@ lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_file
 
 dm_w, dm_h = DM_INPUT_SIZE
 compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
-for cam_w, cam_h in camera_configs:
+for cam_w, cam_h in CAMERA_CONFIGS:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
          f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
@@ -139,4 +143,5 @@ def tg_compile(flags, model_name):
      Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 
-tg_compile(tg_flags, 'dmonitoring_model')
+if not os.getenv('SKIP_TINYGRAD_COMPILE'):
+  tg_compile(tg_flags, 'dmonitoring_model')

openpilot/selfdrive/modeld/compile_modeld.py

@@ -37,12 +37,17 @@ from tinygrad.engine.jit import TinyJit
 
 
 NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-MODELD_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
+WARP_INPUTS = ['tfm', 'big_tfm']
+POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+WARP_DEV = os.getenv('WARP_DEV')
 
 
-def nv12_copy_size(stride: int, y_height: int, uv_height: int) -> int:
-  # Retain the padded Y and UV plane storage, but skip the trailing kernel/guard allocation.
-  return stride * (y_height + uv_height)
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
 
 
 def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
@@ -94,7 +99,7 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
 
   def frame_prepare_tinygrad(input_frame, M_inv):
     # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=Device.DEFAULT)
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
     # deinterleave NV12 UV plane (UVUV... -> separate U, V)
     uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
     with Context(SPLIT_REDUCEOP=0):
@@ -113,43 +118,49 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
   return frame_prepare_tinygrad
 
 
+def make_warp_input_queues(vision_input_shapes, frame_skip, device):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  npy = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
 def get_policy_npy_shapes(input_shapes):
   dp = input_shapes['desire_pulse']  # (1, 25, 8)
   tc = input_shapes['traffic_convention']  # (1, 2)
   at = input_shapes['action_t']  # (1, 2)
-  fb = input_shapes['features_buffer']  # (1, T-1, ...) e.g. (1, 24, 32, 512) with spatial features
-  feat_dim = math.prod(fb[2:])
+  fb = input_shapes['features_buffer']  # (1, 24, 512)
   # TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
-  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], feat_dim)}
+  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
   return shapes, [math.prod(s) for s in shapes.values()]
 
 
-def make_input_queues(input_shapes, frame_skip, device, frame_copy_size):
-  img = input_shapes['img']  # (1, 12, 128, 256)
-  fb = input_shapes['features_buffer']  # (1, T-1, ...), past features only; the model appends the current frame's feature
-  feat_dim = math.prod(fb[2:])
-  dp = input_shapes['desire_pulse']  # (1, 25, 8)
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+def make_input_queues(input_shapes, frame_skip, device):
+  input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
 
-  policy_shapes, _ = get_policy_npy_shapes(input_shapes)
-  shapes = {'tfm': (3, 3), 'big_tfm': (3, 3)} | policy_shapes
-  sizes = [math.prod(s) for s in shapes.values()]
-  packed_npy_size = sum(sizes) * np.dtype(np.float32).itemsize
-  packed_input = np.zeros(packed_npy_size + 2 * frame_copy_size, dtype=np.uint8)
-  packed_npy_inputs = packed_input[:packed_npy_size].view(np.float32)
-  frames = packed_input[packed_npy_size:]
-  frame_views = {'img': frames[:frame_copy_size], 'big_img': frames[frame_copy_size:]}
+  fb = input_shapes['features_buffer']  # (1, 24, 512), past features only; the model appends the current frame's feature
+  dp = input_shapes['desire_pulse']  # (1, 25, 8)
+
+  shapes, sizes = get_policy_npy_shapes(input_shapes)
+  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
   # views into the packed inputs, to be refilled at runtime
-  npy = {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)}
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], feat_dim), dtype=np.float32), device=device).contiguous().realize(),
+  npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
+  input_queues.update({
+    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_input, device='NPY').realize(),
-  }
-  return input_queues, npy, frame_views
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+  })
+  return input_queues, npy
 
 
 def shift_and_sample(buf, new_val, sample_fn):
@@ -165,15 +176,13 @@ def sample_desire(buf, frame_skip):
   return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
 
 
-def make_warp(nv12, model_w, model_h):
+def make_warp(nv12, model_w, model_h, frame_skip):
   frame_prepare = make_frame_prepare(nv12, model_w, model_h)
 
   def warp(tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
-    frame = frame.to(Device.DEFAULT)
-    big_frame = big_frame.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, frame, big_frame)
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
 
     warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
     warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
@@ -186,10 +195,10 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
-  model_input_dtypes = {name: spec.dtype for name, spec in model_runner.graph_inputs.items()}
 
   def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
     packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
+    warped = warped.to(Device.DEFAULT)
     Tensor.realize(packed_npy_inputs, warped)
 
     img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
@@ -202,50 +211,33 @@ def make_run_policy(model_runner, model_metadata, frame_skip):
     inputs = {
       'img': img,
       'big_img': big_img,
-      'features_buffer': feat_buf.reshape(model_metadata['input_shapes']['features_buffer']),
+      'features_buffer': feat_buf,
       'desire_pulse': desire_buf,
       'traffic_convention': traffic_convention,
       'action_t': action_t,
     }
-    inputs = {name: value.cast(model_input_dtypes[name]) for name, value in inputs.items()}
     out = next(iter(model_runner(inputs).values())).cast('float32')
     return out,
   return run_policy
 
 
-def make_run_model(warp, run_policy, model_metadata, frame_copy_size):
-  _, policy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
-  packed_npy_size = (18 + sum(policy_sizes)) * np.dtype(np.float32).itemsize
-
-  def run_model(img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
-    packed_input = packed_npy_inputs.to(Device.DEFAULT)
-    Tensor.realize(packed_input)
-    packed_npy_inputs = packed_input[:packed_npy_size].bitcast('float32')
-    frame = packed_input[packed_npy_size:packed_npy_size + frame_copy_size]
-    big_frame = packed_input[packed_npy_size + frame_copy_size:]
-    tfm, big_tfm, policy_inputs = packed_npy_inputs.split([9, 9, sum(policy_sizes)])
-    warped = warp(tfm.reshape(3, 3), big_tfm.reshape(3, 3), frame, big_frame)
-    return run_policy(warped, img_q, big_img_q, feat_q, desire_q, policy_inputs)
-  return run_model
-
-
-def compile_jit(jit, input_keys, make_queues, benchmark_runs):
-  if benchmark_runs < 1:
-    raise ValueError("benchmark_runs must be at least 1")
-
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
   SEED = 42
-  def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy, frame_views = make_queues(Device.DEFAULT)
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_queues(Device.DEFAULT)
     rng = np.random.default_rng(seed)
+    Tensor.manual_seed(seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
 
     for i in range(n_runs):
       for v in npy.values():
         v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      for v in frame_views.values():
-        v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
       Device.default.synchronize()
+      random_inputs = make_random_inputs()
       st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys})
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
       mt = time.perf_counter()
       Device.default.synchronize()
       et = time.perf_counter()
@@ -264,15 +256,14 @@ def compile_jit(jit, input_keys, make_queues, benchmark_runs):
     return val, buffers
 
   print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED, 3)
-  print(f'pickle round trip ({benchmark_runs} runs per seed)')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
   with tempfile.TemporaryFile(dir=".") as f:
     dump_oob(jit, f)
     f.seek(0)
-    loaded_jit = load_oob(f)
-  random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
-  random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
-  # Keep the original so per-resolution JITs share model weight buffers in the final pickle.
+    jit = load_oob(f)
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
   return jit
 
 
@@ -301,31 +292,27 @@ if __name__ == "__main__":
   p.add_argument('--onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
-  p.add_argument('--benchmark-runs', type=int, default=1,
-                 help='timed loaded-JIT runs for each correctness seed')
   args = p.parse_args()
 
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
   model_runner = OnnxRunner(model_path)
-  out = {
-    'metadata': make_metadata_dict(model_path),
-    'input_devices': {'model': Device.DEFAULT},
-    'run_model': {},
-  }
+  out = {'metadata': make_metadata_dict(model_path)}
 
-  run_policy = make_run_policy(model_runner, out['metadata'], args.frame_skip)
+  run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
+
+  make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
+                                  make_policy_queues)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-    make_model_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip,
-                                frame_copy_size=frame_copy_size)
-    warp = make_warp(nv12, model_w, model_h)
-    run_model_jit = TinyJit(make_run_model(warp, run_policy, out['metadata'], frame_copy_size), prune=True)
-    out['run_model'][(cam_w,cam_h)] = compile_jit(run_model_jit, MODELD_INPUTS, make_model_queues,
-                                                  args.benchmark_runs)
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as f:
     dump_oob(out, f)

openpilot/selfdrive/modeld/fill_model_msg.py

@@ -64,7 +64,6 @@ def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capn
   driving_model_data.frameIdExtra = modelV2.frameIdExtra
   driving_model_data.frameDropPerc = modelV2.frameDropPerc
   driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
-  driving_model_data.big = modelV2.big
   driving_model_data.action = modelV2.action
   driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
   driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection

openpilot/selfdrive/modeld/helpers.py

@@ -7,12 +7,10 @@ import tempfile
 from pathlib import Path
 
 from openpilot.common.file_chunker import get_manifest_path
-from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-CHESTNUT_POWERED_VOLTAGE = 5000
-CHESTNUT_PCIE_READY = 0x78
 
 
 def get_tg_input_devices(process_name: str, chestnut: bool):
@@ -52,7 +50,7 @@ def chestnut_present() -> bool:
     try:
       usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
       product = (d / "product").read_text().strip()
-      if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
+      if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
         return True
     except Exception:
       pass
@@ -60,7 +58,3 @@ def chestnut_present() -> bool:
 
 def chestnut_compiled() -> bool:
   return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
-
-
-def chestnut_ready(state) -> bool:
-  return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY

openpilot/selfdrive/modeld/modeld.py

@@ -4,8 +4,8 @@ import ctypes
 from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
+from tinygrad.tensor import Tensor
 from tinygrad.device import Device
-import usb1
 import struct
 import threading
 import time
@@ -28,17 +28,17 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, nv12_copy_size, MODELD_INPUTS
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import open_file_chunked
-from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
+from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
+PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 LAT_SMOOTH_SECONDS = 0.0
@@ -83,37 +83,6 @@ class ChestnutState:
     self.valid = True
     self.sends = 0
     self.metrics = {}
-    self._asm_usb = None
-
-  def _close_asm_usb(self) -> None:
-    if self._asm_usb is not None:
-      self._asm_usb.close()
-      self._asm_usb = None
-
-  def _open_asm_usb(self):
-    context = usb1.USBContext()
-    for vendor_id, product_id in CHESTNUT_USB_IDS:
-      if (handle := context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)) is not None:
-        return handle
-    context.close()
-
-  def _read_ina(self) -> tuple[int, int, bool]:
-    if "AMD" in Device._opened_devices and self._asm_usb is None:
-      try:
-        raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
-        return struct.unpack('<Hh?', bytes(raw))
-      except Exception:
-        pass
-    if self._asm_usb is None:
-      self._asm_usb = self._open_asm_usb()
-    if self._asm_usb is None:
-      raise usb1.USBErrorNoDevice
-    try:
-      raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
-    except usb1.USBError:
-      self._close_asm_usb()
-      raise
-    return struct.unpack('<Hh?', bytes(raw))
 
   @cached_property
   def power_limit(self) -> int:
@@ -149,15 +118,13 @@ class ChestnutState:
         setattr(state, k, v)
 
     asm_valid = False
-    try:
-      # ASM runs on USB-C power, these still read without a gpu
-      state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
-      asm_valid = True
-    except Exception:
-      pass
     if "AMD" in Device._opened_devices:
       try:
-        state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
+        # ASM runs on USB-C power, these still read without a gpu
+        asm = Device["AMD"].iface.pci_dev.usb
+        state.pcieLtssm = asm.read(0xB450, 1)[0]
+        state.supplyVoltage, state.supplyCurrent = struct.unpack('<Hh', bytes(asm.usb.control_read(0xC0, 5))[:4])
+        asm_valid = True
       except Exception:
         pass
 
@@ -180,9 +147,9 @@ class ModelState(ModelStateBase):
 
   def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
     ModelStateBase.__init__(self)
+    input_devices = get_tg_input_devices(PROCESS_NAME, chestnut)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
-    input_devices = jits['input_devices']
-    self.model_device = input_devices['model']
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
@@ -192,11 +159,13 @@ class ModelState(ModelStateBase):
     self.chestnut = chestnut
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.frame_copy_size = nv12_copy_size(*get_nv12_info(cam_w, cam_h)[:3])
-    self.input_queues, self.npy, self.frame_views = make_input_queues(
-      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
     self.parser = Parser()
-    self.run_model = jits['run_model'][(cam_w,cam_h)]
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = jits['run_policy']
+    self.warp = jits[(cam_w,cam_h)]
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -204,8 +173,14 @@ class ModelState(ModelStateBase):
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
           inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
-    for key, buf in bufs.items():
-      np.copyto(self.frame_views[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
 
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire_pulse'][0] = 0
@@ -216,7 +191,11 @@ class ModelState(ModelStateBase):
     self.npy['tfm'][:,:] = transforms['img'][:,:]
     self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
 
-    outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
+    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
+    outs, = self.run_policy(
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
+    )
     if after_enqueue is not None:
       after_enqueue()
     model_output = outs.numpy()[0]
@@ -230,37 +209,25 @@ class ModelState(ModelStateBase):
     return outputs_dict
 
   def warmup(self) -> None:
-    dummy_frames = {k: np.zeros(self.frame_copy_size, dtype=np.uint8) for k in self.vision_input_names}
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
     eye = np.eye(3, dtype=np.float32)
     dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
     self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
-    self.input_queues, self.npy, self.frame_views = make_input_queues(
-      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
     self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
 
 
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  chestnut_available = chestnut_present() and chestnut_compiled()
-  CHESTNUT = False
-  if chestnut_available:
-    poller = messaging.Poller()
-    sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
-    deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
-    while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
-      if not poller.poll(round(remaining * 1000)):
-        break
-      msg = messaging.recv_one_or_none(sock)
-      CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
+  CHESTNUT = chestnut_present() and chestnut_compiled()
   if CHESTNUT:
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
   params.put_bool("ChestnutLoading", CHESTNUT)
-  if chestnut_available and not CHESTNUT:
-    params.put_bool("ChestnutActive", False)
-  else:
-    params.remove("ChestnutActive")
+  params.remove("ChestnutActive")
 
   config_realtime_process(7, 54)
 
@@ -304,11 +271,7 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
-    if model is None:
-      params.put_bool("ChestnutModelError", True)
     params.put_bool("ChestnutActive", model is not None)
-    if model is not None:
-      params.remove("ChestnutModelError")
 
   small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
   if model is None:
@@ -442,7 +405,6 @@ def main(demo=False):
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
-      params.put_bool("ChestnutModelError", True)
       params.put_bool("ChestnutActive", False)
       assert small_model is not None
       model = small_model
@@ -469,11 +431,12 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
-      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)

openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1791d5940b2c048d0639813426dd2cf1d6f2a6727ed51e17c8bcea8bbe754123
-size 765950064
+oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+size 1757355221

openpilot/selfdrive/pandad/pandad.cc

@@ -123,22 +123,22 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setUptime(health.uptime_pkt);
   ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
   ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
-  ps.setIgnitionLine((health.flags_pkt & HEALTH_FLAG_IGNITION_LINE) != 0U);
-  ps.setIgnitionCan((health.flags_pkt & HEALTH_FLAG_IGNITION_CAN) != 0U);
-  ps.setControlsAllowed((health.flags_pkt & HEALTH_FLAG_CONTROLS_ALLOWED) != 0U);
+  ps.setIgnitionLine(health.ignition_line_pkt);
+  ps.setIgnitionCan(health.ignition_can_pkt);
+  ps.setControlsAllowed(health.controls_allowed_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
   ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
   ps.setSafetyParam(health.safety_param_pkt);
   ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
-  ps.setPowerSaveEnabled((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U);
-  ps.setHeartbeatLost((health.flags_pkt & HEALTH_FLAG_HEARTBEAT_LOST) != 0U);
+  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
+  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
   ps.setAlternativeExperience(health.alternative_experience_pkt);
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-  ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
+  ps.setInterruptLoad(health.interrupt_load_pkt);
   ps.setFanPower(health.fan_power);
-  ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
+  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
@@ -198,10 +198,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
   }
 
   if (spoofing_started) {
-    health.flags_pkt |= HEALTH_FLAG_IGNITION_LINE;
+    health.ignition_line_pkt = 1;
   }
 
-  bool ignition_local = ((health.flags_pkt & (HEALTH_FLAG_IGNITION_LINE | HEALTH_FLAG_IGNITION_CAN)) != 0U) && !always_offroad;
+  bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
 
   // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
   if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
@@ -209,7 +209,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
   }
 
   bool power_save_desired = !ignition_local;
-  if (((health.flags_pkt & HEALTH_FLAG_POWER_SAVE_ENABLED) != 0U) != power_save_desired) {
+  if (health.power_save_enabled_pkt != power_save_desired) {
     panda->set_power_saving(power_save_desired);
   }
 

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -19,30 +19,6 @@
   },
   "Offroad_ChestnutBranch": {
     "text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
-    "severity": -1
-  },
-  "Offroad_ChestnutNotDetected": {
-    "text": "Chestnut not detected. Check USB and 12V connections.",
-    "severity": 0
-  },
-  "Offroad_ChestnutOverheated": {
-    "text": "Chestnut overheated. Ensure good airflow. Current GPU temperature is %1.",
-    "severity": 0
-  },
-  "Offroad_ChestnutPcieUnavailable": {
-    "text": "%1",
-    "severity": 0
-  },
-  "Offroad_ChestnutUncompiled": {
-    "text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
-    "severity": 0
-  },
-  "Offroad_ChestnutUpdateFailed": {
-    "text": "Chestnut update failed. Check the USB cable.",
-    "severity": 0
-  },
-  "Offroad_ChestnutUsbSlow": {
-    "text": "Chestnut USB link is slow. Check the USB cable. The current speed is %1.",
     "severity": 0
   },
   "Offroad_UnregisteredHardware": {

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -32,14 +32,7 @@ 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
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
-from openpilot.sunnypilot.selfdrive.selfdrived.assisted_driving_milestones import (
-  AssistCategory,
-  AssistedDrivingMilestones,
-  MilestoneEvent,
-  MilestoneStore,
-)
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.sunnypilot.system.statsd import statlog
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -95,8 +88,7 @@ class SelfdriveD(CruiseHelper):
     self.big_model_ready_t = 0.
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] +
-                                  ['selfdriveStateSP', 'onroadEventsSP', 'assistedDrivingMilestoneState'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -135,7 +127,6 @@ class SelfdriveD(CruiseHelper):
       self.params.remove("ExperimentalMode")
 
     self.CS_prev = car.CarState.new_message()
-    self.car_state_log_mono_time = 0
     self.AM = AlertManager()
     self.events = Events()
 
@@ -146,11 +137,6 @@ class SelfdriveD(CruiseHelper):
     self.cruise_mismatch_counter = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
-    self.assisted_driving_milestones = AssistedDrivingMilestones(MilestoneStore(self.params))
-    self.assisted_driving_milestones_enabled = bool(self.params.get("AssistedDrivingMilestonesEnabled", return_default=True))
-    self.assisted_driving_milestone_drive_id = ""
-    self._milestone_event: MilestoneEvent | None = None
-    self._milestone_event_expires_ns = 0
     self.last_functional_fan_frame = 0
     self.events_prev = []
     self.logged_comm_issue = None
@@ -542,8 +528,6 @@ class SelfdriveD(CruiseHelper):
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
-    if _car_state is not None:
-      self.car_state_log_mono_time = _car_state.logMonoTime
 
     self.sm.update(0)
 
@@ -662,31 +646,6 @@ class SelfdriveD(CruiseHelper):
       self.pm.send('onroadEventsSP', ce_send_sp)
     self.events_sp_prev = self.events_sp.names.copy()
 
-  def publish_assisted_driving_milestones(self, now_ns: int, event: MilestoneEvent | None) -> None:
-    if event is not None:
-      self._milestone_event = event
-      self._milestone_event_expires_ns = now_ns + 1_000_000_000
-    elif now_ns >= self._milestone_event_expires_ns:
-      self._milestone_event = None
-
-    if event is None and self.sm.frame % 10 != 0:
-      return
-
-    snapshot = self.assisted_driving_milestones.snapshot()
-    msg = messaging.new_message("assistedDrivingMilestoneState")
-    msg.valid = True
-    state = msg.assistedDrivingMilestoneState
-    state.enabled = self.assisted_driving_milestones_enabled
-    state.madsDistanceMeters = snapshot.distances_meters[AssistCategory.MADS]
-    state.fullAssistDistanceMeters = snapshot.distances_meters[AssistCategory.FULL_ASSIST]
-    if self._milestone_event is not None:
-      state.event.id = self._milestone_event.event_id
-      state.event.category = self._milestone_event.category.value
-      state.event.distanceMeters = self._milestone_event.distance_meters
-      state.event.previousDistanceMeters = self._milestone_event.previous_distance_meters
-      state.event.unit = self._milestone_event.unit.value
-    self.pm.send("assistedDrivingMilestoneState", msg)
-
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
@@ -696,28 +655,6 @@ class SelfdriveD(CruiseHelper):
       self.mads.update(CS)
     self.update_alerts(CS)
 
-    now_ns = time.monotonic_ns()
-    if not self.assisted_driving_milestone_drive_id:
-      self.assisted_driving_milestone_drive_id = self.params.get("CurrentRoute") or ""
-      self.assisted_driving_milestones.set_drive_id(self.assisted_driving_milestone_drive_id)
-    car_control = self.sm['carControl']
-    milestone_event = self.assisted_driving_milestones.update(
-      self.car_state_log_mono_time,
-      CS.vEgo,
-      lat_active=car_control.latActive,
-      long_active=car_control.longActive,
-      is_metric=self.is_metric,
-      enabled=self.assisted_driving_milestones_enabled,
-    )
-    if milestone_event is not None:
-      cloudlog.event("assisted_driving_milestone_reached",
-                     event_id=milestone_event.event_id,
-                     category=milestone_event.category.value,
-                     distance_meters=milestone_event.distance_meters)
-      statlog.gauge(f"assisted_driving_milestone.{milestone_event.category.value}.meters",
-                    milestone_event.distance_meters)
-    self.publish_assisted_driving_milestones(now_ns, milestone_event)
-
     self.button_state_tracker.update(CS)
     self.publish_selfdriveState(CS)
 
@@ -730,7 +667,6 @@ class SelfdriveD(CruiseHelper):
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.params.get("LongitudinalPersonality", return_default=True)
-      self.assisted_driving_milestones_enabled = bool(self.params.get("AssistedDrivingMilestonesEnabled", return_default=True))
 
       self.mads.read_params()
       time.sleep(0.1)
@@ -744,7 +680,6 @@ class SelfdriveD(CruiseHelper):
         self.step()
         self.rk.monitor_time()
     finally:
-      self.assisted_driving_milestones.close()
       e.set()
       t.join()
 

openpilot/selfdrive/test/process_replay/migration.py

@@ -152,7 +152,7 @@ def migrate_drivingModelData(msgs):
   add_ops = []
   for _, msg in msgs:
     dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
-    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "big", "action"]:
+    for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
       setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
     for meta_field in ["laneChangeState", "laneChangeState"]:
       setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))

openpilot/selfdrive/test/process_replay/model_replay.py

@@ -33,9 +33,9 @@ MODEL_REPLAY_BUCKET="model_replay_master"
 GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
-  # model, instant max, average max, chestnut average max
-  ("modelV2", 0.05, 0.03, 0.05),
-  ("driverStateV2", 0.05, 0.018, 0.018),
+  # model, instant max, average max
+  ("modelV2", 0.05, 0.028),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):
@@ -169,13 +169,11 @@ def model_replay(lr, frs):
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
 
   msgs = modeld_msgs + dmonitoringmodeld_msgs
-  chestnut = any(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2")
 
   header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
   rows = []
   timings_ok = True
-  for (s, instant_max, avg_max, chestnut_avg_max) in EXEC_TIMINGS:
-    avg_max = chestnut_avg_max if chestnut else avg_max
+  for (s, instant_max, avg_max) in EXEC_TIMINGS:
     ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
     # TODO some init can happen in first iteration
     ts = ts[1:]

openpilot/selfdrive/ui/body/layouts/onroad.py

@@ -1,7 +1,7 @@
 import time
 import pyray as rl
 
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -26,8 +26,8 @@ class BodyLayout(Widget):
     self._last_input_time = time.monotonic()
     self._was_active = False
     self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
-                                       alignment=TextAlignment.CENTER,
-                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
   def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
     spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)

openpilot/selfdrive/ui/layouts/home.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButto
 from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
 from openpilot.selfdrive.ui.widgets.setup import SetupWidget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr, trn
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets import Widget
@@ -178,7 +178,7 @@ class HomeLayout(Widget):
 
     version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
                                 version_text_width, self.header_rect.height)
-    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=TextAlignment.RIGHT)
+    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
 
   def _render_home_content(self):
     self._render_left_column()

openpilot/selfdrive/ui/layouts/onboarding.py

@@ -5,7 +5,7 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.common.basedir import BASEDIR
-from openpilot.system.ui.lib.application import FontWeight, TextAlignment, gui_app
+from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -115,9 +115,9 @@ class TermsPage(Widget):
     self._on_accept = on_accept
     self._on_decline = on_decline
 
-    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.LEFT)
+    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
-                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
 
     self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
     self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
@@ -150,7 +150,7 @@ class DeclinePage(Widget):
   def __init__(self, back_callback=None):
     super().__init__()
     self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
-                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT)
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
     self._back_btn = Button(tr("Back"), click_callback=back_callback)
     self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
                                  click_callback=self._on_uninstall_clicked)

openpilot/selfdrive/ui/layouts/settings/software.py

@@ -199,9 +199,6 @@ class SoftwareLayout(Widget):
         selection = self._branch_dialog.selection
         ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
-        self._download_btn.action_item.set_enabled(False)
-        self._waiting_for_updater = True
-        self._waiting_start_ts = time.monotonic()
         subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
       self._branch_dialog = None
 

openpilot/selfdrive/ui/mici/layouts/home.py

@@ -1,5 +1,4 @@
 import datetime
-import math
 import time
 
 from openpilot.cereal import log
@@ -9,7 +8,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
 from openpilot.common.version import RELEASE_BRANCHES
 
@@ -70,8 +69,8 @@ class AlertsPill(Widget):
 
       count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
       gui_label(count_rect, str(alert_count), font_size=36,
-                alignment=TextAlignment.CENTER,
-                alignment_vertical=TextAlignmentVertical.MIDDLE)
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
 
 class NetworkIcon(Widget):
@@ -140,9 +139,7 @@ class MiciHomeLayout(Widget):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
-    self._usb_icon = IconWidget("icons_mici/usb.png", (62, 40))
     self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
-    self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
     self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
@@ -153,15 +150,13 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
-      self._usb_icon,
       self._chestnut_icon,
-      self._chestnut_loading_icon,
       self._chestnut_failed_icon,
       self._body_icon,
       self._mic_icon,
     ], spacing=18)
 
-    self._openpilot_label = UnifiedLabel("openpilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
     self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
     self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
     self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
@@ -252,20 +247,12 @@ class MiciHomeLayout(Widget):
         self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
-    usb_connected = ui_state.usb_connected
-    usb_unknown = ui_state.usb_unknown
-    chestnut_state = ui_state.chestnut_state
     self._experimental_icon.set_visible(ui_state.experimental_mode)
     if gui_app.sunnypilot_ui():
       self._set_chestnut_visibility()
     else:
-      self._usb_icon.set_visible(usb_connected and usb_unknown)
-      self._chestnut_icon.set_visible(not usb_unknown and chestnut_state not in
-                                      (ChestnutState.LOADING, ChestnutState.UNCOMPILED, ChestnutState.FAILED) and
-                                      (usb_connected or chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE)))
-      self._chestnut_loading_icon.set_visible(not usb_unknown and chestnut_state == ChestnutState.LOADING)
-      self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
-      self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
+      self._chestnut_icon.set_visible(ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.LOADING, ChestnutState.ACTIVE))
+      self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(bool(ui_state.is_body))
 

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -1,8 +1,5 @@
-import os
-
 import pyray as rl
 import openpilot.cereal.messaging as messaging
-from openpilot.common.hardware import PC
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
@@ -64,8 +61,7 @@ class MiciMainLayout(Scroller):
 
     # Start onboarding if terms or training not completed, make sure to push after self
     self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
-    skip_onboarding_for_milestone_preview = PC and os.getenv("SP_MILESTONE_PREVIEW") == "1"
-    if not self._onboarding_window.completed and not skip_onboarding_for_milestone_preview:
+    if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
     # initialize correct onroad layout
@@ -123,8 +119,6 @@ class MiciMainLayout(Scroller):
         self._onroad_time_delay = rl.get_time()
       else:
         self._scroll_to(self._home_layout)
-        if hasattr(self._home_layout, "request_drive_summary"):
-          self._home_layout.request_drive_summary()
 
     # FIXME: these two pops can interrupt user interacting in the settings
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:

openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -11,7 +11,7 @@ from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 
 REFRESH_INTERVAL = 5.0  # seconds
@@ -62,12 +62,12 @@ class AlertItem(Widget):
     self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", self.ICON_SIZE, self.ICON_SIZE)
 
     self._title_label = UnifiedLabel(text="", font_size=32, font_weight=FontWeight.SEMI_BOLD, text_color=self.TEXT_COLOR,
-                                     alignment=TextAlignment.LEFT,
-                                     alignment_vertical=TextAlignmentVertical.TOP, line_height=0.95)
+                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, line_height=0.95)
 
     self._body_label = UnifiedLabel(text="", font_size=28, font_weight=FontWeight.ROMAN, text_color=self.TEXT_COLOR,
-                                    alignment=TextAlignment.LEFT,
-                                    alignment_vertical=TextAlignmentVertical.BOTTOM, line_height=0.95)
+                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.95)
 
     self._title_text = ""
     self._body_text = ""
@@ -200,8 +200,8 @@ class MiciOffroadAlerts(Scroller):
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
-                                     alignment=TextAlignment.CENTER,
-                                     alignment_vertical=TextAlignmentVertical.MIDDLE)
+                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
     # Build initial alert list
     self._build_alerts()

openpilot/selfdrive/ui/mici/layouts/onboarding.py

@@ -4,7 +4,7 @@ import pyray as rl
 from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.qrcode import make_texture
-from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
+from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import SmallCircleIconButton
 from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
@@ -35,7 +35,7 @@ class DriverCameraSetupDialog(BaseCabinCameraDialog):
 
     if not self._camera_view.frame:
       gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
-                alignment=TextAlignment.CENTER)
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       rl.end_scissor_mode()
       return
 

openpilot/selfdrive/ui/mici/layouts/settings/software.py

@@ -74,10 +74,6 @@ class SoftwareInfoLayoutMici(Widget):
 
 
 class CheckUpdateButton(BigButton):
-  UPDATER_PROC = "openpilot.system.updated.updated"
-  CHECK_FOR_UPDATE = "SIGUSR1"
-  DOWNLOAD_UPDATE = "SIGHUP"
-
   def __init__(self):
     self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
     self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
@@ -101,20 +97,15 @@ class CheckUpdateButton(BigButton):
       gui_app.push_widget(dlg)
       return
 
-    self._signal_updater(self.DOWNLOAD_UPDATE if self.get_value() == "download update" else self.CHECK_FOR_UPDATE)
-
-  def check_for_update(self):
-    self._signal_updater(self.CHECK_FOR_UPDATE)
-
-  def _signal_updater(self, sig: str):
     self.set_enabled(False)
     self._state = UpdaterState.WAITING_FOR_UPDATER
-    self._hide_value_t = None
-    self.set_value("")
     self.set_icon(self._txt_update_icon)
 
     def run():
-      subprocess.run(f"pkill -{sig} -f {self.UPDATER_PROC}", shell=True)
+      if self.get_value() == "download update":
+        subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
+      else:
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
 
     threading.Thread(target=run, daemon=True).start()
 
@@ -193,7 +184,7 @@ class CheckUpdateButton(BigButton):
 
 class InstallUpdateButton(BigButton):
   def __init__(self):
-    super().__init__("install now", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
+    super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
     self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
 
   def _update_state(self):
@@ -241,9 +232,8 @@ class BranchSelectPage(NavScroller):
 
 
 class TargetBranchButton(BigButton):
-  def __init__(self, check_update_btn: CheckUpdateButton):
+  def __init__(self):
     super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
-    self._check_update_btn = check_update_btn
     self.set_click_callback(self._on_click)
     self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
     self.set_enabled(lambda: ui_state.is_offroad())
@@ -256,15 +246,12 @@ class TargetBranchButton(BigButton):
       self.set_value(target)
 
   def _on_click(self):
-    if not ui_state.params.get("UpdaterAvailableBranches"):
-      gui_app.push_widget(BigDialog("", tr("Failed to get available branches. Ensure you're connected to the internet and try again.")))
-      return
     gui_app.push_widget(BranchSelectPage(self._on_select))
 
   def _on_select(self, branch: str):
     ui_state.params.put("UpdaterTargetBranch", branch, block=True)
     self.set_value(branch)
-    self._check_update_btn.check_for_update()
+    subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
 
 
 class SoftwareLayoutMici(NavScroller):
@@ -278,11 +265,10 @@ class SoftwareLayoutMici(NavScroller):
                                                         gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
                                                         uninstall_openpilot_callback, exit_on_confirm=False)
 
-    check_update_btn = CheckUpdateButton()
     self._scroller.add_widgets([
       SoftwareInfoLayoutMici(),
-      check_update_btn,
+      CheckUpdateButton(),
       InstallUpdateButton(),
-      TargetBranchButton(check_update_btn),
+      TargetBranchButton(),
       uninstall_openpilot_btn,
     ])

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -47,7 +47,6 @@ class TogglesLayoutMici(NavScroller):
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
-    milestone_celebrations_toggle = BigParamControl("assisted driving milestones", "AssistedDrivingMilestonesEnabled")
     record_front = BigParamControl("record & upload cabin camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
@@ -58,7 +57,6 @@ class TogglesLayoutMici(NavScroller):
       is_metric_toggle,
       ldw_toggle,
       always_on_dm_toggle,
-      milestone_celebrations_toggle,
       record_front,
       record_mic,
       enable_openpilot,
@@ -70,7 +68,6 @@ class TogglesLayoutMici(NavScroller):
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),
-      ("AssistedDrivingMilestonesEnabled", milestone_celebrations_toggle),
       ("RecordFront", record_front),
       ("RecordAudio", record_mic),
       ("OpenpilotEnabledToggle", enable_openpilot),

openpilot/selfdrive/ui/mici/onroad/alert_renderer.py

@@ -10,7 +10,7 @@ from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
@@ -20,7 +20,6 @@ AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 
 ALERT_MARGIN = 18
-ALERT_BACKGROUND_OPACITY = 0.90
 
 ALERT_FONT_SMALL = 66 - 50
 ALERT_FONT_BIG = 88 - 40
@@ -280,7 +279,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
   def _draw_background(self, alert: Alert) -> None:
     # draw top gradient for alert text at top
     color = ALERT_COLORS.get(alert.status, ALERT_COLORS[AlertStatus.normal])
-    color = rl.Color(color.r, color.g, color.b, int(255 * ALERT_BACKGROUND_OPACITY * self._alpha_filter.x))
+    color = rl.Color(color.r, color.g, color.b, int(255 * 0.90 * self._alpha_filter.x))
     translucent_color = rl.Color(color.r, color.g, color.b, int(0 * self._alpha_filter.x))
 
     small_alert_height = round(self._rect.height * 0.583) # 140px at mici height
@@ -334,7 +333,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
     self._alert_text1_label.set_text(alert_text1)
     self._alert_text1_label.set_text_color(color)
     self._alert_text1_label.set_font_size(font_size)
-    self._alert_text1_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
+    self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
     self._alert_text1_label.render(text_rect1)
 
     alert_text2 = alert.text2.lower()
@@ -366,5 +365,5 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
       self._alert_text2_label.set_text(alert_text2)
       self._alert_text2_label.set_text_color(color)
       self._alert_text2_label.set_font_size(small_font_size)
-      self._alert_text2_label.set_alignment(TextAlignment.LEFT if icon_side != 'left' else TextAlignment.RIGHT)
+      self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
       self._alert_text2_label.render(text_rect2)

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
-from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import BounceFilter
@@ -19,15 +19,10 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
-MILESTONE_CELEBRATION_ENABLED = gui_app.sunnypilot_ui()
-
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
-  if MILESTONE_CELEBRATION_ENABLED:
-    from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_celebration import MilestoneCelebration
-
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
 NARROW_ROAD_CAM = VisionStreamType.VISION_STREAM_NARROW_ROAD
@@ -161,11 +156,10 @@ class AugmentedRoadView(CameraView):
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._milestone_celebration = self._child(MilestoneCelebration()) if MILESTONE_CELEBRATION_ENABLED else None
     self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                       alignment=TextAlignment.CENTER,
-                                       alignment_vertical=TextAlignmentVertical.MIDDLE)
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
@@ -229,12 +223,6 @@ class AugmentedRoadView(CameraView):
 
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
-    if self._milestone_celebration is not None:
-      if alert_to_render is not None:
-        self._milestone_celebration.cancel_for_alert()
-      else:
-        self._milestone_celebration.render(self._content_rect)
-
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
     should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
@@ -259,6 +247,7 @@ class AugmentedRoadView(CameraView):
     self._confidence_ball.render(self.rect)
 
     self._bookmark_icon.render(self.rect)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
@@ -366,12 +355,10 @@ class AugmentedRoadView(CameraView):
     return self._cached_matrix
 
   def show_event(self):
-    super().show_event()
     if gui_app.sunnypilot_ui():
       ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
 
   def hide_event(self):
-    super().hide_event()
     if gui_app.sunnypilot_ui():
       ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
 

openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py

@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
@@ -76,7 +76,7 @@ class BaseCabinCameraDialog(Widget):
 
     if not self._camera_view.frame:
       gui_label(rect, tr("camera starting"), font_size=54, font_weight=FontWeight.BOLD,
-                alignment=TextAlignment.CENTER)
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       rl.end_scissor_mode()
       self._publish_alert_sound(None)
       return
@@ -124,12 +124,12 @@ class BaseCabinCameraDialog(Widget):
     awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
               f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
-              alignment=TextAlignment.RIGHT,
-              alignment_vertical=TextAlignmentVertical.TOP,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
     gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
-              alignment=TextAlignment.RIGHT,
-              alignment_vertical=TextAlignmentVertical.TOP,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
     if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
@@ -137,16 +137,16 @@ class BaseCabinCameraDialog(Widget):
 
     # Show alert level
     alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
-    alignment = TextAlignment.RIGHT if self.driver_state_renderer.is_rhd else TextAlignment.LEFT
+    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
     gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
-              alignment_vertical=TextAlignmentVertical.BOTTOM,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
     gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
-              alignment_vertical=TextAlignmentVertical.BOTTOM,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
   def _load_eye_textures(self):

openpilot/selfdrive/ui/mici/widgets/button.py

@@ -6,7 +6,7 @@ from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import DO_ZOOM
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.common.filter_simple import BounceFilter
 
 if TYPE_CHECKING:
@@ -125,10 +125,10 @@ class BigButton(Widget):
     self._rotate_icon_t: float | None = None
 
     self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
-                               text_color=LABEL_COLOR, alignment_vertical=TextAlignmentVertical.BOTTOM, scroll=scroll,
+                               text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
                                line_height=0.9)
     self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
-                                   text_color=COMPLICATION_GREY, alignment_vertical=TextAlignmentVertical.BOTTOM)
+                                   text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
     self._update_label_layout()
 
     self._load_images()
@@ -167,9 +167,9 @@ class BigButton(Widget):
   def _update_label_layout(self):
     self._label.set_font_size(self._get_label_font_size())
     if self.value:
-      self._label.set_alignment_vertical(TextAlignmentVertical.TOP)
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
     else:
-      self._label.set_alignment_vertical(TextAlignmentVertical.BOTTOM)
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
 
   def set_text(self, text: str):
     self.text = text
@@ -356,8 +356,8 @@ class GreyBigButton(BigButton):
     self._sub_label.set_font_size(36)
     self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
     self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-    self._sub_label.set_alignment_vertical(TextAlignmentVertical.MIDDLE if not self._label.text else
-                                           TextAlignmentVertical.BOTTOM)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
     self._sub_label.set_line_height(0.95)
 
   @property

openpilot/selfdrive/ui/onroad/alert_renderer.py

@@ -4,7 +4,7 @@ from dataclasses import dataclass
 from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
@@ -76,10 +76,10 @@ class AlertRenderer(Widget):
     self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
 
     # font size is set dynamically
-    self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=TextAlignment.CENTER,
-                                   text_alignment_vertical=TextAlignmentVertical.TOP)
-    self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=TextAlignment.CENTER,
-                                   text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
 
   def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
     """Generate the current alert based on selfdrive state."""

openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py

@@ -4,7 +4,7 @@ from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.label import gui_label
 
@@ -38,7 +38,7 @@ class CabinCameraDialog(CameraView):
         tr("camera starting"),
         font_size=100,
         font_weight=FontWeight.BOLD,
-        alignment=TextAlignment.CENTER,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
       )
       return -1
 

openpilot/selfdrive/ui/soundd.py

@@ -24,8 +24,14 @@ ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
+AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
+VOLUME_BASE = 20
+if HARDWARE.get_device_type() == "tizi":
+  AMBIENT_DB = 30
+  VOLUME_BASE = 10
+
 AudibleAlert = log.SelfdriveState.AudibleAlert
 AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
@@ -47,7 +53,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
-  AudibleAlert.complete: ("milestone.wav", 1, MAX_VOLUME),
 
   AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
@@ -55,14 +60,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   **sound_list_sp,
 }
 
-
-def calculate_volume_for_device(weighted_db: float, device_type: str) -> float:
-  ambient_db = 30 if device_type in ("mici", "tizi") else 26
-  volume_base = 10 if device_type in ("mici", "tizi") else 20
-  volume_boost = 1.5 if device_type == "mici" else 1.0
-  volume = ((weighted_db - ambient_db) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
-  return min(MAX_VOLUME, volume_boost * math.pow(volume_base, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1)))
-
 def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
@@ -77,7 +74,6 @@ class Soundd(QuietMode):
   def __init__(self):
     super().__init__()
 
-    self.device_type = HARDWARE.get_device_type()
     self.load_sounds()
 
     self.current_alert = AudibleAlert.none
@@ -89,7 +85,6 @@ class Soundd(QuietMode):
 
     self.selfdrive_timeout_alert = False
     self.pending_stop = False
-    self.last_milestone_event_id = 0
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -169,19 +164,9 @@ class Soundd(QuietMode):
       self.update_alert(AudibleAlert.none)
       self.selfdrive_timeout_alert = False
 
-  def update_milestone_alert(self, sm):
-    if not sm.updated['assistedDrivingMilestoneState']:
-      return
-    milestone_state = sm['assistedDrivingMilestoneState']
-    event_id = milestone_state.event.id
-    if not milestone_state.enabled or event_id == 0 or event_id == self.last_milestone_event_id:
-      return
-    self.last_milestone_event_id = event_id
-    if self.current_alert == AudibleAlert.none and not self.enabled:
-      self.update_alert(AudibleAlert.complete)
-
   def calculate_volume(self, weighted_db):
-    return calculate_volume_for_device(weighted_db, self.device_type)
+    volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
+    return math.pow(VOLUME_BASE, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
 
   @retry(attempts=10, delay=3)
   def get_stream(self, sd):
@@ -195,7 +180,7 @@ class Soundd(QuietMode):
     import sounddevice as sd
     micd.patch_sounddevice(sd)
 
-    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure', 'assistedDrivingMilestoneState'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
@@ -213,7 +198,6 @@ class Soundd(QuietMode):
             self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
-        self.update_milestone_alert(sm)
 
         # Ramp up immediate warning sound over 4s
         if self.current_alert == AudibleAlert.warningImmediate:

openpilot/selfdrive/ui/sunnypilot/layouts/home.py

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.multilang import tr, trn
 from openpilot.system.ui.widgets.label import gui_label
@@ -59,7 +59,7 @@ class HomeLayoutSP(HomeLayout):
       desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
       desc_width = desc_size.x
       desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
-      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=TextAlignment.RIGHT)
+      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
 
     brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
     spacing = BRAND_DESC_SPACING if description else 0

openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import FontWeight, TextAlignment
+from openpilot.system.ui.lib.application import FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
     self._done_callback = done_callback
     self._step = 0
 
-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=TextAlignment.LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
     self._content = [
       {
@@ -43,7 +43,7 @@ class SunnylinkConsentPage(Widget):
     self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
     self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
     self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
-    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=TextAlignment.LEFT))
+    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
   def _handle_choice(self, choice):
     if choice == "enable":

openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py

@@ -9,7 +9,7 @@ from openpilot.cereal import custom
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, FontWeight, TextAlignment, TextAlignmentVertical
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
@@ -32,8 +32,8 @@ class SunnylinkHeader(Widget):
       font_size=90,
       font_weight=FontWeight.AUDIOWIDE,
       text_color=rl.WHITE,
-      alignment=TextAlignment.CENTER,
-      alignment_vertical=TextAlignmentVertical.TOP,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
       wrap_text=False,
       elide=False
     )
@@ -43,8 +43,8 @@ class SunnylinkHeader(Widget):
       font_size=40,
       font_weight=FontWeight.NORMAL,
       text_color=rl.Color(0, 255, 0, 255),  # Green
-      alignment=TextAlignment.CENTER,
-      alignment_vertical=TextAlignmentVertical.TOP,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
       wrap_text=True,
       elide=False
     )
@@ -55,8 +55,8 @@ class SunnylinkHeader(Widget):
       font_size=35,
       font_weight=FontWeight.NORMAL,
       text_color=rl.Color(255, 165, 0, 255),  # Orange
-      alignment=TextAlignment.CENTER,
-      alignment_vertical=TextAlignmentVertical.TOP,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
       wrap_text=True,
       elide=False
     )
@@ -109,8 +109,8 @@ class SunnylinkDescriptionItem(Widget):
       font_size=40,
       font_weight=FontWeight.NORMAL,
       text_color=rl.WHITE,
-      alignment=TextAlignment.LEFT,
-      alignment_vertical=TextAlignmentVertical.TOP,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
       wrap_text=True,
       elide=False,
     )

openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py

@@ -5,89 +5,30 @@ 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.
 """
 import math
-import time
 
 import pyray as rl
 
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
-from openpilot.system.ui.lib.application import FontWeight, TextAlignment
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
-
-METERS_PER_MILE = 1609.344
-METERS_PER_KILOMETER = 1000.0
-SUMMARY_DURATION_SECONDS = 10.0
-SUMMARY_WAIT_SECONDS = 3.0
-
-
-def _nonnegative_float(value) -> float:
-  try:
-    return max(0.0, float(value))
-  except (TypeError, ValueError):
-    return 0.0
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets.icon_widget import IconWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
 class MiciHomeLayoutSP(MiciHomeLayout):
   def __init__(self):
     super().__init__()
     self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
-    initial_summary = ui_state.params.get("LastDriveAssistedDrivingSummary", return_default=True) or {}
-    self._last_summary_id = initial_summary.get("id", 0)
-    self._summary_wait_until = 0.0
-    self._summary_visible_until = 0.0
-    self._drive_summary = {}
-
-  def request_drive_summary(self) -> None:
-    self._summary_wait_until = time.monotonic() + SUMMARY_WAIT_SECONDS
-
-  def _render(self, _: rl.Rectangle) -> None:
-    super()._render(_)
-    now = time.monotonic()
-    if now < self._summary_wait_until:
-      summary = ui_state.params.get("LastDriveAssistedDrivingSummary", return_default=True) or {}
-      summary_id = summary.get("id", 0)
-      if summary_id and summary_id != self._last_summary_id:
-        self._last_summary_id = summary_id
-        distances = summary.get("distancesMeters", {})
-        enabled = ui_state.params.get_bool("AssistedDrivingMilestonesEnabled")
-        if enabled and any(_nonnegative_float(distances.get(category, 0.0)) > 0.0 for category in ("mads", "fullAssist")):
-          self._drive_summary = summary
-          self._summary_visible_until = now + SUMMARY_DURATION_SECONDS
-        self._summary_wait_until = 0.0
-
-    if now < self._summary_visible_until:
-      self._draw_drive_summary(_)
-
-  def _draw_drive_summary(self, rect: rl.Rectangle) -> None:
-    distances = self._drive_summary.get("distancesMeters", {})
-    metric = self._drive_summary.get("unit") == "metric"
-    meters_per_unit = METERS_PER_KILOMETER if metric else METERS_PER_MILE
-    unit = "KM" if metric else "MI"
-    mads = _nonnegative_float(distances.get("mads", 0.0)) / meters_per_unit
-    full_assist = _nonnegative_float(distances.get("fullAssist", 0.0)) / meters_per_unit
-
-    rl.draw_rectangle_rec(rect, rl.Color(0, 0, 0, 235))
-    gui_label(rl.Rectangle(rect.x, rect.y + 14, rect.width, 52), tr("DRIVE COMPLETE"), 42,
-              font_weight=FontWeight.SEMI_BOLD, alignment=TextAlignment.CENTER)
-    gui_label(rl.Rectangle(rect.x + 20, rect.y + 78, rect.width / 2 - 30, 42), tr("MADS"), 28,
-              color=rl.Color(255, 255, 255, 184), alignment=TextAlignment.CENTER)
-    gui_label(rl.Rectangle(rect.x + rect.width / 2 + 10, rect.y + 78, rect.width / 2 - 30, 42), tr("FULL ASSIST"), 28,
-              color=rl.Color(255, 255, 255, 184), alignment=TextAlignment.CENTER)
-    gui_label(rl.Rectangle(rect.x + 20, rect.y + 116, rect.width / 2 - 30, 72), f"{mads:.1f} {unit}", 48,
-              font_weight=FontWeight.DISPLAY, alignment=TextAlignment.CENTER)
-    gui_label(rl.Rectangle(rect.x + rect.width / 2 + 10, rect.y + 116, rect.width / 2 - 30, 72), f"{full_assist:.1f} {unit}", 48,
-              font_weight=FontWeight.DISPLAY, alignment=TextAlignment.CENTER)
+    self._chestnut_loading_icon = IconWidget("icons_mici/chestnut.png", (68, 40))
+    self._chestnut_loading_icon.set_visible(False)
+    failed_idx = self._status_bar_layout.widgets.index(self._chestnut_failed_icon)
+    self._status_bar_layout.widgets.insert(failed_idx + 1, self._chestnut_loading_icon)
 
   def _set_chestnut_visibility(self):
-    usb_connected = ui_state.usb_connected
-    usb_unknown = ui_state.usb_unknown
-    chestnut_state = ui_state.chestnut_state
-    loading = chestnut_state == ChestnutState.LOADING
-
-    self._usb_icon.set_visible(usb_connected and usb_unknown)
-    self._chestnut_loading_icon.set_opacity(0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0)))
-    self._chestnut_loading_icon.set_visible(not usb_unknown and loading)
-    self._chestnut_icon.set_visible(not usb_unknown and not loading and
-                                    chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
-    self._chestnut_failed_icon.set_visible(not usb_unknown and chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
+    # stock has no loading tier: it shows green from the moment a big model is available. keep the
+    # pulse so the status bar and the onroad HUD agree on what loading looks like.
+    loading = ui_state.chestnut_state == ChestnutState.LOADING
+    self._chestnut_loading_icon._opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
+    self._chestnut_loading_icon.set_visible(loading)
+    self._chestnut_icon.set_visible(not loading and ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.ACTIVE))
+    self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))

openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration.py

@@ -1,228 +0,0 @@
-"""Render assisted-driving milestone celebrations over the on-road view."""
-
-import math
-import random
-import time
-from collections import deque
-from dataclasses import dataclass
-
-import pyray as rl
-
-from openpilot.cereal import custom
-from openpilot.selfdrive.ui.mici.onroad.alert_renderer import ALERT_BACKGROUND_OPACITY
-from openpilot.selfdrive.ui.mici.onroad.hud_renderer import FONT_SIZES
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-
-
-CELEBRATION_DURATION = 4.5
-PARTICLE_COUNT = 150
-METERS_PER_MILE = 1609.344
-METERS_PER_KILOMETER = 1000.0
-
-CONFETTI_COLORS = (
-  rl.Color(255, 55, 95, 255),
-  rl.Color(255, 183, 3, 255),
-  rl.Color(48, 209, 88, 255),
-  rl.Color(36, 179, 255, 255),
-  rl.Color(112, 72, 232, 255),
-  rl.Color(255, 45, 196, 255),
-)
-
-
-@dataclass(frozen=True)
-class ConfettiParticle:
-  x: float
-  y: float
-  width: float
-  height: float
-  speed: float
-  drift: float
-  angle: float
-  spin: float
-  phase: float
-  color: rl.Color
-
-
-@dataclass(frozen=True)
-class CelebrationMilestone:
-  event_id: int
-  full_assist: bool
-  distance_meters: float
-  previous_distance_meters: float
-  metric: bool
-
-
-class MilestoneCelebration(Widget):
-  """Pure renderer for typed assisted-driving milestone events."""
-
-  def __init__(self):
-    super().__init__()
-    self._drive_started_time = -1.0
-    self._celebration_started_time: float | None = None
-    self._current_milestone: CelebrationMilestone | None = None
-    self._pending_milestones: deque[CelebrationMilestone] = deque()
-    self._last_event_id = 0
-    self._particles = self._make_particles()
-
-  @staticmethod
-  def _make_particles() -> list[ConfettiParticle]:
-    rng = random.Random(20260828)
-    return [
-      ConfettiParticle(
-        x=rng.random(),
-        y=rng.uniform(-0.25, 0.95),
-        width=rng.uniform(10, 24),
-        height=rng.uniform(24, 58),
-        speed=rng.uniform(0.12, 0.34),
-        drift=rng.uniform(-0.035, 0.035),
-        angle=rng.uniform(0, 360),
-        spin=rng.uniform(-150, 150),
-        phase=rng.uniform(0, math.tau),
-        color=CONFETTI_COLORS[rng.randrange(len(CONFETTI_COLORS))],
-      )
-      for _ in range(PARTICLE_COUNT)
-    ]
-
-  def _render(self, rect: rl.Rectangle, /) -> None:
-    now = time.monotonic()
-    if ui_state.started_time != self._drive_started_time:
-      self._drive_started_time = ui_state.started_time
-      self._celebration_started_time = None
-      self._current_milestone = None
-      self._pending_milestones.clear()
-
-    self._consume_event(suppress=False)
-
-    if self._current_milestone is None and self._pending_milestones:
-      self._current_milestone = self._pending_milestones.popleft()
-      self._celebration_started_time = now
-
-    if self._celebration_started_time is None or self._current_milestone is None:
-      return
-
-    elapsed = now - self._celebration_started_time
-    if elapsed >= CELEBRATION_DURATION:
-      self._celebration_started_time = None
-      self._current_milestone = None
-      return
-
-    alpha = min(1.0, elapsed / 0.2, (CELEBRATION_DURATION - elapsed) / 0.8)
-    self._draw_background_scrim(rect, alpha)
-    self._draw_confetti(rect, elapsed, alpha)
-    self._draw_milestone(rect, elapsed, alpha, self._current_milestone)
-
-  def cancel_for_alert(self) -> None:
-    self._consume_event(suppress=True)
-    self._celebration_started_time = None
-    self._current_milestone = None
-    self._pending_milestones.clear()
-
-  def _consume_event(self, suppress: bool) -> None:
-    if not ui_state.sm.updated["assistedDrivingMilestoneState"]:
-      return
-    state = ui_state.sm["assistedDrivingMilestoneState"]
-    event = state.event
-    if not state.enabled:
-      self._celebration_started_time = None
-      self._current_milestone = None
-      self._pending_milestones.clear()
-      return
-    if event.id == 0 or event.id == self._last_event_id:
-      return
-    self._last_event_id = event.id
-    if suppress:
-      return
-    self._pending_milestones.append(CelebrationMilestone(
-      event_id=event.id,
-      full_assist=event.category == custom.AssistedDrivingMilestoneState.Category.fullAssist,
-      distance_meters=event.distanceMeters,
-      previous_distance_meters=event.previousDistanceMeters,
-      metric=event.unit == custom.AssistedDrivingMilestoneState.Unit.metric,
-    ))
-
-  def _draw_confetti(self, rect: rl.Rectangle, elapsed: float, alpha: float) -> None:
-    travel_height = rect.height * 1.45
-    compact = rect.height <= 300
-    particle_scale = rect.height / 1080.0
-    particles = self._particles[:100] if compact else self._particles
-    for particle in particles:
-      x = rect.x + rect.width * (particle.x + particle.drift * elapsed + 0.012 * math.sin(elapsed * 3 + particle.phase))
-      y = rect.y - rect.height * 0.2 + (particle.y * travel_height + particle.speed * rect.height * elapsed) % travel_height
-      flip = 0.2 + 0.8 * abs(math.sin(elapsed * 5 + particle.phase))
-      particle_rect = rl.Rectangle(x, y, particle.width * particle_scale * flip, particle.height * particle_scale)
-      origin = rl.Vector2(particle_rect.width / 2, particle_rect.height / 2)
-      color = rl.Color(particle.color.r, particle.color.g, particle.color.b, int(255 * alpha))
-      rl.draw_rectangle_pro(particle_rect, origin, particle.angle + particle.spin * elapsed, color)
-
-  @staticmethod
-  def _draw_milestone(rect: rl.Rectangle, elapsed: float, alpha: float, milestone: CelebrationMilestone) -> None:
-    # Match the comma four set-speed hierarchy: DISPLAY number with a MAX-sized label.
-    scale = rect.height / 240.0
-    pulse = 1.0 + 0.025 * math.sin(min(elapsed, 0.6) / 0.6 * math.pi)
-    number_size = int(FONT_SIZES.set_speed * scale * pulse)
-    milestone_size = int(FONT_SIZES.max_speed * scale * pulse)
-    category_size = int(22 * scale * pulse)
-    unit_size = category_size
-
-    display_font = gui_app.font(FontWeight.DISPLAY)
-    semibold_font = gui_app.font(FontWeight.SEMI_BOLD)
-    tween_progress = min(elapsed / 0.85, 1.0)
-    tween_progress = 1.0 - (1.0 - tween_progress) ** 3
-    meters_per_unit = METERS_PER_KILOMETER if milestone.metric else METERS_PER_MILE
-    previous_distance = milestone.previous_distance_meters / meters_per_unit
-    milestone_distance = milestone.distance_meters / meters_per_unit
-    displayed_distance = previous_distance + (milestone_distance - previous_distance) * tween_progress
-    if tween_progress >= 1.0:
-      number = f"{round(milestone_distance):,}"
-    else:
-      number = f"{displayed_distance:,.1f}"
-    unit = tr("KM") if milestone.metric else tr("MI")
-    category = tr("FULL ASSIST") if milestone.full_assist else tr("MADS")
-    milestone_label = tr("MILESTONE")
-
-    unit_bounds = measure_text_cached(semibold_font, unit, unit_size)
-    number_bounds = measure_text_cached(display_font, number, number_size)
-    max_number_width = rect.width * 0.72 - unit_bounds.x - 8 * scale
-    if number_bounds.x > max_number_width:
-      number_size = max(1, int(number_size * max_number_width / number_bounds.x))
-      number_bounds = measure_text_cached(display_font, number, number_size)
-    category_bounds = measure_text_cached(semibold_font, category, category_size)
-    milestone_bounds = measure_text_cached(semibold_font, milestone_label, milestone_size)
-
-    center_x = rect.x + rect.width / 2
-    center_y = rect.y + rect.height / 2
-    text_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
-    secondary_color = rl.Color(255, 255, 255, int(255 * 0.72 * alpha))
-    number_line_width = number_bounds.x + 8 * scale + unit_bounds.x
-    number_x = center_x - number_line_width / 2
-    number_y = center_y - 76 * scale
-    unit_y = center_y + 14 * scale
-    category_y = center_y - 91 * scale
-    milestone_y = center_y + 50 * scale
-
-    rl.draw_text_ex(semibold_font, category, rl.Vector2(center_x - category_bounds.x / 2, category_y),
-                    category_size, 0, secondary_color)
-    rl.draw_text_ex(display_font, number, rl.Vector2(number_x, number_y), number_size, 0, text_color)
-    rl.draw_text_ex(semibold_font, unit, rl.Vector2(number_x + number_bounds.x + 8 * scale, unit_y),
-                    unit_size, 0, secondary_color)
-    rl.draw_text_ex(semibold_font, milestone_label, rl.Vector2(center_x - milestone_bounds.x / 2, milestone_y),
-                    milestone_size, 0, text_color)
-
-  @staticmethod
-  def _draw_background_scrim(rect: rl.Rectangle, alpha: float) -> None:
-    # Match the alert background: a mostly opaque black core fading to transparent.
-    fade_height = round(rect.height * 0.25)
-    solid_height = round(rect.height * 0.50)
-    solid_color = rl.Color(0, 0, 0, int(255 * ALERT_BACKGROUND_OPACITY * alpha))
-    transparent = rl.Color(0, 0, 0, 0)
-    x = int(rect.x)
-    y = int(rect.y)
-    width = int(rect.width)
-
-    rl.draw_rectangle_gradient_v(x, y, width, fade_height, transparent, solid_color)
-    rl.draw_rectangle(x, y + fade_height, width, solid_height, solid_color)
-    rl.draw_rectangle_gradient_v(x, y + fade_height + solid_height, width, fade_height, solid_color, transparent)