Merge branch 'master' into smooth-final-stop

Update longcontrol.py

smooth

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

@@ -115,7 +115,7 @@ jobs:
           env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
             ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
             ${{ github.workspace }}/${{ env.SMALL_PKL }} \
-            --out-of-band --benchmark-runs 1
+            --device-input "*" --out-of-band --benchmark-runs 1
 
       - name: Prepare output
         env:
@@ -440,10 +440,9 @@ jobs:
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
 
           taskset -c 7 env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile_onnx.py \
+            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
             ${{ github.workspace }}/${{ env.DM_ONNX }} \
-            ${{ github.workspace }}/${{ env.DM_PKL }} \
-            --out-of-band --benchmark-runs 1
+            ${{ github.workspace }}/${{ env.DM_PKL }}
 
       - name: Compile DM warp
         run: |

.github/workflows/lfs-maintenance.yaml

@@ -33,7 +33,7 @@ jobs:
 
       - name: LFS Fetch
         run: |
-          git lfs fetch || echo "::warning::some objects are missing on commaai/openpilot-lfs; mirroring the rest"
+          git lfs fetch
 
       - name: Set up Git
         run: |
@@ -68,7 +68,6 @@ jobs:
           git config lfs.activitytimeout 300
           git config lfs.transfer.maxretries 5
           git config lfs.concurrenttransfers 4
-          git config lfs.allowincompletepush true
 
       - name: Push LFS
         id: sync-and-commit
@@ -82,80 +81,3 @@ jobs:
           done
           echo "All push attempts failed"
           exit 1
-
-      - name: Checkout sunnypilot
-        uses: actions/checkout@v4
-        with:
-          repository: 'sunnypilot/sunnypilot'
-          path: sunnypilot
-          fetch-depth: 0
-          filter: blob:limit=1k
-          lfs: false
-
-      - name: Reference objects on sunnypilot-lfs
-        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
-        run: |
-          set -euo pipefail
-          GIT_LFS_SKIP_SMUDGE=1 git clone --quiet https://huggingface.co/sunnypilot/sunnypilot-lfs hf-lfs
-          mkdir -p hf-lfs/all
-          cat > scan_pointers.py <<'EOF'
-          import re, subprocess, sys, threading
-          repo = sys.argv[1]
-          chk = subprocess.run(["git", "-C", repo, "cat-file", "--batch-all-objects",
-                                "--batch-check=%(objectname) %(objecttype) %(objectsize)"],
-                               capture_output=True, text=True, check=True).stdout
-          small = [f[0] for f in (l.split() for l in chk.splitlines()) if f[1] == "blob" and int(f[2]) < 1024]
-          p = subprocess.Popen(["git", "-C", repo, "cat-file", "--batch=%(objectsize)"],
-                               stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-          def feed():
-            for sha in small:
-              p.stdin.write(sha.encode() + b"\n")
-            p.stdin.close()
-          threading.Thread(target=feed, daemon=True).start()
-          rx = re.compile(rb"^version https://git-lfs\.github\.com/spec/v1\noid sha256:([0-9a-f]{64})\nsize ([0-9]+)\n")
-          seen = {}
-          for _ in small:
-            n = int(p.stdout.readline()); body = p.stdout.read(n); p.stdout.read(1)
-            m = rx.match(body)
-            if m:
-              seen.setdefault(m.group(1).decode(), m.group(2).decode())
-          for oid, size in sorted(seen.items()):
-            print(oid, size)
-          EOF
-          for repo in . sunnypilot; do
-            python3 scan_pointers.py "$repo"
-          done | sort -u | while read -r oid size; do
-            [ -e "hf-lfs/all/$oid" ] && continue
-            printf 'version https://git-lfs.github.com/spec/v1\noid sha256:%s\nsize %s\n' "$oid" "$size" > "hf-lfs/all/$oid"
-            echo "$oid"
-          done > new_oids.txt
-          echo "new pointer files: $(wc -l < new_oids.txt)"
-
-          dropped=0
-          while mapfile -t -n 100 chunk && ((${#chunk[@]})); do
-            body=$(for oid in "${chunk[@]}"; do
-                     size=$(awk '/^size /{print $2}' "hf-lfs/all/$oid")
-                     printf '{"oid":"%s","size":%s}\n' "$oid" "$size"
-                   done | jq -s '{operation:"download",transfers:["basic"],objects:.}')
-            for attempt in 1 2 3 4 5; do
-              resp=$(curl -sS -u "user:${HF_TOKEN}" -w '\n%{http_code}' \
-                       -H 'Accept: application/vnd.git-lfs+json' -H 'Content-Type: application/vnd.git-lfs+json' \
-                       --data "$body" "${LFS_URL}/objects/batch") && [ "$(tail -n1 <<<"$resp")" = 200 ] && break
-              echo "batch check attempt $attempt failed ($(tail -n1 <<<"$resp")), retrying in 60s"; sleep 60
-            done
-            [ "$(tail -n1 <<<"$resp")" = 200 ] || { echo "batch check failed"; exit 1; }
-            for oid in $(sed '$d' <<<"$resp" | jq -r '.objects[] | select(.error) | .oid'); do
-              rm -f "hf-lfs/all/$oid"; dropped=$((dropped+1))
-            done
-          done < new_oids.txt
-          echo "dropped (not on HF): $dropped"
-
-          cd hf-lfs
-          git add -A all
-          if git diff --cached --quiet; then
-            echo "nothing new to reference"
-            exit 0
-          fi
-          git commit -q -m "Reference $(git diff --cached --name-only | wc -l | tr -d ' ') new LFS objects"
-          git push origin HEAD:main

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

@@ -594,14 +594,8 @@ jobs:
       - name: Publish chestnut branch
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
-          cp .lfsconfig "${{ env.OUTPUT_DIR }}/"
-          echo 'openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text' > "${{ env.OUTPUT_DIR }}/.gitattributes"
-          git lfs install
-          git config --global credential.helper store
-          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \

openpilot/cereal/custom.capnp

@@ -465,10 +465,6 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
-  lanefulCurvature @3 :Float32;
-  lanefulTrust @4 :Float32;
-  modelCurvature @5 :Float32;
-  lanefulGoingAround @6 :Bool;
 
   enum TurnDirection {
     none @0;

openpilot/cereal/services.py

@@ -94,7 +94,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20., 10, QueueSize.BIG),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
 
   # debug

openpilot/common/params_keys.h

@@ -256,7 +256,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"Laneful", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
@@ -39,7 +40,8 @@ def long_control_state_trans(CP_SP, active, long_control_state,
 
   return long_control_state
 
-class LongControl:
+
+class LongControl(LongControlSP):
   def __init__(self, CP, CP_SP):
     self.CP = CP
     self.CP_SP = CP_SP
@@ -68,7 +70,7 @@ class LongControl:
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         # TODO: can we just go straight to stopAccel?
-        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
+        output_accel -= self.stopping_decel_rate(CS.vEgo) * DT_CTRL
       self.reset()
 
     else:  # LongCtrlState.pid

openpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -1,6 +1,10 @@
+from types import SimpleNamespace
+from typing import cast
+
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
 
 
 class TestLongControlStateTransition(OpenpilotTestCase):
@@ -42,3 +46,21 @@ class TestLongControlStateTransition(OpenpilotTestCase):
     next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
+
+
+class TestStoppingHold:
+  def test_weak_brake_does_not_hold_stopping(self):
+    control = SimpleNamespace(last_output_accel=-0.109)
+    car_state = SimpleNamespace(vEgo=0.277, aEgo=-0.406)
+    assert not LongControlSP.should_hold_stopping(cast(LongControlSP, control), car_state, -0.072)
+
+  def test_sufficient_brake_holds_stopping(self):
+    control = SimpleNamespace(last_output_accel=-0.543)
+    car_state = SimpleNamespace(vEgo=0.209, aEgo=-0.534)
+    assert LongControlSP.should_hold_stopping(cast(LongControlSP, control), car_state, -0.469)
+
+  def test_stopping_decel_rate_is_smooth_while_rolling(self):
+    assert LongControlSP.stopping_decel_rate(0.1) == 0.3
+
+  def test_stopping_decel_rate_builds_holding_brake_at_stop(self):
+    assert LongControlSP.stopping_decel_rate(0.0) == 2.0

openpilot/selfdrive/modeld/SConscript

@@ -48,9 +48,8 @@ def compile_model(onnx_path, pkl_path):
     Action(cmd, "  [ONNX] $TARGET"),
   )
 
-if not os.getenv('SKIP_TINYGRAD_COMPILE'):
-  compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
-  compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
+compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
+compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 for cam_w, cam_h in camera_configs:
@@ -63,7 +62,7 @@ for cam_w, cam_h in camera_configs:
   lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cam_w, cam_h in [] if os.getenv('SKIP_TINYGRAD_COMPILE') else 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
   stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
   cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '

openpilot/selfdrive/modeld/modeld.py

@@ -7,7 +7,6 @@ from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
 os.environ.setdefault('AM_POWER_LIMIT', '100')
-os.environ.setdefault('AM_PERF_LEVEL', 'high')
 from tinygrad.device import Buffer, Device
 from tinygrad.dtype import DType, dtypes
 from tinygrad.engine.realize import lower_and_compile

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

@@ -206,8 +206,6 @@ class AugmentedRoadView(CameraView):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
-      if self._model_renderer.laneful.handle_tap(mouse_pos):
-        return
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):

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

@@ -141,7 +141,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     if ui_state.status != UIStatus.DISENGAGED:
       self._draw_lane_lines()
       self._draw_path()
-      self.laneful.draw(self._rect)
 
     if render_lead_indicator:
       self._update_leads(sm)
@@ -220,7 +219,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
-    self.laneful.update(self, max_idx)
 
     # Update path using raw points
     if lead and lead.present:

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

@@ -8,6 +8,7 @@ from enum import IntEnum
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
@@ -29,6 +30,7 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
 ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
 
 
 class CruiseLayout(Widget):
@@ -54,7 +56,8 @@ class CruiseLayout(Widget):
 
     self.scc_m_toggle = toggle_item_sp(
       title=tr("Smart Cruise Control - Map"),
-      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
+                  tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
     self.custom_acc_toggle = toggle_item_sp(
@@ -139,7 +142,7 @@ class CruiseLayout(Widget):
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
-        self.scc_m_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
       else:
         ui_state.params.remove("CustomAccIncrementsEnabled")
         ui_state.params.remove("SmartCruiseControlVision")

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py

@@ -8,6 +8,8 @@ from collections.abc import Callable
 
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
 from openpilot.system.ui.widgets.network import NavButton
@@ -43,6 +45,8 @@ class SpeedLimitPolicyLayout(Widget):
       param="SpeedLimitPolicy",
       button_width=250,
     )
+    if not MAPD_AVAILABLE:
+      self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
 
     items = [
       self._speed_limit_policy
@@ -51,6 +55,8 @@ class SpeedLimitPolicyLayout(Widget):
 
   @staticmethod
   def _get_policy_description():
+    if not MAPD_AVAILABLE:
+      return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
     return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
 
   def _render(self, rect):

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

@@ -1,21 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
-from openpilot.system.ui.widgets.scroller import NavScroller
-
-
-class LanefulLayoutMici(NavScroller):
-  def __init__(self):
-    super().__init__()
-    self._toggle = BigParamControl("laneful", "Laneful",
-                                   description="Keeps the car centered in its lane.\n" +
-                                               "Leans on the lane lines when they are clear, drives laneless when they are not.")
-    self._scroller.add_widget(self._toggle)
-
-  def show_event(self):
-    super().show_event()
-    self._toggle.refresh()

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

@@ -11,7 +11,6 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -51,10 +50,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
-    laneful_panel = LanefulLayoutMici()
-    laneful_btn = SettingsBigButton(tr("laneful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
-    laneful_btn.set_click_callback(lambda: gui_app.push_widget(laneful_panel))
-
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -72,8 +67,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
     items = self._scroller._items.copy()
 
     items.insert(1, models_btn)
-    items.insert(2, laneful_btn)
-    items.insert(6, sunnylink_btn)
+    items.insert(5, sunnylink_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)

openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py

@@ -1,117 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-
-Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
-and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.lanefulCurvature.
-"""
-import numpy as np
-import pyray as rl
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.modeld_v2.laneful import LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.shader_polygon import draw_polygon
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-CENTER_COLOR = (0, 200, 255)
-AFTER_COLOR = (255, 255, 255)
-
-
-class LanefulRenderer:
-  def __init__(self):
-    self._center_points = np.empty((0, 2), dtype=np.float32)
-    self._after_points = np.empty((0, 2), dtype=np.float32)
-    self._trust = 0.0
-    self._font = gui_app.font(FontWeight.BOLD)
-    # smoothed copies for the readout so the numbers don't flicker
-    self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
-    self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
-    self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL) # fades that hoe
-    self._readout_rect: rl.Rectangle | None = None
-    self._settings_page = None
-
-  def update(self, renderer, max_idx: int) -> None:
-    """Called from the model renderer's update with its lane lines and path already in raw points."""
-    laneful_curvature = ui_state.sm['modelDataV2SP'].lanefulCurvature
-    self._alpha.update(float(laneful_curvature != 0.0))
-
-    left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
-    stds = list(ui_state.sm['modelV2'].laneLineStds)
-    if self._alpha.x < 0.01 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
-      self._center_points = np.empty((0, 2), dtype=np.float32)
-      self._after_points = np.empty((0, 2), dtype=np.float32)
-      return
-
-    probs = renderer._lane_line_probs
-    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
-    width = np.clip(right[:, 1] - left[:, 1], 2.8, 4.5) if l_prob * r_prob > 0.5 else 3.7
-    center = left.copy()
-    center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
-    self._trust = l_prob + r_prob - l_prob * r_prob
-    self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
-
-    # "after" path: model path bent by laneful's curvature, ending at the lookahead
-    path = renderer._path.raw_points
-    lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    self._pull_display.update(laneful_curvature * lookahead ** 2 / 2)  # how far laneful moves the car at the lookahead
-    self._trust_display.update(self._trust)
-    after = path.copy()
-    after[:, 1] += laneful_curvature * path[:, 0] ** 2 / 2
-    self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
-                                                       renderer._get_path_length_idx(path[:, 0], lookahead))
-
-  def _color(self, rgb, alpha: float) -> rl.Color:
-    return rl.Color(*rgb, int(alpha * self._alpha.x))
-
-  def draw(self, rect: rl.Rectangle) -> None:
-    if self._center_points.size and self._trust > 0.05:
-      draw_polygon(rect, self._center_points, self._color(CENTER_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
-    self._readout_rect = None
-    if self._after_points.size:
-      draw_polygon(rect, self._after_points, self._color(AFTER_COLOR, 200))
-      self._draw_readout(rect)
-
-  def handle_tap(self, pos) -> bool:
-    """Tapping the readout opens the laneful settings page. Returns True if the tap was consumed."""
-    r = self._readout_rect
-    if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
-      return False
-    if self._settings_page is None:
-      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
-      self._settings_page = LanefulLayoutMici()
-    gui_app.push_widget(self._settings_page)
-    return True
-
-  def _draw_readout(self, rect: rl.Rectangle) -> None:
-    """Top-center pill: pull toward lane center in cm at the lookahead, arrow = side,
-    bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
-    pull, trust = self._pull_display.x, self._trust_display.x
-    w, h = 190, 76
-    x, y = rect.x + (rect.width - w) / 2, rect.y + 10
-    cx, cy = x + w / 2, y + 30
-    self._readout_rect = rl.Rectangle(x, y, w, h)
-    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, self._color((0, 0, 0), 170))
-
-    text = f"{abs(pull) * 100:.0f}"
-    text_w = measure_text_cached(self._font, text, 44, 0).x
-    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, self._color((255, 255, 255), 255))
-
-    active = self._color(CENTER_COLOR, np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255)
-    idle = self._color((255, 255, 255), 40)
-    lx, rx = x + 18, x + w - 18
-    rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
-    rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
-
-    bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
-    rl.draw_rectangle_rounded(bar, 1.0, 6, self._color((255, 255, 255), 40))
-    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), self._color((255, 255, 255), 120))
-    fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
-    if fill > 1:
-      fill_x = cx if pull > 0 else cx - fill
-      rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
-                                self._color(CENTER_COLOR, np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255))

openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py

@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.laneful import LanefulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
@@ -18,4 +17,3 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
-    self.laneful = LanefulRenderer()

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -36,7 +36,7 @@ class UIStateSP:
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay", "modelDataV2SP"
+      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
     ]
 
     self.sunnylink_state = SunnylinkState()

openpilot/sunnypilot/mapd/__init__.py

@@ -3,3 +3,7 @@ from openpilot.common.basedir import BASEDIR
 
 MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
+# map-based features stay off until mapd is rebuilt
+MAPD_AVAILABLE = False

openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -4,7 +4,6 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import json
 import math
 import platform
 
@@ -27,21 +26,6 @@ class OsmMapData(BaseMapData):
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
-    if self.last_position is None:
-      return
-
-    params = {
-      "latitude": self.last_position.latitude,
-      "longitude": self.last_position.longitude,
-    }
-
-    if self.last_bearing is not None:
-      params['bearing'] = self.last_bearing
-
-    # mapd reads its position from the memory params as JSON, so write it for the mapd binary.
-    # LastGPSPosition is registered as BYTES (ubloxd owns the persistent copy for pigeond),
-    # so the JSON payload has to be encoded here.
-    self.mem_params.put("LastGPSPosition", json.dumps(params).encode(), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)

openpilot/sunnypilot/mapd/mapd_manager.py

@@ -121,10 +121,6 @@ def update_osm_db() -> None:
   if not mem_params.get("OSMDownloadBounds"):
     mem_params.put("OSMDownloadBounds", "", block=True)
 
-  # mapd reads LastGPSPosition from the memory params as JSON, and it is registered as BYTES upstream
-  if not mem_params.get("LastGPSPosition"):
-    mem_params.put("LastGPSPosition", b"{}", block=True)
-
 
 def main_thread():
   update_installed_version(VERSION, params)

openpilot/sunnypilot/mapd/tests/test_osm_map_data.py

@@ -1,70 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import math
-import platform
-
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal import log
-from openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
-
-
-class TestOsmMapData(OpenpilotTestCase):
-  """The mapd binary reads its position from the memory params as JSON, so mapd_manager has to feed it."""
-
-  LATITUDE = 32.875134
-  LONGITUDE = -117.209777
-  ALTITUDE = 42.0
-  BEARING = 90.0
-
-  def setup_method(self):
-    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else Params()
-    self.mem_params.remove("LastGPSPosition")
-    self.map_data = OsmMapData()
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-
-  def location_message(self, status: log.LiveLocationKalman.Status, position_valid: bool):
-    msg = messaging.new_message('liveLocationKalman', valid=True)
-    location = msg.liveLocationKalman
-    location.status = status
-    location.positionGeodetic = {'value': [self.LATITUDE, self.LONGITUDE, self.ALTITUDE], 'valid': position_valid}
-    location.calibratedOrientationNED = {'value': [0.0, 0.0, math.radians(self.BEARING)], 'valid': True}
-    return msg
-
-  def send_location(self, status: log.LiveLocationKalman.Status, position_valid: bool) -> None:
-    # the first exchange synchronizes the PUB/SUB connection, the second one is actually received
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-
-  def read_position(self) -> dict:
-    value = self.mem_params.get("LastGPSPosition")
-    self.assertIsNotNone(value, "LastGPSPosition was not written for mapd")
-    return json.loads(value)
-
-  def test_writes_position_for_mapd(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['bearing'], self.BEARING, delta=1e-6)
-
-  def test_invalid_localizer_keeps_last_known_position(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    self.send_location(log.LiveLocationKalman.Status.uninitialized, False)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)

openpilot/sunnypilot/modeld_v2/laneful.py

@@ -1,125 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import numpy as np
-
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-
-LANE_WIDTH_DEFAULT = 3.6  # m (reseeded to model's lane width upon initialization)
-LANE_WIDTH_CLIP = (2.8, 4.5)  # m
-LOOKAHEAD_TIME = 1.5  # s
-MIN_LOOKAHEAD = 10.0  # m
-MIN_SPEED = 5.0  # m/s
-LINE_STD = (0.2, 0.6)
-POINT_STD = 0.1
-MAX_ERROR = 1.0
-YIELD = (0.2, 0.45)
-X_IDXS = np.array(ModelConstants.X_IDXS)
-
-
-class Laneful: # TODO-SP: Rename this to blendful or something similar because it is not pure laneful anymore.
-  def __init__(self):
-    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL, initialized=False)
-    self.line_gone = FirstOrderFilter(np.zeros(2), 2.0, DT_MDL)
-    self.line_probs_slow = FirstOrderFilter(np.zeros(2), 3.0, DT_MDL)
-    self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
-    self.usual_offset = FirstOrderFilter(0.0, 10.0, DT_MDL, initialized=False)
-    self.going_around = False
-    self.since_turning = 0.0
-    self.trust = 0.0
-    self.model_curvature = 0.0
-    self.smooth = 0.0 # smoothens lanelines below .53 lat accel
-    self.curvature = 0.0
-
-  def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
-    fading = not active or v_ego < MIN_SPEED
-    if fading:
-      self.trust = 0.0
-      self.usual_offset.initialized = False
-      self.lane_width.initialized = False
-      self.going_around = False
-    self.model_curvature = model_curvature
-    target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
-    target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.25, 0.0]))
-    releasing = not fading and (abs(target) < abs(self.curvature) or target * self.curvature < 0)
-    step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
-    self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))
-    return self.curvature
-
-  def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:
-    if v_ego < MIN_SPEED or 'lane_lines' not in model_output:
-      return 0.0
-
-    lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    lines = model_output['lane_lines'][0, :, :, 0]
-    stds = model_output['lane_lines_stds'][0, :, :, 0]
-
-    probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
-    gone = self.line_gone.update((model_output['lane_lines_prob'][0, 1::2][1:3] < 0.3).astype(float))
-    dropping = bool(np.any(probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])))
-    l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
-    r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
-    # one line steadily on its own still centers at half say conf. a line that is disappearing gives control back to laneless
-    if gone[1] > 0.8 and l_prob > 0.5:
-      lane_trust = l_prob / 2
-    elif gone[0] > 0.8 and r_prob > 0.5:
-      lane_trust = r_prob / 2
-    elif dropping:
-      lane_trust = min(l_prob, r_prob)
-    else:
-      lane_trust = l_prob + r_prob - l_prob * r_prob
-    if lane_trust <= 0.0:
-      self.trust = 0.0
-      return 0.0
-
-    win = (X_IDXS >= 0.5 * lookahead) & (X_IDXS <= 1.5 * lookahead)
-    x = X_IDXS[win]
-    half_width = self.lane_width.x / 2
-    if l_prob * r_prob > 0.5:
-      width = np.interp(lookahead, X_IDXS, lines[2]) - np.interp(lookahead, X_IDXS, lines[1])
-      self.lane_width.update(float(np.clip(width, *LANE_WIDTH_CLIP)))
-      half_width = np.clip(lines[2, win] - lines[1, win], *LANE_WIDTH_CLIP) / 2
-    l_var = stds[1, win] ** 2 / max(l_prob, 1e-4)
-    r_var = stds[2, win] ** 2 / max(r_prob, 1e-4)
-    center = (r_var * (lines[1, win] + half_width) + l_var * (lines[2, win] - half_width)) / (l_var + r_var)
-    weight = 1.0 / (l_var * r_var / (l_var + r_var) + POINT_STD ** 2)
-
-    # Fit curvature to place the plant in center: e ~ dk x^2 / 2
-    plan_x = np.interp(x, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    plan_share = np.interp(abs(model_curvature) * lookahead ** 2 / 2, [0.5, 2.0], [0.3, 0.5]) # blending up to 50% plan with action during sharp curvature
-    error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -1.0, 1.0)
-    dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
-
-    # A model planning to end up further from its usual spot in the lane than the plant is now is likely going around something
-    hw_now = np.clip(lines[2, 0] - lines[1, 0], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else self.lane_width.x / 2
-    center_now = (l_prob * (lines[1, 0] + hw_now) + r_prob * (lines[2, 0] - hw_now)) / (l_prob + r_prob)
-    plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    offset = plan_y - np.interp(lookahead, x, center)
-    if min(gone) > 0.5:  # both lines gone: turns, intersections, relearn ideal model position
-      self.usual_offset.initialized = False
-    usual = self.usual_offset.x if self.usual_offset.initialized else offset
-    swerve = abs(offset - usual) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
-    away = swerve - abs(-center_now - usual)
-    lane_curvature = 2.0 * np.polyfit(x, center, 2)[0]
-    inside_curve = abs(lane_curvature) * lookahead ** 2 / 2 > 0.1 and (offset - usual) * lane_curvature > 0
-    self.since_turning = 0.0 if abs(model_curvature) * lookahead ** 2 / 2 > 0.5 else self.since_turning + DT_MDL
-    if inside_curve:
-      self.going_around = False
-    elif away > YIELD[0] and self.since_turning > 2.0:
-      self.going_around = True
-    elif swerve < YIELD[0] / 2:
-      self.going_around = False
-    self.usual_offset.update_alpha(20.0 if self.going_around else 10.0)
-    self.usual_offset.update(offset)
-    if inside_curve:
-      lane_trust *= np.interp(abs(offset) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2, (0.5, 1.0), [1.0, 0.0])
-    else:
-      lane_trust *= np.interp(swerve, (YIELD[0] / 2, YIELD[0]), [1.0, 0.0]) if self.going_around else np.interp(away, YIELD, [1.0, 0.0])
-
-    self.trust = lane_trust if lane_trust < self.trust else self.trust + (lane_trust - self.trust) * DT_MDL / (1.5 + DT_MDL)
-    return float(self.trust * dk)

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from collections.abc import Callable
-from functools import partial
 import gc
 import os
 os.environ['GMMU'] = '0'
@@ -40,7 +39,6 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.laneful import Laneful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
@@ -230,8 +228,7 @@ class ModelState(ModelStateBase):
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            lat_action_t: float, long_action_t: float, v_ego: float,
-                            laneful: Callable[[float], float] | None = None) -> log.ModelDataV2.Action:
+                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -243,8 +240,6 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-    if laneful is not None:
-      desired_curvature += laneful(desired_curvature)
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -371,8 +366,6 @@ def main(demo=False):
   DH = DesireHelper()
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
-  laneful = Laneful()
-  laneful_enabled = False
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -416,7 +409,6 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-      laneful_enabled = params.get_bool("Laneful")
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -490,9 +482,7 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      laneful_active = laneful_enabled and desire == log.Desire.none and DH.lane_change_state == log.LaneChangeState.off
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego,
-                                           partial(laneful.update, model_output, v_ego, laneful_active))
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -509,10 +499,6 @@ def main(demo=False):
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
-      mdv2sp_send.modelDataV2SP.lanefulTrust = float(laneful.trust)
-      mdv2sp_send.modelDataV2SP.modelCurvature = float(laneful.model_curvature)
-      mdv2sp_send.modelDataV2SP.lanefulGoingAround = bool(laneful.going_around)
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

openpilot/sunnypilot/selfdrive/controls/lib/longcontrol.py

@@ -0,0 +1,25 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+
+STOPPING_DISTANCE = 1.5
+STOPPED_SPEED = 0.02
+STOPPING_TIME = 2.5
+MIN_STOPPING_HOLD_ACCEL = -0.2
+STOPPING_DECEL_RATE = 0.3
+STOPPED_DECEL_RATE = 0.05
+
+
+class LongControlSP:
+  def should_hold_stopping(self, CS, a_target: float) -> bool:
+    return (self.last_output_accel <= MIN_STOPPING_HOLD_ACCEL and a_target >= self.last_output_accel and CS.vEgo > STOPPED_SPEED and CS.aEgo < 0.0
+            and CS.vEgo <= -CS.aEgo * STOPPING_TIME and CS.vEgo ** 2 <= -2.0 * CS.aEgo * STOPPING_DISTANCE)
+
+  @staticmethod
+  def stopping_decel_rate(v_ego: float) -> float:
+    return float(np.interp(v_ego, [0.0, 0.5, 1.5], [STOPPED_DECEL_RATE, 0.15, STOPPING_DECEL_RATE]))

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py

@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.navd.helpers import Coordinate
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
@@ -75,7 +76,7 @@ class SmartCruiseControlMap:
   def __init__(self):
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
-    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
     self.long_enabled = False
     self.long_override = False
     self.is_enabled = False
@@ -101,7 +102,7 @@ class SmartCruiseControlMap:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+      self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
 
   def update_calculations(self, sm: messaging.SubMaster) -> None:
     gps = sm[self.gps_location_service]

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py

@@ -8,7 +8,7 @@ import json
 import math
 import platform
 from types import SimpleNamespace
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
@@ -23,6 +23,8 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
+    self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
+    self.mapd_patch.start()
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
     self.reset_params()
@@ -30,6 +32,9 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     self.sm = MagicMock()
     self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
 
+  def teardown_method(self):
+    self.mapd_patch.stop()
+
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
@@ -50,6 +55,14 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     assert self.scc_m.state == VisionState.disabled
     assert not self.scc_m.is_active
 
+  def test_mapd_unavailable(self):
+    self.mapd_patch.stop()
+    self.scc_m = SmartCruiseControlMap()
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    self.mapd_patch.start()
+
   def test_disabled(self):
     for _ in range(int(10. / DT_MDL)):
       self.scc_m.update(self.sm, False, False, 0., 0., 0.)

openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -13,6 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -48,6 +49,8 @@ class SpeedLimitResolver:
       Policy.max().value,
       self.params
     )
+    if not MAPD_AVAILABLE:
+      self.policy = Policy.car_state_only
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -91,7 +94,7 @@ class SpeedLimitResolver:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
       self.is_metric = self.params.get_bool("IsMetric")
       self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
       self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -15,6 +15,7 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -43,6 +44,7 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "mapd_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,6 +67,7 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "mapd_available": "Map data available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -132,6 +135,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+  caps["mapd_available"] = MAPD_AVAILABLE
 
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -857,19 +857,47 @@
                     },
                     {
                       "value": 1,
-                      "label": "Map Data Only"
+                      "label": "Map Data Only",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 2,
-                      "label": "Car State Priority"
+                      "label": "Car State Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 3,
-                      "label": "Map Data Priority"
+                      "label": "Map Data Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 4,
-                      "label": "Combined"
+                      "label": "Combined",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     }
                   ]
                 },
@@ -1001,6 +1029,11 @@
                 }
               ],
               "enablement": [
+                {
+                  "type": "capability",
+                  "field": "mapd_available",
+                  "equals": true
+                },
                 {
                   "type": "any",
                   "conditions": [
@@ -2021,14 +2054,8 @@
         {
           "id": "model_behavior",
           "title": "Model Behavior",
-          "description": "Lane desire, blended laneful, and lead-vehicle awareness tuning",
+          "description": "Lane desire and lead-vehicle awareness tuning",
           "items": [
-            {
-              "key": "Laneful",
-              "widget": "toggle",
-              "title": "Use Blended Laneful Mode",
-              "description": "Nudges the model's path toward lane center with a smoothly ramped correction that scales with lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns, or when the model is going around something, so you keep laneless behavior plus extra centering."
-            },
             {
               "key": "LaneTurnDesire",
               "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -167,12 +167,28 @@ sections:
         label: Car State Only
       - value: 1
         label: Map Data Only
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 2
         label: Car State Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 3
         label: Map Data Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 4
         label: Combined
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
     - key: SpeedLimitOffsetType
       widget: multiple_button
       title: Speed Limit Offset Type
@@ -246,6 +262,9 @@ sections:
         field: has_icbm
         equals: true
     enablement:
+    - type: capability
+      field: mapd_available
+      equals: true
     - type: any
       conditions:
       - type: capability

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml

@@ -9,14 +9,8 @@ description: Driving model behavior and camera calibration
 sections:
 - id: model_behavior
   title: Model Behavior
-  description: Lane desire, blended laneful, and lead-vehicle awareness tuning
+  description: Lane desire and lead-vehicle awareness tuning
   items:
-  - key: Laneful
-    widget: toggle
-    title: Use Blended Laneful Mode
-    description: Nudges the model's path toward lane center with a smoothly ramped correction that scales with
-      lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns,
-      or when the model is going around something, so you keep laneless behavior plus extra centering.
   - key: LaneTurnDesire
     widget: toggle
     title: Use Lane Turn Desires