Merge branch 'master' into optional-turn-desire-nudge

* init

* slightly more

* check across all

* publish on CC_SP

* more infra setup

* try it out for HKG for now

* slight cleanup

* oops

* legacy

* send

* actually take over

* expose toggle

* icbm

* need to allow

* fix

* name

* small fixes

* actually send it now

* set default

* use cs is_metric

* offroad only lol

* allow them all

* fix

* send desire as-is

* use stock method

* clean up hysteresis

* speed cluster may be more accurate

* rename

* allow init and resume from pcmCruise

* just send it

* fix

* only allow custom v cruise after no button press at initial enabled

* no hysteresis for now

* fix tests

* fix min check

* only apply to non pcm changes

* add ICBM

* some more ui

* bump

* slight cleanup

* fixup

* cleanup

* type hints

* type hints

* bump

* bump

* bring back hysteresis

* fix ui

* do not spam if overriding or below allowed speed

.github/workflows/auto_pr_review.yaml

@@ -40,10 +40,10 @@ jobs:
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env:
-      PR_LABEL: 'dev-c3'
+      PR_LABEL: 'dev'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev-c3 label
+      - name: Check if PR has dev label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -62,11 +62,11 @@ jobs:
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
             
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
 
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -43,6 +43,7 @@ jobs:
       with:
         submodules: true
     - name: uv lock
+      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

.github/workflows/selfdrive_tests.yaml

@@ -107,7 +107,6 @@ jobs:
 
   build_mac:
     name: build macOS
-    if: false  # temp disable since homebrew install is getting stuck
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
@@ -125,8 +124,8 @@ jobs:
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
+        PYTHONWARNINGS: default  # package install has DeprecationWarnings
+        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'

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

@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
+  STAGING_SOURCE_BRANCH: 'master'
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev-c3-new ]
+    branches: [ master, master-dev ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,9 +1,9 @@
-name: Build dev-c3-new
+name: Build dev
 
 env:
   DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
+  DEFAULT_TARGET_BRANCH: "master-dev"
+  PR_LABEL: "dev"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -25,7 +25,7 @@ on:
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev-c3-new'
+        default: 'master-dev'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -43,7 +43,7 @@ jobs:
     if: (
       (github.event_name == 'workflow_dispatch')
       || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -55,7 +55,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor

.gitignore

@@ -50,7 +50,6 @@ cereal/services.h
 cereal/gen
 cereal/messaging/bridge
 selfdrive/mapd/default_speeds_by_region.json
-system/proclogd/proclogd
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump

.vscode/launch.json

@@ -23,6 +23,11 @@
       "id": "args",
       "description": "Arguments to pass to the process",
       "type": "promptString"
+    },
+    {
+      "id": "replayArg",
+      "type": "promptString",
+      "description": "Enter route or segment to replay."
     }
   ],
   "configurations": [
@@ -40,7 +45,41 @@
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
+      "cwd": "${workspaceFolder}"
+    },
+    {
+      "name": "Attach LLDB to Replay drive",
+      "type": "lldb",
+      "request": "attach",
+      "pid": "${command:pickMyProcess}",
+      "initCommands": [
+        "script import time; time.sleep(3)"
+      ]
+    },
+    {
+      "name": "Replay drive",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "args": [
+        "${input:replayArg}"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": false,
+      "env": {
+        "PYTHONPATH": "${workspaceFolder}"
+      },
+      "subProcess": true,
+      "stopOnEntry": false
+    }
+  ],
+  "compounds": [
+    {
+      "name": "Replay drive + Safety LLDB",
+      "configurations": [
+        "Replay drive",
+        "Attach LLDB to Replay drive"
+      ]
     }
   ]
 }

Jenkinsfile

@@ -178,7 +178,7 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
+      deviceStage("build release3-staging", "tizi-needs-can", [], [
         step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
@@ -186,12 +186,12 @@ node {
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
+          deviceStage("build nightly", "tizi-needs-can", [], [
             step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
             step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
@@ -200,39 +200,30 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
-      // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
       'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -246,17 +237,13 @@ node {
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
@@ -266,7 +253,6 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           // TODO: enable once new AGNOS is available
           // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),

RELEASES.md

@@ -1,7 +1,13 @@
 Version 0.10.1 (2025-09-08)
 ========================
-* Record driving feedback using LKAS button
-* Honda City 2023 support thanks to drFritz!
+* New driving model
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * Driving Vision Model: trained on 4x the number of segments
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
 
 Version 0.10.0 (2025-08-05)
 ========================

SConstruct

@@ -359,11 +359,6 @@ SConscript([
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
-if arch != "Darwin":
-  SConscript([
-    'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
-  ])
 
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])

cereal/custom.capnp

@@ -25,6 +25,26 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -48,6 +68,7 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -122,6 +143,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -133,6 +156,34 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  struct SmartCruiseControl {
+    vision @0 :Vision;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
+  }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+    sccVision @1;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -172,12 +223,16 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
   }
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool = true;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -197,10 +252,24 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
-    value @1 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+  
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
@@ -258,9 +327,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }
 
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 

cereal/log.capnp

@@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e {
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;
 
   spiErrorCount @33 :UInt16;
 
@@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
+  fanStallCountDEPRECATED @34 :UInt8;
 }
 
 struct PeripheralState {
@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;

cereal/messaging/socketmaster.cc

@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  int freq = 0;
+  float freq = 0.0f;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;

cereal/services.py

@@ -88,6 +88,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
@@ -120,12 +121,12 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
          (k, k, should_log, v.frequency, decimation)
   h += "};\n"
 

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Steam Powered (Default)"
+#define DEFAULT_MODEL "Firehose (Default)"

common/params_keys.h

@@ -94,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -146,18 +145,23 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -195,10 +199,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // model panel params
+    // sunnypilot model params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, INT, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/DEBUGGING_SAFETY.md

@@ -0,0 +1,30 @@
+# Debugging Panda Safety with Replay Drive + LLDB
+
+## 1. Start the debugger in VS Code
+
+* Select **Replay drive + Safety LLDB**.
+* Enter the route or segment when prompted.
+[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
+
+## 2. Attach LLDB
+
+* When prompted, pick the running **`replay_drive` process**.
+* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
+
+> [!TIP]
+> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
+
+## 3. Set breakpoints in VS Code
+Breakpoints can be set directly in `modes/xxx.h` (or any C file).
+No extra LLDB commands are required — just place breakpoints in the editor.
+
+## 4. Resume execution
+Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
+
+> [!NOTE]
+> * Use short routes for quicker iteration.
+> * Pause `replay_drive` early to avoid wasting log messages.
+
+## Video
+
+View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578

docs/SAFETY.md

@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
 
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---
 
+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X
 
-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
+  export AGNOS_VERSION="13.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

pyproject.toml

@@ -36,6 +36,9 @@ dependencies = [
   "pyopenssl < 24.3.0",
   "pyaudio",
 
+  # ubloxd (TODO: just use struct)
+  "kaitaistruct",
+
   # panda
   "libusb1",
   "spidev; platform_system == 'Linux'",
@@ -101,8 +104,9 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next",
+  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
+  "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
@@ -120,6 +124,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "dearpygui>=2.1.0",
 ]
 
 [project.urls]
@@ -157,7 +162,6 @@ testpaths = [
   "system/camerad",
   "system/hardware",
   "system/loggerd",
-  "system/proclogd",
   "system/tests",
   "system/ubloxd",
   "system/webrtc",
@@ -173,7 +177,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -247,6 +251,7 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
   "*.ipynb",
+  "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
 

release/ci/squash_and_merge_prs.py

@@ -14,7 +14,7 @@ def setup_argument_parser():
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
   parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-test',
                       help='Target branch for merging')
   parser.add_argument('--squash-script-path', type=str, required=True,
                       help='Path to the squash_and_merge.py script')

selfdrive/car/card.py

@@ -179,7 +179,7 @@ class Car:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")

selfdrive/car/cruise.py

@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP):
-    VCruiseHelperSP.__init__(self)
+  def __init__(self, CP, CP_SP):
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,10 +46,13 @@ class VCruiseHelper(VCruiseHelperSP):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
+    self.get_minimum_set_speed(is_metric)
+
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      _enabled = self.update_enabled_state(CS, enabled)
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -111,7 +114,7 @@ class VCruiseHelper(VCruiseHelperSP):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed

selfdrive/car/helpers.py

@@ -60,5 +60,8 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
+    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
+  )
 
   return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -1,15 +1,12 @@
 import os
-import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
 from cereal import car, custom
 from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
-from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -21,11 +18,6 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
-ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
-ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
-
-ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
-
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
@@ -37,43 +29,10 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface = interfaces[car_name]
-
-    args = get_fuzzy_car_interface_args(data.draw)
-
-    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                               alpha_long=args['alpha_long'], docs=False)
-    car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp)
+    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+    car_params = car_interface.CP.as_reader()
+    car_params_sp = car_interface.CP_SP
     sunnypilot_interfaces.setup_interfaces(car_interface)
-    assert car_params
-    assert car_params_sp
-    assert car_interface
-
-    assert car_params.mass > 1
-    assert car_params.wheelbase > 0
-    # centerToFront is center of gravity to front wheels, assert a reasonable range
-    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
-    assert car_params.maxLateralAccel > 0
-
-    # Longitudinal sanity checks
-    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
-    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-
-    # Lateral sanity checks
-    if car_params.steerControlType != CarParams.SteerControlType.angle:
-      tune = car_params.lateralTuning
-      if tune.which() == 'pid':
-        if car_name != MOCK.MOCK:
-          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
-
-      elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
-        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)

selfdrive/car/tests/test_cruise_speed.py

@@ -5,7 +5,7 @@ import numpy as np
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from cereal import car, custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -49,7 +49,8 @@ class TestCruiseSpeed:
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP()
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):

selfdrive/controls/controlsd.py

@@ -116,7 +116,8 @@ class Controls(ControlsExt, ModelStateBase):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -168,7 +169,7 @@ class Controls(ControlsExt, ModelStateBase):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 

selfdrive/controls/lib/desire_helper.py

@@ -2,6 +2,7 @@ from cereal import log
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -41,6 +42,11 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController()
+
+  @staticmethod
+  def get_lane_change_direction(CS):
+    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
@@ -56,12 +62,13 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
+        # Initialize lane change direction to prevent UI alert flicker
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
-        # Set lane change direction
-        self.lane_change_direction = LaneChangeDirection.left if \
-          carstate.leftBlinker else LaneChangeDirection.right
+        # Update lane change direction
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
 
         torque_applied = carstate.steeringPressed and \
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
@@ -108,6 +115,12 @@ class DesireHelper:
 
     self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
+    # Lane turn controller update
+    turn_desire = self.lane_turn_controller.update(carstate.leftBlindspot, carstate.rightBlindspot, carstate.leftBlinker, carstate.rightBlinker,
+                                                   carstate.vEgo, carstate.steeringPressed, carstate.steeringTorque)
+    if turn_desire != log.Desire.none:
+      self.desire = turn_desire
+
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
       self.keep_pulse_timer = 0.0

selfdrive/controls/lib/latcontrol_torque.py

@@ -56,10 +56,8 @@ class LatControlTorque(LatControl):
       actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
-      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
-      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
@@ -71,6 +69,8 @@ class LatControlTorque(LatControl):
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(setpoint - measurement)
       ff = gravity_adjusted_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,6 +146,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
+    # Get new v_cruise and a_desired from Smart Cruise Control
+    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -0,0 +1,70 @@
+import numpy as np
+from cereal import car, messaging
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car import structs
+from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
+
+np.random.seed(0)
+
+LA_ERR_STD = 1.0
+INPUT_NOISE_STD = 0.08
+V_EGO = 30.0
+
+WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
+STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
+
+ROLL_BIAS_DEG = 2.0
+ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
+TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
+TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
+
+def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
+  rng = np.random.default_rng(0)
+  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
+  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
+  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
+  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
+  if input_noise_std is not None:
+    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
+    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
+  return steer_torques, lat_accels
+
+def get_warmed_up_estimator(steer_torques, lat_accels):
+  est = TorqueEstimator(car.CarParams())
+  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
+    est.filtered_points.add_point(steer_torque, lat_accel)
+  return est
+
+def simulate_straight_road_msgs(est):
+  carControl = messaging.new_message('carControl').carControl
+  carOutput = messaging.new_message('carOutput').carOutput
+  carState = messaging.new_message('carState').carState
+  livePose = messaging.new_message('livePose').livePose
+  carControl.latActive = True
+  carState.vEgo = V_EGO
+  carState.steeringPressed = False
+  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
+  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
+  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
+  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
+    carOutput.actuatorsOutput.torque = float(-steer_torque)
+    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
+    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+      est.handle_log(t, which, msg)
+
+def test_estimated_offset():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  msg = est.get_msg()
+  # TODO add lataccelfactor and friction check when we have more accurate estimates
+  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+
+def test_straight_road_roll_bias():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  simulate_straight_road_msgs(est)
+  msg = est.get_msg()
+  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)

selfdrive/modeld/constants.py

@@ -13,12 +13,9 @@ class ModelConstants:
   META_T_IDXS = [2., 4., 6., 8., 10.]
 
   # model inputs constants
-  MODEL_FREQ = 20
-  HISTORY_FREQ = 5
-  HISTORY_LEN_SECONDS = 5
-  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
-  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
-  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+  N_FRAMES = 2
+  MODEL_RUN_FREQ = 20
+  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
 
   FEATURE_LEN = 512
 

selfdrive/modeld/fill_model_msg.py

@@ -3,6 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -95,8 +96,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = []
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
@@ -149,7 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta.hardBrakePredicted = hard_brake_predicted.item()
 
   # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
     # any disengage prob
     brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
     gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]

selfdrive/modeld/modeld.py

@@ -80,6 +80,64 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
+class InputQueues:
+  def __init__ (self, model_fps, env_fps, n_frames_input):
+    assert env_fps % model_fps == 0
+    assert env_fps >= model_fps
+    self.model_fps = model_fps
+    self.env_fps = env_fps
+    self.n_frames_input = n_frames_input
+
+    self.dtypes = {}
+    self.shapes = {}
+    self.q = {}
+
+  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
+    self.dtypes.update(input_dtypes)
+    if self.env_fps == self.model_fps:
+      self.shapes.update(input_shapes)
+    else:
+      for k in input_shapes:
+        shape = list(input_shapes[k])
+        if 'img' in k:
+          n_channels = shape[1] // self.n_frames_input
+          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
+        else:
+          shape[1] = (self.env_fps // self.model_fps) * shape[1]
+        self.shapes[k] = tuple(shape)
+
+  def reset(self) -> None:
+    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
+
+  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
+    for k in inputs.keys():
+      if inputs[k].dtype != self.dtypes[k]:
+        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
+      input_shape = list(self.shapes[k])
+      input_shape[1] = -1
+      single_input = inputs[k].reshape(tuple(input_shape))
+      sz = single_input.shape[1]
+      self.q[k][:,:-sz] = self.q[k][:,sz:]
+      self.q[k][:,-sz:] = single_input
+
+  def get(self, *names) -> dict[str, np.ndarray]:
+    if self.env_fps == self.model_fps:
+      return {k: self.q[k] for k in names}
+    else:
+      out = {}
+      for k in names:
+        shape = self.shapes[k]
+        if 'img' in k:
+          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
+          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
+        elif 'pulse' in k:
+          # any pulse within interval counts
+          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
+        else:
+          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
+          out[k] = self.q[k][:, idxs]
+      return out
+
 class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
@@ -102,19 +160,15 @@ class ModelState(ModelStateBase):
       self.policy_output_slices = policy_metadata['output_slices']
       policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
-    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
-
     # policy inputs
-    self.numpy_inputs = {
-      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+    for k in ['desire_pulse', 'features_buffer']:
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+    self.full_input_queues.reset()
 
     # img buffers are managed in openCL transform code
     self.vision_inputs: dict[str, Tensor] = {}
@@ -136,15 +190,10 @@ class ModelState(ModelStateBase):
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
+    inputs['desire_pulse'][0] = 0
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
 
-    self.full_desire[0,:-1] = self.full_desire[0,1:]
-    self.full_desire[0,-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
-
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -163,9 +212,10 @@ class ModelState(ModelStateBase):
     self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
-    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    for k in ['desire_pulse', 'features_buffer']:
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -216,14 +266,14 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -320,7 +370,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
     }
 
@@ -333,6 +383,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -347,6 +398,7 @@ def main(demo=False):
       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.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -354,6 +406,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/pandad/pandad.cc

@@ -84,12 +84,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     panda->set_can_fd_auto(i, true);
   }
 
-  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
-                                       DEPRECATED_PANDA_TYPES.end(),
-                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
+  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
 
-  if (is_deprecated_panda) {
-    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+  if (!is_supported_panda) {
+    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
     return panda.release();
   }
 
@@ -175,7 +173,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
   ps.setInterruptLoad(health.interrupt_load_pkt);
   ps.setFanPower(health.fan_power);
-  ps.setFanStallCount(health.fan_stall_count);
   ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);

selfdrive/pandad/pandad.h

@@ -9,13 +9,10 @@
 void pandad_main_thread(std::vector<std::string> serials);
 
 // deprecated devices
-static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
-  cereal::PandaState::PandaType::WHITE_PANDA,
-  cereal::PandaState::PandaType::GREY_PANDA,
-  cereal::PandaState::PandaType::BLACK_PANDA,
-  cereal::PandaState::PandaType::PEDAL,
-  cereal::PandaState::PandaType::UNO,
-  cereal::PandaState::PandaType::RED_PANDA_V2
+static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::RED_PANDA,
+  cereal::PandaState::PandaType::TRES,
+  cereal::PandaState::PandaType::CUATRO,
 };
 
 

selfdrive/pandad/pandad.py

@@ -29,6 +29,12 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
+  # skip flashing if the detected panda is not supported
+  supported_panda = check_panda_support(panda)
+  if not supported_panda:
+    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
+    return panda
+
   fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
 
@@ -36,12 +42,6 @@ def flash_panda(panda_serial: str) -> Panda:
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
 
-  # skip flashing if the detected device is deprecated from upstream
-  hw_type = panda.get_type()
-  if hw_type in Panda.DEPRECATED_DEVICES:
-    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
-    return panda
-
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
     panda.flash()
@@ -67,6 +67,14 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
+def check_panda_support(panda) -> bool:
+  hw_type = panda.get_type()
+  if hw_type in Panda.SUPPORTED_DEVICES:
+    return True
+
+  return False
+
+
 def main() -> None:
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
@@ -91,11 +99,6 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
-      # TODO: remove this in the next AGNOS
-      # wait until USB is up before counting
-      if time.monotonic() < 60.:
-        no_internal_panda_count = 0
-
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
@@ -145,6 +148,12 @@ def main() -> None:
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
       for panda in pandas:
+        # skip health check if the detected panda is not supported
+        supported_panda = check_panda_support(panda)
+        if not supported_panda:
+          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
+          continue
+
         # check health for lost heartbeat
         health = panda.health()
         if health["heartbeat_lost"]:

selfdrive/pandad/tests/test_pandad.py

@@ -22,8 +22,6 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
-    self.spi = HARDWARE.get_device_type() != 'tici'
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -106,11 +104,9 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7
 
   def test_protocol_version_check(self):
-    if not self.spi:
-      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,7 +6,6 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
-    if HARDWARE.get_device_type() == 'tici':
-      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,10 +29,6 @@
     "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
-  "Offroad_StorageMissing": {
-    "text": "NVMe drive not mounted.",
-    "severity": 1
-  },
   "Offroad_CarUnrecognized": {
     "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
@@ -49,5 +45,10 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
   }
 }

selfdrive/selfdrived/events.py

@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
     AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:

selfdrive/selfdrived/selfdrived.py

@@ -21,12 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,7 +95,8 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -134,13 +135,7 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    # some comma three with NVMe experience NVMe dropouts mid-drive that
-    # cause loggerd to crash on write, so ignore it only on that platform
-    self.ignored_processes = set()
-    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
-    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
-      self.ignored_processes = {'loggerd', }
-    self.ignored_processes.update({'mapd'})
+    self.ignored_processes = {'mapd', }
 
     # Determine startup event
     is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
@@ -162,6 +157,7 @@ class SelfdriveD(CruiseHelper):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -300,6 +296,13 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):
@@ -441,6 +444,8 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
+    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -545,6 +550,11 @@ class SelfdriveD(CruiseHelper):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
+    icbm = ss_sp.intelligentCruiseButtonManagement
+    icbm.state = self.icbm.state
+    icbm.sendButton = self.icbm.cruise_button
+    icbm.vTarget = self.icbm.v_target
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change

selfdrive/test/process_replay/process_replay.py

@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   if len(live_calibration) > 0:
     custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
   if len(live_parameters) > 0:
-    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
   if len(live_torque_parameters) > 0:
     custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6d3219bca9f66a229b38a5382d301a92b0147edb
+afcab1abb62b9d5678342956cced4712f44e909e

selfdrive/test/test_onroad.py

@@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -33,7 +32,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 280.  # total for all 8 cores
+MAX_TOTAL_CPU = 300.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -57,30 +56,20 @@ PROCS = {
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 2.0,
+  "system.proclogd": 3.0,
   "system.logmessaged": 1.0,
   "system.tombstoned": 0,
-  "./logcatd": 1.0,
+  "system.journald": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 1.0,
   "system.loggerd.uploader": 15.0,
   "system.loggerd.deleter": 1.0,
+  "./pandad": 19.0,
+  "system.qcomgpsd.qcomgpsd": 1.0,
 }
 
-PROCS.update({
-  "tici": {
-    "./pandad": 5.0,
-    "./ubloxd": 1.0,
-    "system.ubloxd.pigeond": 6.0,
-  },
-  "tizi": {
-     "./pandad": 19.0,
-    "system.qcomgpsd.qcomgpsd": 1.0,
-  }
-}.get(HARDWARE.get_device_type(), {}))
-
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],

selfdrive/ui/layouts/main.py

@@ -63,14 +63,20 @@ class MainLayout(Widget):
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
         self._sidebar.set_visible(False)
-      self._current_mode = MainState.ONROAD
+      self._set_current_layout(MainState.ONROAD)
     else:
-      self._current_mode = MainState.HOME
+      self._set_current_layout(MainState.HOME)
       self._sidebar.set_visible(True)
 
+  def _set_current_layout(self, layout: MainState):
+    if layout != self._current_mode:
+      self._layouts[self._current_mode].hide_event()
+      self._current_mode = layout
+      self._layouts[self._current_mode].show_event()
+
   def open_settings(self, panel_type: PanelType):
     self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
-    self._current_mode = MainState.SETTINGS
+    self._set_current_layout(MainState.SETTINGS)
     self._sidebar.set_visible(False)
 
   def _on_settings_clicked(self):

selfdrive/ui/layouts/network.py

@@ -1,17 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.network import WifiManagerUI
-
-
-class NetworkLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self.wifi_manager = WifiManagerWrapper()
-    self.wifi_ui = WifiManagerUI(self.wifi_manager)
-
-  def _render(self, rect: rl.Rectangle):
-    self.wifi_ui.render(rect)
-
-  def shutdown(self):
-    self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/firehose.py

@@ -2,7 +2,7 @@ import pyray as rl
 import time
 import threading
 
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets import Widget
-
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 TITLE = "Firehose Mode"
 DESCRIPTION = (
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
       dongle_id = self.params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()

selfdrive/ui/layouts/settings/settings.py

@@ -2,7 +2,6 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import WifiManagerUI
 
 # Settings close button
 SETTINGS_CLOSE_TEXT = "×"
@@ -43,7 +44,7 @@ class PanelType(IntEnum):
 @dataclass
 class PanelInfo:
   name: str
-  instance: object
+  instance: Widget
   button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
 
@@ -53,9 +54,12 @@ class SettingsLayout(Widget):
     self._current_panel = PanelType.DEVICE
 
     # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
     self._panels = {
       PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
       PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
       PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
       PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@@ -149,8 +153,14 @@ class SettingsLayout(Widget):
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
+      self._panels[self._current_panel].instance.hide_event()
       self._current_panel = panel_type
+      self._panels[self._current_panel].instance.show_event()
 
-  def close_settings(self):
-    if self._close_callback:
-      self._close_callback()
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._panels[self._current_panel].instance.hide_event()

selfdrive/ui/lib/api_helpers.py

@@ -0,0 +1,14 @@
+import time
+from functools import lru_cache
+from openpilot.common.api import Api
+
+TOKEN_EXPIRY_HOURS = 2
+
+
+@lru_cache(maxsize=1)
+def _get_token(dongle_id: str, t: int):
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
+def get_token(dongle_id: str):
+  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))

selfdrive/ui/lib/prime_state.py

@@ -2,14 +2,12 @@ from enum import IntEnum
 import os
 import threading
 import time
-from functools import lru_cache
 
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-
-TOKEN_EXPIRY_HOURS = 2
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 
 
 class PrimeType(IntEnum):
@@ -23,12 +21,6 @@ class PrimeType(IntEnum):
   PURPLE = 5,
 
 
-@lru_cache(maxsize=1)
-def get_token(dongle_id: str, t: int):
-  print('getting token')
-  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
-
-
 class PrimeState:
   FETCH_INTERVAL = 5.0  # seconds between API calls
   API_TIMEOUT = 10.0  # seconds for API requests
@@ -58,15 +50,13 @@ class PrimeState:
       return
 
     try:
-      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
+      identity_token = get_token(dongle_id)
       response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)
         prime_type = data.get("prime_type", 0)
         self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
-      elif response.status_code == 401:
-        get_token.cache_clear()
     except Exception as e:
       cloudlog.error(f"Failed to fetch prime status: {e}")
 

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,6 +4,9 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/driver_monitoring.cc

@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];

selfdrive/ui/sunnypilot/SConscript

@@ -39,6 +39,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
@@ -47,6 +48,7 @@ qt_src = [
 lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.cc

@@ -0,0 +1,86 @@
+/**
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.h"
+
+
+LaneTurnSettings::LaneTurnSettings(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton* back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+  // Lane Turn Desire Control
+  laneTurnDesireControl = new LaneTurnDesireControl();
+  laneTurnDesireControl->setUpdateOtherToggles(true);
+  laneTurnDesireControl->showDescription();
+  connect(laneTurnDesireControl, &OptionControlSP::updateLabels, laneTurnDesireControl, &LaneTurnDesireControl::refresh);
+  list->addItem(laneTurnDesireControl);
+
+  // Lane Turn Value control
+  bool is_metric = params.getBool("IsMetric");
+  int per_value_change = is_metric ? 62 : 100; // ~1 km/h or 1 mph
+  laneTurnValueControl = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric ? "km/h" : "mph"),
+    "", {500, 2000}, per_value_change, false, nullptr, true, true);
+  laneTurnValueControl->showDescription();
+  list->addItem(laneTurnValueControl);
+
+  // show/hide value control based on desire
+  connect(laneTurnDesireControl, &OptionControlSP::updateLabels, this, &LaneTurnSettings::updateValueControlVisibility);
+  connect(laneTurnValueControl, &OptionControlSP::updateLabels, this, &LaneTurnSettings::refreshLaneTurnValueControl);
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void LaneTurnSettings::showEvent(QShowEvent *event) {
+  updateValueControlVisibility();
+}
+
+void LaneTurnSettings::updateValueControlVisibility() {
+  QString option = QString::fromStdString(params.get("LaneTurnDesire"));
+  bool visible = (option != "0");
+  laneTurnValueControl->setVisible(visible);
+  if (visible) {
+    refreshLaneTurnValueControl();
+  }
+}
+
+void LaneTurnSettings::refreshLaneTurnValueControl() {
+  if (!laneTurnValueControl) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = is_metric ? stored_mph * 1.609344f : stored_mph;
+  laneTurnValueControl->setLabel(QString::number(qRound(display_value)) + " " + unit);
+}
+
+// Lane Turn Desire Control
+LaneTurnDesireControl::LaneTurnDesireControl() : OptionControlSP(
+  "LaneTurnDesire",
+  tr("Lane Turn Desires"),
+  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on, "
+     "the car will plan a turn in that direction at the nearest drivable path. "
+     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
+  "../assets/offroad/icon_shell.png",
+  {0, 2}) {
+  refresh();
+}
+
+void LaneTurnDesireControl::refresh() {
+  QString option = QString::fromStdString(params.get("LaneTurnDesire"));
+  static const QMap<QString, QString> options = {
+    {"0", tr("Off")},
+    {"1", tr("Nudge")},
+    {"2", tr("Nudgeless")},
+  };
+  setLabel(options.value(option, tr("Off")));
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.h

@@ -0,0 +1,45 @@
+/**
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class LaneTurnDesireControl : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  LaneTurnDesireControl();
+
+  void refresh();
+
+private:
+  Params params;
+};
+
+class LaneTurnSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LaneTurnSettings(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  void refreshLaneTurnValueControl();
+  void updateValueControlVisibility();
+
+private:
+  Params params;
+  std::map<std::string, ParamControlSP*> toggles;
+
+  LaneTurnDesireControl *laneTurnDesireControl;
+  OptionControlSP *laneTurnValueControl;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -59,7 +59,27 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
     sunnypilotScroller->restoreScrollPosition();
     main_layout->setCurrentWidget(sunnypilotScreen);
   });
-  list->addItem(laneChangeSettingsButton);
+
+  // Lane Turn Settings
+  laneTurnSettingsButton = new PushButtonSP(tr("Customize Lane Turn"));
+  laneTurnSettingsButton->setObjectName("lane_turn_btn");
+  connect(laneTurnSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(laneTurnWidget);
+  });
+
+  laneTurnWidget = new LaneTurnSettings(this);
+  connect(laneTurnWidget, &LaneTurnSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+
+  QWidget *laneButtonsWidget = new QWidget();
+  QHBoxLayout *laneButtonsLayout = new QHBoxLayout(laneButtonsWidget);
+  laneButtonsLayout->setContentsMargins(0, 0, 0, 0);
+  laneChangeSettingsButton->setFixedWidth(750); laneTurnSettingsButton->setFixedWidth(750);
+  laneButtonsLayout->addWidget(laneChangeSettingsButton); laneButtonsLayout->addWidget(laneTurnSettingsButton);
+  list->addItem(laneButtonsWidget);
 
   list->addItem(vertical_space(0));
   list->addItem(horizontal_line());
@@ -100,6 +120,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
   main_layout->addWidget(laneChangeWidget);
+  main_layout->addWidget(laneTurnWidget);
 
   setStyleSheet(R"(
     #back_btn {

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_turn_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -43,6 +44,8 @@ private:
   MadsSettings *madsWidget = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
+  PushButtonSP *laneTurnSettingsButton;
+  LaneTurnSettings *laneTurnWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
   BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
 

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -18,6 +18,23 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
+  intelligentCruiseButtonManagement = new ParamControlSP(
+    "IntelligentCruiseButtonManagement",
+    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
+    this
+  );
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  list->addItem(intelligentCruiseButtonManagement);
+
+  SmartCruiseControlVision = new ParamControl(
+    "SmartCruiseControlVision",
+    tr("Smart Cruise Control - Vision"),
+    tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
+    "");
+  list->addItem(SmartCruiseControlVision);
+
   customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
   list->addItem(customAccIncrement);
 
@@ -35,16 +52,22 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -56,7 +79,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -68,12 +91,20 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
   // enable toggle when long is available and is not PCM cruise
-  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+
   offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -23,10 +23,13 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
+  ParamControl *SmartCruiseControlVision;
+  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -101,7 +101,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
-
   list->addItem(horizontal_line());
 
   // LiveDelay toggle
@@ -110,23 +109,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(lagd_toggle_control);
 
   // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                         "\nThe default software delay value is 0.2"),
+                                      "", {5, 50}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -159,10 +145,6 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
-/**
- * @brief Updates the UI with bundle download progress information
- * Reads status from modelManagerSP cereal message and displays status for all models
- */
 void ModelsPanel::handleBundleDownloadProgress() {
   supercomboFrame->setVisible(false);
   visionFrame->setVisible(false);
@@ -401,34 +383,28 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
+    auto liveDelayBytes = params.get("LiveDelay");
     if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
+      auto LD = loadCerealEvent(params, "LiveDelay");
+      float lateralDelay = LD->getLiveDelay().getLateralDelay();
+      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
     }
   } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
+    auto carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
+      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+      float steerDelay = CP.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -9,6 +9,7 @@
 
 #include <QProgressBar>
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -81,5 +82,4 @@ private:
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc

@@ -11,12 +11,39 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+      auto current = params.get("GitBranch");
+      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+      QStringList branches;
+      for (const QString &b : allBranches) {
+        if (b.endsWith("-tici")) {
+          branches.append(b);
+        }
+      }
+
+      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
+        auto i = branches.indexOf(b);
+        if (i >= 0) {
+          branches.removeAt(i);
+          branches.insert(0, b);
+        }
+      }
+
+      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+      if (!selection.isEmpty()) {
+        params.put("UpdaterTargetBranch", selection.toStdString());
+        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+        checkForUpdates();
+      }
+    } else {
+      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
+    }
   });
 
   // Disable Updates toggle

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -35,6 +35,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
+    {
+      "StandstillTimer",
+      tr("Enable Standstill Timer"),
+      tr("Show a timer on the HUD when the car is at a standstill."),
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
   };
 
   // Add regular toggles first
@@ -72,6 +79,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -90,4 +106,7 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -28,4 +28,5 @@ protected:
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.cc

@@ -0,0 +1,227 @@
+/**
+ * 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.
+ */
+#include <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h

@@ -0,0 +1,31 @@
+/**
+ * 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.
+ */
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h

@@ -0,0 +1,19 @@
+/**
+ * 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.
+ */
+#pragma once
+
+#include <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -4,15 +4,310 @@
  * 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.
  */
+#include <QPainterPath>
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
+
+  standstillTimer = s.scene.standstill_timer;
+  isStandstill = car_state.getStandstill();
+  longOverride = car_control.getCruiseControl().getOverride();
+  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Smart Cruise Control
+    int x_offset = -260;
+    int y1_offset = -80;
+    // int y2_offset = -140;  // reserved for 2 icons
+
+    bool scc_vision_active_pulse = pulseElement(smartCruiseControlVisionFrame);
+    if ((smartCruiseControlVisionEnabled && !smartCruiseControlVisionActive) || (smartCruiseControlVisionActive && scc_vision_active_pulse)) {
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y1_offset, "SCC-V");
+    }
+
+    if (smartCruiseControlVisionActive) {
+      smartCruiseControlVisionFrame++;
+    } else {
+      smartCruiseControlVisionFrame = 0;
+    }
+
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+
+    // Standstill Timer
+    if (standstillTimer) {
+      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+bool HudRendererSP::pulseElement(int frame) {
+  if (frame % UI_FREQ < (UI_FREQ / 2.5)) {
+    return false;
+  }
+
+  return true;
+}
+
+void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
+  int x = surface_rect.center().x();
+  int y = surface_rect.height() / 4;
+
+  QString text = QString::fromStdString(name);
+  QFont font = InterFont(36, QFont::Bold);
+  p.setFont(font);
+
+  QFontMetrics fm(font);
+
+  int padding_v = 5;
+  int box_width = 160;
+  int box_height = fm.height() + padding_v * 2;
+
+  QRectF bg_rect(x - (box_width / 2) + x_offset,
+                 y - (box_height / 2) + y_offset,
+                 box_width, box_height);
+
+  QPainterPath boxPath;
+  boxPath.addRoundedRect(bg_rect, 10, 10);
+
+  int text_w = fm.horizontalAdvance(text);
+  qreal baseline_y = bg_rect.top() + padding_v + fm.ascent();
+  qreal text_x = bg_rect.center().x() - (text_w / 2.0);
+
+  QPainterPath textPath;
+  textPath.addText(QPointF(text_x, baseline_y), font, text);
+  boxPath = boxPath.subtracted(textPath);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(longOverride ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0xff, 0, 0xff));
+  p.drawPath(boxPath);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(Qt::white);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
+}
+
+void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
+  if (isStandstill) {
+    standstillElapsedTime += 1.0 / UI_FREQ;
+
+    int minute = static_cast<int>(standstillElapsedTime / 60);
+    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+
+    // stop sign for standstill timer
+    const int size = 190;  // size
+    const float angle = M_PI / 8.0;
+
+    QPolygon octagon;
+    for (int i = 0; i < 8; i++) {
+      float curr_angle = angle + i * M_PI / 4.0;
+      int point_x = x + size / 2 * cos(curr_angle);
+      int point_y = y + size / 2 * sin(curr_angle);
+      octagon << QPoint(point_x, point_y);
+    }
+
+    p.setPen(QPen(Qt::white, 6));
+    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
+    p.drawPolygon(octagon);
+
+    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
+    p.setFont(InterFont(55, QFont::Bold));
+    p.setPen(Qt::white);
+    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
+    timerTextRect.moveCenter({x, y});
+    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
+  } else {
+    standstillElapsedTime = 0.0;
+  }
 }

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -18,4 +17,50 @@ public:
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+  void drawStandstillTimer(QPainter &p, int x, int y);
+  bool pulseElement(int frame);
+  void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
+  bool standstillTimer;
+  bool isStandstill;
+  float standstillElapsedTime;
+  bool longOverride;
+  bool smartCruiseControlVisionEnabled;
+  bool smartCruiseControlVisionActive;
+  int smartCruiseControlVisionFrame;
 };

selfdrive/ui/sunnypilot/qt/util.cc

@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
   }
   return search_results;
 }
+
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
+  std::string bytes = params.get(_param);
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
+    return cmsg.getRoot<cereal::Event>();
+  } catch (kj::Exception& e) {
+    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}

selfdrive/ui/sunnypilot/qt/util.h

@@ -15,8 +15,11 @@
 #include <QRegularExpression>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/ui.h"
+
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);

selfdrive/ui/sunnypilot/ui.cc

@@ -18,13 +18,23 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
+    "carStateSP", "liveParameters"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
+
+  // Param watcher for UIScene param updates
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    ui_update_params_sp(this);
+  });
+  param_watcher->addParam("DevUIInfo");
+  param_watcher->addParam("StandstillTimer");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -39,6 +49,12 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
+void ui_update_params_sp(UIStateSP *s) {
+  auto params = Params();
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+  s->scene.standstill_timer = params.getBool("StandstillTimer");
+}
+
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);

selfdrive/ui/sunnypilot/ui.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -73,6 +74,7 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
+  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -92,3 +94,5 @@ private:
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
+
+void ui_update_params_sp(UIStateSP *s);

selfdrive/ui/sunnypilot/ui_scene.h

@@ -0,0 +1,13 @@
+/**
+  * 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.
+ */
+
+#pragma once
+
+typedef struct UISceneSP : UIScene {
+  int dev_ui_info = 0;
+  bool standstill_timer = false;
+} UISceneSP;

selfdrive/ui/tests/test_ui/run.py

@@ -29,7 +29,7 @@ UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
+OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ]
 DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
   "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",

selfdrive/ui/ui.cc

@@ -55,8 +55,7 @@ void update_state(UIState *s) {
   }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
+    scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f);
   } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
     scene.light_sensor = -1;
   }

selfdrive/ui/ui.h

@@ -66,6 +66,11 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/ui_scene.h"
+#define UIScene UISceneSP
+#endif
+
 class UIState : public QObject {
   Q_OBJECT
 

selfdrive/ui/ui_state.py

@@ -105,10 +105,7 @@ class UIState:
     # Handle wide road camera state updates
     if self.sm.updated["wideRoadCameraState"]:
       cam_state = self.sm["wideRoadCameraState"]
-
-      # Scale factor based on sensor type
-      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
-      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
+      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 

sunnypilot/__init__.py

@@ -0,0 +1,7 @@
+"""
+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.
+"""
+PARAMS_UPDATE_PERIOD = 3  # seconds

sunnypilot/modeld/fill_model_msg.py

@@ -3,6 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -120,23 +121,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2_action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  PLAN_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)

sunnypilot/modeld/modeld.py

@@ -177,7 +177,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -304,6 +304,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
@@ -316,6 +317,7 @@ def main(demo=False):
       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.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -323,6 +325,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
 
     last_vipc_frame_id = meta_main.frame_id
 

sunnypilot/modeld_v2/fill_model_msg.py

@@ -3,6 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -118,8 +119,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action (includes lateral planning now)
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = []
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)

sunnypilot/modeld_v2/modeld.py

@@ -27,7 +27,7 @@ from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
 class FrameMeta:
@@ -77,42 +77,47 @@ class ModelState(ModelStateBase):
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
         # Temporal input: shape is [batch, history, features]
         if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
           feature_len = shape[2]
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
           features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
           if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            buffer_history_len = (features_buffer_shape[1] + 1) * 4
             step = int(-buffer_history_len / shape[1])
             self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
           elif shape[1] == 25:  # Split
             skip = buffer_history_len // shape[1]
             self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] == buffer_history_len:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
+          elif shape[1] >= 99:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(shape[1])
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def desire_key(self) -> str:
+    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
-    self.temporal_buffers['desire'][0,-1] = new_desire
+    inputs[self.desire_key][0] = 0
+    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
+    self.temporal_buffers[self.desire_key][0,-1] = new_desire
 
     # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
-      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
-      self.numpy_inputs['desire'][:] = (
-        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
+      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
+      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
+                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
     else:
-      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
+      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
 
     for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
+      if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
@@ -156,10 +161,11 @@ class ModelState(ModelStateBase):
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
     desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
-    if v_ego > self.MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 
@@ -202,7 +208,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -306,7 +312,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
@@ -322,6 +328,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -336,6 +343,7 @@ def main(demo=False):
       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.modelDataV2SP.laneTurnDirection = DH.lane_turn_controller.turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -343,6 +351,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py

@@ -8,12 +8,16 @@ import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
 
 ModelState = modeld_module.ModelState
 
-
 # These are the shapes extracted/loaded from the model onnx
 SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
+  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
 ]
 
 
@@ -95,9 +99,7 @@ def get_expected_indices(shape, constants, mode, key=None):
     idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
     return idxs
   elif mode == 'non20hz':
-    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
-      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    return None
+    return np.arange(shape[1])
   return None
 
 
@@ -108,6 +110,8 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
   for key in shapes:
     buf = state.temporal_buffers.get(key, None)
     idxs = state.temporal_idxs_map.get(key, None)
+    if buf is None:
+      continue    # not all shapes are 3D, and the non-3D ones are not buffered
     # Buffer shape logic
     if mode == 'split':
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
@@ -116,10 +120,7 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
     elif mode == 'non20hz':
-      if key == 'features_buffer':
-        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
-      else:
-        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_shape = (1, shapes[key][1], shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
 
     assert buf is not None, f"{key}: buffer not found"
@@ -130,10 +131,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
 
 
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
   # This is what we compare the new dynamic logic to, to ensure it does the same thing
   if mode == 'split':
-    if key == 'desire':
+    if key == 'desire' or key.startswith('desire'):
       buf[0,:-1] = buf[0,1:]
       buf[0,-1] = new_val
       return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
@@ -173,15 +174,22 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
       return legacy_buf[idxs]
   elif mode == 'non20hz':
     if key == 'desire':
-      length = new_val.shape[0]
-      buf[0,:-1,:length] = buf[0,1:,:length]
-      buf[0,-1,:length] = new_val[:length]
+      desire_len = constants.DESIRE_LEN
+      if prev_desire is None:
+        prev_desire = np.zeros(desire_len, dtype=np.float32)
+      # Set first element to zero
+      new_val = new_val.copy()
+      new_val[0] = 0
+      # Shift buffer by desire len
+      buf[0][:-desire_len] = buf[0][desire_len:]
+      # Only insert new desire if rising edge
+      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
+      prev_desire[:] = new_val
       return buf[0]
     elif key == 'features_buffer':
-      feature_len = new_val.shape[0]
-      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
-      buf[0,-1,:feature_len] = new_val[:feature_len]
-      return buf[0]
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1] = new_val
+      return buf[0, -input_shape[1]:]  # (99, 512)
     elif key == 'prev_desired_curv':
       length = new_val.shape[0]
       buf[0,:-length,0] = buf[0,length:,0]
@@ -191,32 +199,18 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
 
 
 def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire':
-    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
-    state.temporal_buffers['desire'][0,-1] = new_val
-    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
-      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
-      return state.temporal_buffers['desire'][0].reshape(
-        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
-      ).max(axis=2)
-    else:
-      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
-
-  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
-  for k, tb in state.temporal_buffers.items():
-    if k in state.temporal_idxs_map:
-      continue
-    buf_len = tb.shape[1]
-    if k in state.numpy_inputs:
-      out_len = state.numpy_inputs[k].shape[1]
-      if out_len <= buf_len:
-        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
-      else:
-        state.temporal_idxs_map[k] = np.arange(buf_len)
-    else:
-      state.temporal_idxs_map[k] = np.arange(buf_len)
+  if key == 'desire' or key.startswith('desire'):
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != key}
+    inputs[key] = new_val.copy()
+    # ModelState.run expects desire as a pulse, so we zero the first element.
+    inputs[key][0] = 0
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs[key]
 
   if key == 'features_buffer':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
     def run_model_stub():
       return {
         'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
@@ -226,6 +220,8 @@ def dynamic_buffer_update(state, key, new_val, mode):
     return state.numpy_inputs['features_buffer'][0]
 
   if key == 'prev_desired_curv':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
     def run_model_stub():
       return {
         'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
@@ -241,16 +237,27 @@ def dynamic_buffer_update(state, key, new_val, mode):
 @pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
   state = ModelState(None)
+  if key == "desire":
+    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
+    if desire_keys:
+      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
+  else:
+    actual_key = key
+
+  if actual_key not in state.numpy_inputs:
+    pytest.skip()
+
   constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(key, None)
-  idxs = state.temporal_idxs_map.get(key, None)
-  input_shape = shapes[key]
+  buf = state.temporal_buffers.get(actual_key, None)
+  idxs = state.temporal_idxs_map.get(actual_key, None)
+  input_shape = shapes[actual_key]
+  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
+
   for step in range(20):    # multiple steps to ensure history is built up
     new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
-    actual = dynamic_buffer_update(state, key, new_val, mode)
-    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
+    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
     if expected is not None and actual is not None and expected.shape != actual.shape:
       if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
         expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
+    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"

sunnypilot/models/fetcher.py

@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import time
 
 import requests
+from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from sunnypilot.models.helpers import is_bundle_version_compatible
@@ -122,19 +123,36 @@ class ModelFetcher:
     self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
 
-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
-    """Fetches fresh model data from remote and updates cache"""
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
+    """Fetches fresh model data from remote and updates cache.
+    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
+    """
     try:
       response = requests.get(self.MODEL_URL, timeout=10)
-      response.raise_for_status()
-      json_data = response.json()
 
+      # Explicitly handle 404 differently
+      if response.status_code == 404:
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+
+      # Raise for any other 4xx/5xx
+      response.raise_for_status()
+
+      json_data = response.json()
       self.model_cache.set(json_data)
       cloudlog.debug("Successfully updated models cache")
       return self.model_parser.parse_models(json_data)
-    except Exception:
-      cloudlog.exception("Error fetching models")
-      raise
+
+    except ConnectionError as e:
+      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
+    except SSLError as e:
+      cloudlog.warning(f"SSL error while fetching models: {e}")
+    except RequestException as e:
+      cloudlog.warning(f"Request transport error while fetching models: {e}")
+    except Exception as e:
+      cloudlog.exception(f"Unexpected error fetching models: {e}")
+
+    return None
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
@@ -144,12 +162,12 @@ class ModelFetcher:
       cloudlog.debug("Using valid cached models data")
       return self.model_parser.parse_models(cached_data)
 
-    try:
-      return self._fetch_and_cache_models()
-    except Exception:
-      if not cached_data:
-        cloudlog.exception("Failed to fetch fresh data and no cache available")
-        raise
+    fetched_bundles = self._fetch_and_cache_models()
+    if fetched_bundles is not None:
+      return fetched_bundles
+
+    if not cached_data:
+      cloudlog.warning("Failed to fetch fresh data and no cache available")
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 10
 REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
@@ -185,3 +185,27 @@ def load_meta_constants(model_metadata):
       meta = MetaTombRaider
 
   return meta
+
+
+# The following method(s) are modeld helper methods
+def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
+  # times at X_IDXS according to plan.
+  LINE_T_IDXS = [np.nan] * constants.IDX_N
+  LINE_T_IDXS[0] = 0.0
+  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
+  for xidx in range(1, constants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == constants.IDX_N - 1:
+      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx + 1]
+    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
+      next_x_val - current_x_val) > 1e-9 else float('nan')
+    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
+  return LINE_T_IDXS