Refactor param assignment to use instance variable

Changed param assignments in signal handlers to utilize the `self.params` instance variable. This ensures consistency and improves code readability by avoiding reliance on the global `params` object.

.github/labeler.yaml

@@ -44,7 +44,7 @@ subaru:
 
 tesla:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
 
 toyota:
   - changed-files:

.github/workflows/badges.yaml

@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:

.github/workflows/ci_weekly_report.yaml

@@ -10,30 +10,38 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
 jobs:
   setup:
     if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
+      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
     steps:
       - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
         run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
+          CI_RUNS=${{ inputs.ci_runs || '50' }}
+          mylist="value=["
 
+          for i in $(seq 1 $CI_RUNS);
+          do
+              if [ $i != $CI_RUNS ]; then
+                  mylist+="\"$i\", "
+              else
+                  mylist+="\"$i\"]"
+              fi
+          done
+
+          echo "$mylist" >> $GITHUB_OUTPUT
+          echo "Number of CI runs for report: $CI_RUNS"
   ci_matrix_run:
     needs: [ setup ]
     strategy:
       fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+      matrix:
+        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
     uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
-      run_number: ${{ matrix.run_number }}
+      run_number: ${{ matrix.value }}
 
   report:
     needs: [ci_matrix_run]
@@ -54,48 +62,62 @@ jobs:
               })
             var report = {}
             jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
+              const jobName = job.name.split('/')[2].trim();
               report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
               switch (job.conclusion) {
                 case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
+                  report[jobName].successes.push(job.html_url); break;
                 case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
+                  report[jobName].failures.push(job.html_url); break;
                 case "cancelled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                  report[jobName].cancelled.push(job.html_url); break;
               }
             });
-            return JSON.stringify({"jobs": report});
+            return JSON.stringify(report);
 
       - name: Add job results to summary
         env:
           JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
         run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
+          echo $JOB_RESULTS > job_results.json
+          generate_html_table() {
+            echo "<table>"
+            echo "<thead>"
+            echo "  <tr>"
+            echo "    <th>Job</th>"
+            echo "    <th>Succeeded ✅</th>"
+            echo "    <th>Failed ❌</th>"
+            echo "    <th>Cancelled (timed out) ⏰</th>"
+            echo "  </tr>"
+            echo "</thead>"
+            jq -r '
+              "<tbody>",
+              keys[] as $job |
+              "<tr>",
+              "  <td>\($job)</td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].successes | length))</summary>",
+              "      \(.[$job].successes[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].failures | length))</summary>",
+              "      \(.[$job].failures[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].cancelled | length))</summary>",
+              "      \(.[$job].cancelled[])<br>",
+              "    </details>",
+              "  </td>",
+              "</tr>"
+            ' job_results.json
+            echo  "</tbody>"
+            echo  "</table>"
+          }
+          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
+          generate_html_table >> $GITHUB_STEP_SUMMARY
 
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY

.github/workflows/docs.yaml

@@ -15,24 +15,31 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
 jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 1
+    timeout-minutes: 45
+    if: false  # TODO: replace this with the new docs
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-
-    # Build
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Build docs
       run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
 
-    # Push to docs.comma.ai
     - uses: actions/checkout@v4
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
@@ -47,17 +54,16 @@ jobs:
         source release/identity.sh
 
         cd openpilot-docs
+
         git checkout --orphan tmp
         git rm -rf .
 
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
+        cp -r ../build/docs/html/ docs/
+        cp -r ../docs/README.md .
         touch docs/.nojekyll
         echo -n docs.comma.ai > docs/CNAME
-
         git add -f .
+
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size

.github/workflows/jenkins-pr-trigger.yaml

@@ -1,45 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}

.github/workflows/mirror_to_gitlab.yaml

@@ -29,7 +29,7 @@ jobs:
           git config --global user.email 'action@github.com'
 
       - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
+        uses: webfactory/ssh-agent@v0.5.3
         with:
           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
@@ -37,10 +37,19 @@ jobs:
         run: |
           ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
 
-      # Note: If you have issues with "push rejected missing LFS" or something make sure you disabled LFS on the GITLAB repo if you intend to use a different LFS repo other than the target repo.
       - name: Sync and commit changes
         id: sync-and-commit
         run: |
+          git lfs pull
+
           # Add GitLab remote
           git remote add gitlab git@gitlab.com:sunnypilot/sunnyhaibin/sunnypilot-github-mirror.git
-          git push -u --force gitlab ${{ github.ref }}
+
+          # Fetch from GitLab and check if the branch exists
+          if git fetch gitlab ${{ github.ref }}; then
+              # Merge changes from GitLab if the branch exists
+              git merge gitlab/${{ github.ref_name }} --allow-unrelated-histories --strategy-option=theirs
+          else
+              echo "Branch does not exist on GitLab, skipping merge."
+          fi
+          git push -u gitlab ${{ github.ref }} # If you have issues with "push rejected missing LFS" or something. Make sure you disabled LFS on the GITLAB repo if you intend to use a different LFS repo other than the target repo

.github/workflows/repo-maintenance.yaml

@@ -46,13 +46,17 @@ jobs:
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
+        commit-message: Update Python packages and pre-commit hooks
+        title: '[bot] Update Python packages and pre-commit hooks'
         branch: auto-package-updates
         base: master
         delete-branch: true

.github/workflows/selfdrive_tests.yaml

@@ -25,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -45,6 +45,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -61,22 +62,20 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
-      timeout-minutes: 1
+    - name: pre-commit
+      timeout-minutes: 3
       run: |
         cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
       with:
@@ -85,7 +84,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
@@ -94,7 +93,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   build_mac:
-    name: build macOS
+    name: build macos
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v4
@@ -104,36 +103,11 @@ jobs:
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
+        SKIP_PROMPT: 1
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Getting scons cache
-      uses: 'actions/cache@v4'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+    - name: Test openpilot environment
+      run: . .venv/bin/activate && scons -h
 
   static_analysis:
     name: static analysis
@@ -144,12 +118,13 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+    - name: pre-commit
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   unit_tests:
     name: unit tests
@@ -335,10 +310,8 @@ jobs:
             })
 
   create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
         with:
@@ -355,5 +328,55 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event.number }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
+          name: report-${{ inputs.run_number }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+      - name: Get changes to selfdrive/ui
+        if: ${{ github.event_name == 'pull_request' }}
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+         files: |
+            selfdrive/ui/**
+      - name: Checkout ci-artifacts
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+      - name: Push Screenshots
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          git add .
+          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
+          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
+      - name: Comment Screenshots on PR
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.pull_request.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/setup-pre-commit/action.yaml

@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

.github/workflows/stale.yaml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14
 
 jobs:
   stale:

.github/workflows/tools_tests.yaml

@@ -21,7 +21,7 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 
 jobs:
@@ -74,6 +74,12 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
       run: uv run scons -u -j$(nproc)
+    - name: Saving scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer

.github/workflows/ui_preview.yaml

@@ -1,91 +0,0 @@
-name: "ui preview"
-on:
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/ui/**'
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui test to start
-        run: sleep 30
-
-      - name: Wait for ui report
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Get workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Checkout ci-artifacts
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-          ref: master
-
-      - name: Download artifact
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: report-${{ github.event.number }}
-          path: ${{ github.workspace }}/ci-artifacts
-
-      - name: Push Screenshots
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git checkout -b openpilot/pr-${{ github.event.number }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git add ${{ github.workspace }}/ci-artifacts/*
-          git commit -m "screenshots for PR #${{ github.event.number }}"
-          git push origin openpilot/pr-${{ github.event.number }} --force
-
-      - name: Comment Screenshots on PR
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Screenshots
-            <table>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
-              </tr>
-              <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
-              </tr>
-            </table>
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -14,8 +14,6 @@ model2.png
 a.out
 .hypothesis
 
-/docs_site/
-
 *.dylib
 *.DSYM
 *.d
@@ -105,4 +103,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
+.ionide

.gitmodules

@@ -2,17 +2,20 @@
   path = panda
   url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  path = opendbc
+  url = https://github.com/sunnyhaibin/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = https://github.com/commaai/body.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/geohot/tinygrad.git

.importlinter

@@ -1,41 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-unmatched_ignore_imports_alerting = warn

.pre-commit-config.yaml

@@ -0,0 +1,98 @@
+exclude: '^(tinygrad_repo)'
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(third_party)/'
+    -   id: check-json
+        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-added-large-files
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        args:
+        - --maxkb=120
+        - --enforce-all
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.5.0
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: mypy
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
+        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.2
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: pytest selfdrive/ui/tests/test_translations.py
+        language: system
+        pass_filenames: false
+        files: '^selfdrive/ui/translations/'
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.6
+    hooks:
+    -   id: check-github-workflows

CHANGELOGS.md

@@ -5,25 +5,15 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Synced with commaai's openpilot
   * master commit 4ef757c (July 06, 2024)
 * NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
   * Select from three distinct acceleration personalities: Eco, Normal, and Sport
   * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
-* NEW❗: Toyota - Drive Mode Selector
-  *  When enabled you can control acceleration personality just with press of button!
-* UPDATED: Dynamic Experimental Control
-  * Switched to weighted moving averages to enhance responsiveness to recent data.
-  * Goal is to improve real-time detection accuracy in dynamic conditions.
-  * Capable of handling the increased complexity that comes with this approach.
-  * Particularly beneficial in environments where recent changes are critical to performance.
 * NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
   * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
   * Personalities adapt in real-time to your speed and the distance to the lead car
   * Provides a more responsive and tailored driving experience compared to predefined settings
 * UPDATED: Driving Personality: Updated mode names
   * Aggressive, Moderate, Standard, Relaxed
-* NEW❗: Hyundai CAN: Enable Cruise Main by Default
-  * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS
-  * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu
 * NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
   * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
   * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
@@ -33,14 +23,11 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
     * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
     * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
   * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
-  * Re-tuned and tested by the community (September 29, 2024)
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
+  * Re-tuned and tested by the community (July 1, 2024)
 * UPDATED: Driving Model Selector v5
   * NEW❗: Driving Model additions
     * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Neural Network Lateral Control (NNLC)
-  * NEW❗: Remove Lateral Jerk Response (Alpha)
-  * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
 * UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
   * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
@@ -50,18 +37,11 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
 * FIXED: Driving Personality:
   * Maniac mode now correctly enforced when selected
-* FIXED: Experimental Model Distance Button Hold
-  * Experimental Model toggle with distance button hold no longer changes Personality
-  * Personality setting remains consistent when switching between Chill and Experimental Mode
 * UI Updates
   * Display Metrics Below Chevron
     * NEW❗: Time to Lead Car
       * Displays the time to reach the position previously occupied by the lead car
     * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
-* Ford F-150 2022-23 support
-* Ford F-150 Lightning 2021-23 support
-* Ford Mustang Mach-E 2021-23 support
-* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
 * Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
 
 sunnypilot - 0.9.7.1 (2024-06-13)
@@ -99,8 +79,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
   * Force sunnypilot in the offroad state even when the car is on
   * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
   * To engage/disengage Force Offroad, go to Settings -> Device panel
-* NEW❗: Ford CAN-FD longitudinal
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
   * NEW❗: New "Off" option to disable lane change by blinker
 * UPDATED: Pause Lateral Below Speed with Blinker
@@ -108,8 +86,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
     * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal
   * Auto-enable radar tracks on platforms with applicable Mando radar
-* UPDATED: Hyundai CAN-FD Radar-based SCC
-  * Longitudinal support for CAN-FD Radar-based SCC cars
 * UPDATED: Hyundai CAN-FD Camera-based SCC
   * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
     * Improve lead tracking when using openpilot longitudinal

HOW-TOS.md

@@ -1,77 +0,0 @@
-# How Tos
-This page is a repository of useful how-tos as a supplement for additional information.
-
-Table of Contents
-=======================
-
-* [Radar Tracks](#Radar-Tracks)
-    * [Enable Radar Tracks](#-Enable-Radar-Tracks)
-* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation)
-
----
-
-<details><summary><h3>📡 Radar Tracks</h3></summary>
-
-Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm).
-
-Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
-Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
-endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
-firmware versions. If you want to try on a new radar, make sure to note the default config value
-in case it is different from the other radars and you need to revert the changes.
-After changing the config the car should not show any faults when openpilot is not running.
-These config changes are persistent across car reboots. You need to run this script again
-to go back to the default values.
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-**How radar points can be used along with vision:**
-* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
-
-### 🚨 Enable Radar Tracks
-
-***(EXPERIMENTAL, as of January 1st, 2022)***
-
-***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)***
-
-*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))*
-
-**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
-
-1. Ensure the car is at the `OFF` ignition position.
-2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON.
-3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH))
-4. In the SSH terminal after successfully connected to your comma device, execute the following commands:
-    1. `pkill -f openpilot`
-    2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py`
-    3. Follow the instructions in the script:
-        * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`.
-            * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`.
-            * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-    4. Reboot your comma device:
-        1. C3: `sudo reboot`
-        2. C2 or EON: `reboot`
-5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
-6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai).
-7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`.
-8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled.
-</details>
-
-<details><summary><h3>🗺 Enable Mapbox Navigation</h3></summary>
-
-1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier.
-2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.**
-3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address.
-4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field.
-5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations.
-6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.<br>*At this time, it is not possible to search directly on the C3.*
-
-**TIPS:**
-- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it.
-- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places.
-- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.)
-
-**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.)
-
-***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.*
-</details>

Jenkinsfile

@@ -83,7 +83,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
+        timeout(time: 20, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }

README.md

@@ -223,7 +223,7 @@ The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driv
 * `SET-` button enables ACC/SCC
 * `CANCEL` button only disables ACC/SCC
 * `CRUISE (MAIN)` must be `ON` to use ACC/SCC
-* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
+* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**
 
 ### Disengage Lateral ALC on Brake Press Mode toggle
 Dedicated toggle to handle Lateral state on brake pedal press and release:

SConstruct

@@ -110,6 +110,7 @@ if arch == "larch64":
 
   libpath = [
     "/usr/local/lib",
+    "/usr/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
   ]
@@ -177,6 +178,7 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 if not GetOption('stock_ui'):
@@ -216,6 +218,7 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
+    "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#msgq",
@@ -243,7 +246,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -283,8 +286,7 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
+Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
@@ -328,7 +330,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -377,6 +379,7 @@ Export('messaging')
 
 # Build other submodules
 SConscript([
+  'body/board/SConscript',
   'opendbc/can/SConscript',
   'panda/SConscript',
 ])

cereal/car.capnp

@@ -137,7 +137,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitPreActive @139;
     speedLimitConfirmed @140;
     torqueNNLoad @141;
-    hyundaiRadarTracksAvailable @142;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -251,7 +250,7 @@ struct CarState {
   struct CustomStockLong {
     cruiseButton @0 :Int16;
     finalSpeedKph @1 :Float32;
-    vCruiseKphPrevDEPRECATED @2 :Float32;
+    vCruiseKphPrev @2 :Float32;
     targetSpeed @3 :Float32;
     vSetDis @4 :Float32;
     speedDiff @5 :Float32;

cereal/custom.capnp

@@ -16,7 +16,6 @@ enum LongitudinalPersonalitySP {
   moderate @1;
   standard @2;
   relaxed @3;
-  overtake @4;
 }
 
 enum AccelerationPersonality {
@@ -35,17 +34,11 @@ enum ModelGeneration {
   five @5;
 }
 
-enum MpcSource {
-  acc @0;
-  blended @1;
-}
-
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
   personality @8 :LongitudinalPersonalitySP;
   dynamicPersonality @9 :Bool;
   accelPersonality @10 :AccelerationPersonality;
-  overtakingAccelerationAssist @11 :Bool;
 
   lateralControlState :union {
     indiState @1 :LateralINDIState;
@@ -97,10 +90,8 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
   desiredTF @13 :Float32;
   notSpeedLimit @14 :Int16;
   e2eX @15 :List(Float32);
-  e2eBlendedDEPRECATED @18 :Text;
+  e2eBlended @18 :Text;
   e2eStatus @22 :Bool;
-  mpcSource @23 :MpcSource;
-  dynamicExperimentalControl @24 :Bool;
 
   distToTurn @7 :Float32;
   turnSpeed @8 :Float32;

cereal/log.capnp

@@ -137,6 +137,8 @@ struct FrameData {
   requestId @28 :UInt32;
   encodeId @1 :UInt32;
 
+  frameType @7 :FrameType;
+
   # Timestamps
   timestampEof @2 :UInt64;
   timestampSof @8 :UInt64;
@@ -156,7 +158,7 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameTypeDEPRECATED {
+  enum FrameType {
     unknown @0;
     neo @1;
     chffrAndroid @2;
@@ -173,7 +175,6 @@ struct FrameData {
 
   frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
-  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
   lensSagDEPRECATED @12 :Float32;
@@ -336,9 +337,9 @@ enum LaneChangeDirection {
 
 struct CanData {
   address @0 :UInt32;
+  busTime @1 :UInt16;
   dat     @2 :Data;
   src     @3 :UInt8;
-  busTimeDEPRECATED @1 :UInt16;
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
@@ -1251,38 +1252,6 @@ struct LiveLocationKalman {
   }
 }
 
-
-struct LivePose {
-  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
-  orientationNED @0 :XYZMeasurement;
-  velocityDevice @1 :XYZMeasurement;
-  accelerationDevice @2 :XYZMeasurement;
-  angularVelocityDevice @3 :XYZMeasurement;
-
-  inputsOK @4 :Bool = false;
-  posenetOK @5 :Bool = false;
-  sensorsOK @6 :Bool = false;
-
-  filterState @7 :FilterState;
-
-  struct XYZMeasurement {
-    x @0 :Float32;
-    y @1 :Float32;
-    z @2 :Float32;
-    xStd @3 :Float32;
-    yStd @4 :Float32;
-    zStd @5 :Float32;
-    valid @6 :Bool;
-  }
-
-  struct FilterState {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-    valid @2 : Bool;
-  }
-}
-
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2324,7 +2293,6 @@ struct Event {
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
-    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;

cereal/messaging/__init__.py

@@ -2,8 +2,7 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
-import msgq
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
 
 import os
 import capnp
@@ -18,12 +17,8 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 

cereal/messaging/tests/test_messaging.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@@ -5,8 +6,8 @@ import numbers
 import random
 import threading
 import time
+import unittest
 from parameterized import parameterized
-import pytest
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -27,6 +28,12 @@ def zmq_sleep(t=1):
   if "ZMQ" in os.environ:
     time.sleep(t)
 
+def zmq_expected_failure(func):
+  if "ZMQ" in os.environ:
+    return unittest.expectedFailure(func)
+  else:
+    return func
+
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -51,12 +58,12 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
+class TestMessaging(unittest.TestCase):
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
     if "ZMQ" in os.environ:
-      pytest.skip()
+      raise unittest.SkipTest
 
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
@@ -68,9 +75,9 @@ class TestMessaging:
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
+    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
+    self.assertFalse(msg.valid)
+    self.assertEqual(evt, msg.which())
 
   @parameterized.expand(events)
   def test_pub_sock(self, evt):
@@ -92,8 +99,8 @@ class TestMessaging:
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
+    self.assertIsInstance(msgs, list)
+    self.assertEqual(len(msgs), 0)
 
     # no wait but msgs are queued up
     num_msgs = random.randrange(3, 10)
@@ -101,9 +108,9 @@ class TestMessaging:
       pub_sock.send(messaging.new_message(sock).to_bytes())
     time.sleep(0.1)
     msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
+    self.assertIsInstance(msgs, list)
+    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
+    self.assertEqual(len(msgs), num_msgs)
 
   def test_recv_sock(self):
     sock = "carState"
@@ -113,14 +120,14 @@ class TestMessaging:
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # no wait and one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     time.sleep(0.01)
     recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     # https://github.com/python/mypy/issues/13038
     assert_carstate(msg.carState, recvd.carState)
 
@@ -132,16 +139,16 @@ class TestMessaging:
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
+  @zmq_expected_failure
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
@@ -150,13 +157,13 @@ class TestMessaging:
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
+    self.assertTrue(recvd is None)
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
   def test_recv_one_retry(self):
@@ -172,7 +179,7 @@ class TestMessaging:
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
       time.sleep(sock_timeout*15)
-      assert p.is_alive()
+      self.assertTrue(p.is_alive())
       p.terminate()
 
     # wait 15 socket timeouts before sending
@@ -180,6 +187,9 @@ class TestMessaging:
     delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*15
-    assert isinstance(recvd, capnp._DynamicStructReader)
+    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
+    self.assertIsInstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
+
+if __name__ == "__main__":
+  unittest.main()

cereal/messaging/tests/test_pub_sub_master.py

@@ -1,6 +1,8 @@
+#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
+import unittest
 
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -8,9 +10,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
                                                   zmq_sleep
 
 
-class TestSubMaster:
+class TestSubMaster(unittest.TestCase):
 
-  def setup_method(self):
+  def setUp(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -19,21 +21,21 @@ class TestSubMaster:
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(events)
+      self.assertEqual(len(cast(Sized, p)), len(events))
 
   def test_init_state(self):
     socks = random_socks()
     sm = messaging.SubMaster(socks)
-    assert sm.frame == -1
-    assert not any(sm.updated.values())
-    assert not any(sm.alive.values())
-    assert all(t == 0. for t in sm.recv_time.values())
-    assert all(f == 0 for f in sm.recv_frame.values())
-    assert all(t == 0 for t in sm.logMonoTime.values())
+    self.assertEqual(sm.frame, -1)
+    self.assertFalse(any(sm.updated.values()))
+    self.assertFalse(any(sm.alive.values()))
+    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
+    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
+    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
 
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      assert len(cast(Sized, p)) == len(socks)
+      self.assertEqual(len(cast(Sized, p)), len(socks))
 
   def test_getitem(self):
     sock = "carState"
@@ -57,8 +59,8 @@ class TestSubMaster:
       msg = messaging.new_message(sock)
       pub_sock.send(msg.to_bytes())
       sm.update(1000)
-      assert sm.frame == i
-      assert all(sm.updated.values())
+      self.assertEqual(sm.frame, i)
+      self.assertTrue(all(sm.updated.values()))
 
   def test_update_timeout(self):
     sock = random_sock()
@@ -68,9 +70,9 @@ class TestSubMaster:
       start_time = time.monotonic()
       sm.update(timeout)
       t = time.monotonic() - start_time
-      assert t >= timeout/1000.
-      assert t < 5
-      assert not any(sm.updated.values())
+      self.assertGreaterEqual(t, timeout/1000.)
+      self.assertLess(t, 5)
+      self.assertFalse(any(sm.updated.values()))
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -116,12 +118,12 @@ class TestSubMaster:
       pub_sock.send(msg.to_bytes())
       time.sleep(0.01)
     sm.update(1000)
-    assert sm[sock].vEgo == n
+    self.assertEqual(sm[sock].vEgo, n)
 
 
-class TestPubMaster:
+class TestPubMaster(unittest.TestCase):
 
-  def setup_method(self):
+  def setUp(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -154,4 +156,8 @@ class TestPubMaster:
         if capnp:
           msg.clear_write_flag()
           msg = msg.to_bytes()
-        assert msg == recvd, i
+        self.assertEqual(msg, recvd, i)
+
+
+if __name__ == "__main__":
+  unittest.main()

cereal/messaging/tests/test_services.py

@@ -1,21 +1,26 @@
+#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
+import unittest
 from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
 
 
-class TestServices:
+class TestServices(unittest.TestCase):
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
     service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
+    self.assertTrue(service.frequency <= 104)
+    self.assertTrue(service.decimation != 0)
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
       ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      assert ret == 0, "generated services header is not valid C"
+      self.assertEqual(ret, 0, "generated services header is not valid C")
+
+if __name__ == "__main__":
+  unittest.main()

cereal/services.py

@@ -16,13 +16,13 @@ _services: dict[str, tuple] = {
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25.),
+  "magnetometer": (True, 25., 25),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
@@ -38,7 +38,7 @@ _services: dict[str, tuple] = {
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 10),
+  "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
@@ -47,10 +47,9 @@ _services: dict[str, tuple] = {
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20.),
+  "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
+  "cameraOdometry": (True, 20., 5),
   "lateralPlanDEPRECATED": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),

common/params.cc

@@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
   int result = -1;
   int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
   if (fd >= 0) {
-    result = HANDLE_EINTR(fsync(fd));
-    HANDLE_EINTR(close(fd));
+    result = fsync(fd);
+    close(fd);
   }
   return result;
 }
@@ -232,7 +232,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CustomMapboxTokenSk", PERSISTENT | BACKUP},
     {"CustomOffsets", PERSISTENT | BACKUP},
     {"CustomStockLong", PERSISTENT | BACKUP},
-    {"CustomStockLongPlanner", PERSISTENT | BACKUP},
     {"CustomTorqueLateral", PERSISTENT | BACKUP},
     {"DevUIInfo", PERSISTENT | BACKUP},
     {"DisableOnroadUploads", PERSISTENT | BACKUP},
@@ -262,15 +261,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HasAcceptedTermsSP", PERSISTENT},
     {"HideVEgoUi", PERSISTENT | BACKUP},
-    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
-    {"HkgCustomLongTuning", PERSISTENT | BACKUP},
     {"HkgSmoothStop", PERSISTENT | BACKUP},
-    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
     {"HotspotOnBoot", PERSISTENT},
     {"HotspotOnBootConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksAvailable", PERSISTENT},
-    {"HyundaiRadarTracksAvailableCache", PERSISTENT},
-    {"HyundaiRadarTracksAvailablePersistent", PERSISTENT},
     {"LastCarModel", PERSISTENT | BACKUP},
     {"LastSpeedLimitSignTap", PERSISTENT},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
@@ -287,7 +280,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavModelUrl", PERSISTENT | BACKUP},
     {"NNFF", PERSISTENT | BACKUP},
     {"NNFFCarModel", PERSISTENT | BACKUP},
-    {"NNFFNoLateralJerk", PERSISTENT | BACKUP},
     {"OnroadScreenOff", PERSISTENT | BACKUP},
     {"OnroadScreenOffBrightness", PERSISTENT | BACKUP},
     {"OnroadScreenOffEvent", PERSISTENT | BACKUP},
@@ -298,11 +290,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OsmLocationUrl", PERSISTENT},
     {"OsmWayTest", PERSISTENT},
     {"OsmDownloadedDate", PERSISTENT},
-    {"OvertakingAccelerationAssist", PERSISTENT},
     {"PathOffset", PERSISTENT | BACKUP},
     {"PauseLateralSpeed", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverride", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverrideSpeed", PERSISTENT | BACKUP},
     {"QuietDrive", PERSISTENT | BACKUP},
     {"RoadEdge", PERSISTENT | BACKUP},
     {"ReverseAccChange", PERSISTENT | BACKUP},
@@ -327,12 +316,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TermsVersionSunnypilot", PERSISTENT},
     {"TorqueDeadzoneDeg", PERSISTENT | BACKUP},
     {"TorqueFriction", PERSISTENT | BACKUP},
-    {"TorqueLateralJerk", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
     {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
-    {"ToyotaDriveMode", PERSISTENT | BACKUP},
     {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
     {"ToyotaSnG", PERSISTENT | BACKUP},
     {"ToyotaTSS2Long", PERSISTENT | BACKUP},

common/transformations/camera.py

@@ -47,9 +47,9 @@ class DeviceCameraConfig:
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -25,7 +25,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||

docs/README.md

@@ -1,26 +1,3 @@
-# openpilot docs
+# openpilot-docs
 
-This is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-mkdocs build
-```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal
+These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.

docs/WORKFLOW.md

@@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .
 
 # run the linter
-op lint
+pre-commit run --all
 ```
 
 ## Testing

docs/car-porting/what-is-a-car-port.md

@@ -1,22 +0,0 @@
-# What is a car port?
-
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
-
-The complexity of a car port varies depending on many factors including:
-* existing openpilot support for similar cars
-* architecture and APIs available in the car
-
-
-# Structure of a car port
-* `interface.py`: Interface for the car, defines the CarInterface class
-* `carstate.py`: Reads CAN from car and builds openpilot CarState message
-* `carcontroller.py`: Builds CAN messages to send to car
-* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
-* `radar_interface.py`: Interface for parsing radar points from the car
-
-
-# Overiew
-
-[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
-
-https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM

docs/concepts/glossary.md

@@ -1,8 +0,0 @@
-# openpilot glossary
-
-* **route**:
-* **segment**: routes are split into one minute chunks called segments.
-* **panda**: this is . See the repo.
-* **onroad**:
-* **offroad**:
-* **comma 3X**:

docs/concepts/safety.md

@@ -1 +0,0 @@
-../SAFETY.md

docs/contributing/architecture.md

@@ -1 +0,0 @@
-# Architecture

docs/contributing/roadmap.md

@@ -1,30 +0,0 @@
-# Roadmap
-
-This is the roadmap for the next major openpilot releases. Also check out
-
-* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
-* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
-* [Bounties](https://comma.ai/bounties) for paid individual issues
-
-## openpilot 0.10
-
-openpilot 0.10 will be the first release with a driving policy trained in
-a [learned simulator](https://youtu.be/EqQNZXqzFSI).
-
-* Driving model trained in a learned simlator
-* Always-on driver monitoring (behind a toggle)
-* GPS removed from the driving stack
-* 100KB qlogs
-* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
-* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
-* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
-
-## openpilot 1.0
-
-openpilot 1.0 will feature a fully end-to-end driving policy.
-
-* End-to-end longitudinal control in Chill mode
-* Automatic Emergency Braking (AEB)
-* Driver monitoring with sleep detection
-* Rolling updates/releases pushed out by CI
-* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

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

@@ -1,14 +0,0 @@
-# Replay
-
-Replaying is a critical tool for openpilot development and debugging.
-
-## Replaying a route
-*Hardware required: none*
-
-Just run `tools/replay/replay --demo`.
-
-## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
-
-1. Connect your PC to a jungle.
-2.

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

@@ -1,98 +0,0 @@
-# Turn the speed blue
-*A getting started guide for openpilot development*
-
-In 30 minutes, we'll get an openpilot development environment setup 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.
-
-## 1. Setup your development environment
-
-Run this to clone openpilot and install all the dependencies:
-```bash
-curl -fsSL openpilot.comma.ai | bash
-```
-
-Navigate to openpilot folder & activate a Python virtual environment
-```bash
-cd openpilot
-source .venv/bin/activate
-```
-
-Then, compile openpilot:
-```bash
-scons -j8
-```
-
-## 2. Run replay
-
-We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
-```bash
-# in terminal 1
-tools/replay/replay --demo
-
-# in terminal 2
-selfdrive/ui/ui
-```
-
-The openpilot UI should launch and show a replay of the demo route.
-
-If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
-
-## 3. Make the speed blue
-
-Search for “mph” with git grep in the `ui` folder.
-```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-```
-
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
-```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
-```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
-![](https://blog.comma.ai/img/blue_speed_ui.png)
-
-## 5. Push your fork to GitHub
-
-Click fork on GitHub. Then, push with:
-```bash
-git remote rm origin
-git remote add origin git@github.com:<your-github-username>/openpilot.git
-git add .
-git commit -m "Make the speed blue."
-git push --set-upstream origin master
-```
-
-## 6. Run your fork on device in your car!
-
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
-```
-installer.comma.ai/<your-github-username>/master
-```
-
-## 7. Admire your work IRL
-
-![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs/index.md

@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md

docs/new/README.md

@@ -0,0 +1,12 @@
+This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
+
+https://www.mkdocs.org/getting-started/
+
+```
+pip install mkdocs mkdocs-terminal
+mkdocs serve
+```
+
+inspiration:
+* https://rerun.io/docs/
+* https://docs.expo.dev/

docs/new/docs/car-porting/what-is-a-car-port.md

@@ -0,0 +1,9 @@
+# What is a car port?
+
+All car ports live in `openpilot/selfdrive/car/`.
+
+* interface.py: Interface for the car, defines the CarInterface class
+* carstate.py: Reads CAN from car and builds openpilot CarState message
+* carcontroller.py: Builds CAN messages to send to car
+* values.py: Limits for actuation, general constants for cars, and supported car documentation
+* radar_interface.py: Interface for parsing radar points from the car

docs/new/docs/getting-started/what-is-openpilot.md

@@ -1,6 +1,6 @@
 # What is openpilot?
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 
 ## How do I use it?

docs/new/docs/how-to/turning-the-speed-blue.md

@@ -0,0 +1,4 @@
+This section is for how-to's on common workflows.
+
+They'll be like this blog post we wrote:
+https://blog.comma.ai/turning-the-speed-blue/

docs/new/mkdocs.yml

@@ -0,0 +1,18 @@
+site_name: openpilot docs
+docs_dir: docs
+repo_url: https://github.com/commaai/openpilot/
+
+theme:
+  name: terminal
+  features:
+    - navigation.side.toc.hide
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turning-the-speed-blue.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md

mkdocs.yml

@@ -1,38 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-theme:
-  name: readthedocs
-  navigation_depth: 3
-
-nav:
-  - Getting Started:
-    - 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
-    #- Replay a drive: how-to/replay-a-drive.md
-  - Concepts:
-    - Logs: concepts/logs.md
-    - Safety: concepts/safety.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
-  - Contributing:
-    - Roadmap: contributing/roadmap.md
-    #- Architecture: contributing/architecture.md
-    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
-  - Links:
-    - Blog →: https://blog.comma.ai
-    - Bounties →: https://comma.ai/bounties
-    - GitHub →: https://github.com/commaai
-    - Discord →: https://discord.comma.ai
-    - X →: https://x.com/comma_ai

opendbc

@@ -1 +0,0 @@
-opendbc_repo/opendbc

pyproject.toml

@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy",
+  "numpy < 2.0.0", # control does not support numpy 2
 
   # body / webrtcd
   "aiohttp",
@@ -52,30 +52,27 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
-  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
+  "casadi",
   "future-fstrings",
 
   # these should be removed
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
-  # logreader
-  "zstandard",
+  #logreader
+  "zstd",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "natsort",
-  "mkdocs",
 ]
 
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
+  "pre-commit",
   "pytest",
   "pytest-cov",
   "pytest-cpp",
@@ -86,25 +83,30 @@ testing = [
   "pytest-asyncio",
   "pytest-mock",
   "pytest-repeat",
-  "ruff",
-  "codespell",
+  "ruff"
 ]
 
 dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
+  "breathe",
+  "control",
   "dictdiffer",
   "flaky",
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
+  "metadrive-simulator; platform_machine != 'aarch64'",
+  "mpld3",
+  "myst-parser",
+  "natsort",
+  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
-  #"pprofile",
+  #pprofile = "*"
   "pyautogui",
+  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
   "rerun-sdk",
@@ -114,8 +116,12 @@ dev = [
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
+
 ]
 
+[tool.uv.sources]
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
+
 [project.urls]
 Homepage = "https://comma.ai"
 
@@ -126,12 +132,9 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [ "." ]
 
-[tool.hatch.metadata]
-allow-direct-references = true
-
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -164,13 +167,6 @@ testpaths = [
   "cereal/messaging/tests",
 ]
 
-[tool.codespell]
-count = true
-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"
-builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
-
 [tool.mypy]
 python_version = "3.11"
 plugins = [
@@ -227,7 +223,7 @@ lint.ignore = [
   "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version ="py311"
+target-version="py311"
 exclude = [
   "body",
   "cereal",
@@ -239,8 +235,7 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline = false
-
+lint.flake8-implicit-str-concat.allow-multiline=false
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
@@ -252,6 +247,5 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
-
 [tool.ruff.format]
 quote-style = "preserve"

release/ci/sync-lfs.sh

@@ -4,4 +4,4 @@ mv .lfsconfig-comma .lfsconfig
 git lfs fetch --all; git lfs pull
 mv .lfsconfig .lfsconfig-comma
 mv .lfsconfig.bak .lfsconfig
-git lfs fetch --all; git lfs push --all origin
+git lfs fetch --all; git lfs push origin main

release/files_pc

@@ -1,4 +0,0 @@
-third_party/libyuv/x86_64/**
-third_party/snpe/x86_64/**
-third_party/snpe/x86_64-linux-clang/**
-third_party/acados/x86_64/**

release/files_tici

@@ -1,15 +0,0 @@
-third_party/libyuv/larch64/**
-third_party/snpe/larch64**
-third_party/snpe/aarch64-ubuntu-gcc7.5/*
-third_party/acados/larch64/**
-
-system/camerad/cameras/camera_qcom2.cc
-system/camerad/cameras/camera_qcom2.h
-system/camerad/cameras/camera_util.cc
-system/camerad/cameras/camera_util.h
-system/camerad/cameras/process_raw.cl
-
-system/qcomgpsd/*
-
-selfdrive/ui/qt/spinner_larch64
-selfdrive/ui/qt/text_larch64

release/release_files.py

@@ -10,12 +10,14 @@ ROOT = HERE + "/.."
 # - minimizing release download size
 # - keeping the diff readable
 blacklist = [
+  "body/STL/",
+
   "panda/drivers/",
   "panda/examples/",
   "panda/tests/safety/",
 
-  "opendbc_repo/dbc/.*.dbc$",
-  "opendbc_repo/dbc/generator/",
+  "opendbc/.*.dbc$",
+  "opendbc/generator/",
 
   "cereal/.*test.*",
   "^common/tests/",
@@ -26,6 +28,7 @@ blacklist = [
   "selfdrive/car/tests/test_models.*",
 
   "^tools/",
+  "^scripts/",
   "^tinygrad_repo/",
 
   "matlab.*.md",
@@ -115,55 +118,55 @@ whitelist = [
   "tinygrad_repo/tinygrad/.*.py",
 
   # TODO: do this automatically
-  "opendbc_repo/dbc/comma_body.dbc",
-  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
-  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc_repo/dbc/gm_global_a_object.dbc",
-  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
-  "opendbc_repo/dbc/FORD_CADS.dbc",
-  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
-  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
-  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
-  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc_repo/dbc/hyundai_canfd.dbc",
-  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
-  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc_repo/dbc/mazda_2017.dbc",
-  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
-  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
-  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
-  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
-  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc_repo/dbc/toyota_adas.dbc",
-  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
-  "opendbc_repo/dbc/vw_golf_mk4.dbc",
-  "opendbc_repo/dbc/vw_mqb_2010.dbc",
-  "opendbc_repo/dbc/tesla_can.dbc",
-  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
-  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
-  "opendbc_repo/dbc/tesla_powertrain.dbc",
+  "opendbc/comma_body.dbc",
+  "opendbc/chrysler_ram_hd_generated.dbc",
+  "opendbc/chrysler_ram_dt_generated.dbc",
+  "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc/gm_global_a_object.dbc",
+  "opendbc/gm_global_a_chassis.dbc",
+  "opendbc/FORD_CADS.dbc",
+  "opendbc/ford_fusion_2018_adas.dbc",
+  "opendbc/ford_lincoln_base_pt.dbc",
+  "opendbc/honda_accord_2018_can_generated.dbc",
+  "opendbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc/acura_ilx_2016_nidec.dbc",
+  "opendbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc/hyundai_canfd.dbc",
+  "opendbc/hyundai_kia_generic.dbc",
+  "opendbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc/mazda_2017.dbc",
+  "opendbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc/nissan_leaf_2018_generated.dbc",
+  "opendbc/subaru_global_2017_generated.dbc",
+  "opendbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc/subaru_outback_2015_generated.dbc",
+  "opendbc/subaru_outback_2019_generated.dbc",
+  "opendbc/subaru_forester_2017_generated.dbc",
+  "opendbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc/toyota_adas.dbc",
+  "opendbc/toyota_tss2_adas.dbc",
+  "opendbc/vw_golf_mk4.dbc",
+  "opendbc/vw_mqb_2010.dbc",
+  "opendbc/tesla_can.dbc",
+  "opendbc/tesla_radar_bosch_generated.dbc",
+  "opendbc/tesla_radar_continental_generated.dbc",
+  "opendbc/tesla_powertrain.dbc",
 ]
 
 # Sunnypilot whitelist

scripts/git_rewrite/rewrite-git-history.sh

@@ -1,390 +0,0 @@
-#!/bin/bash -e
-
-SRC=/tmp/openpilot/
-SRC_CLONE=/tmp/openpilot-clone/
-OUT=/tmp/openpilot-tiny/
-
-REWRITE_IGNORE_BRANCHES=(
-  dashcam3
-  devel
-  master-ci
-  nightly
-  release2
-  release3
-  release3-staging
-)
-
-VALIDATE_IGNORE_FILES=(
-  ".github/ISSUE_TEMPLATE/bug_report.md"
-  ".github/pull_request_template.md"
-)
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
-mkdir -p $LOGS_DIR
-
-GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
-BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
-COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
-
-START_TIME=$(date +%s)
-exec > >(while IFS= read -r line; do
-  CURRENT_TIME=$(date +%s)
-  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
-  echo "[${ELAPSED_TIME}s] $line"
-done | tee -a "$GIT_REWRITE_LOG") 2>&1
-
-# INSTALL git-filter-repo
-if [ ! -f /tmp/git-filter-repo ]; then
-  echo "Installing git-filter-repo..."
-  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
-  chmod +x /tmp/git-filter-repo
-fi
-
-# MIRROR openpilot
-if [ ! -d $SRC ]; then
-  echo "Mirroring openpilot..."
-  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
-
-  cd $SRC
-
-  echo "Starting size $(du -sh .)"
-
-  git remote update
-
-  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "Pushing to openpilot-archive..."
-  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
-  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
-  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
-  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
-  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
-  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-fi
-
-# REWRITE master and tags
-if [ ! -d $SRC_CLONE ]; then
-  echo "Cloning $SRC..."
-  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
-
-  cd $SRC_CLONE
-
-  echo "Checking out old history..."
-
-  git checkout tags/v0.7.1 > /dev/null 2>&1
-  # checkout as main, since we need master ref later
-  git checkout -b main
-
-  echo "Creating setup commits..."
-
-  # rm these so we don't get conflicts later
-  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files" > /dev/null
-
-  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
-  # we don't care about fetching/pushing lfs right now
-  git lfs install --skip-smudge --local
-
-  # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
-  git commit -m "switching to master" > /dev/null
-
-  # squash the two commits
-  git reset --soft HEAD~2
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
-
-  # get commits we want to cherry-pick
-  # will start with the next commit after #59b3d06 tools is local now
-  COMMITS=$(git rev-list --reverse 59b3d06..master)
-
-  # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
-  CURRENT_COMMIT_NUMBER=0
-
-  # empty this file
-  > commit-map.txt
-
-  echo "Rewriting master commits..."
-
-  for COMMIT in $COMMITS; do
-      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
-
-      # set environment variables to preserve author/committer and dates
-      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-      # cherry-pick the commit
-      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-        # check if the failure is because of an empty commit
-        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-          echo "Empty commit detected. Skipping commit $COMMIT"
-          git cherry-pick --skip
-          # log it was empty to the mapping file
-          echo "$COMMIT EMPTY" >> commit-map.txt
-        else
-          # handle other errors or conflicts
-          echo "Cherry-pick failed. Handling error..."
-          echo "$GIT_OUTPUT"
-          exit 1
-        fi
-      else
-        # capture the new commit hash
-        NEW_COMMIT=$(git rev-parse HEAD)
-
-        # save the old and new commit hashes to the mapping file
-        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-        # append the old commit ID to the commit message
-        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-      fi
-
-    # prune every 3000 commits to avoid gc errors
-    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
-      echo "Pruning repo..."
-      git gc
-    fi
-  done
-
-  echo "Rewriting tags..."
-
-  # remove all old tags
-  git tag -l | xargs git tag -d
-
-  # read each line from the tag-commit-map.txt
-  while IFS=' ' read -r TAG OLD_COMMIT; do
-    # search for the new commit in commit-map.txt corresponding to the old commit
-    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
-
-    # check if this is a rebased commit
-    if [ -z "$NEW_COMMIT" ]; then
-      # if not, then just use old commit hash
-      NEW_COMMIT=$OLD_COMMIT
-    fi
-
-    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
-    git tag -f "$TAG" "$NEW_COMMIT"
-  done < "$DIR/tag-commit-map.txt"
-
-  # uninstall lfs since we don't want to touch (push to) lfs right now
-  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
-  git lfs uninstall --local
-
-  # force push new master
-  git push --force origin main:master
-
-  # force push new tags
-  git push --force --tags
-fi
-
-# REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
-  cd $SRC_CLONE
-  > rewrite-branches-done
-
-  # empty file
-  > $BRANCH_DIFF_LOG
-
-  echo "Rewriting branches based on master..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
-
-  for BRANCH in $BRANCHES; do
-    # check if the branch is based on master history
-    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
-    if [ -n "$MERGE_BASE" ]; then
-      echo "Rewriting branch: $BRANCH"
-      
-      # create a new branch based on the new master
-      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
-      if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
-        continue
-      fi
-      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-      
-      # get the range of commits unique to this branch
-      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-      
-      HAS_ERROR=0
-
-      # simple delimiter
-      echo "BRANCH ${BRANCH}" >> commit-map.txt
-
-      for COMMIT in $COMMITS; do
-        # set environment variables to preserve author/committer and dates
-        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-        # cherry-pick the commit
-        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-          # check if the failure is because of an empty commit
-          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-            echo "Empty commit detected. Skipping commit $COMMIT"
-            git cherry-pick --skip
-            # log it was empty to the mapping file
-            echo "$COMMIT EMPTY" >> commit-map.txt
-          else
-            # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
-            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
-            git cherry-pick --abort
-            git push --delete origin ${BRANCH}
-            HAS_ERROR=1
-            break
-          fi
-        else
-          # capture the new commit hash
-          NEW_COMMIT=$(git rev-parse HEAD)
-
-          # save the old and new commit hashes to the mapping file
-          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-          # append the old commit ID to the commit message
-          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-        fi
-      done
-      
-      # force push the new branch
-      if [ $HAS_ERROR -eq 0 ]; then
-        # git lfs goes haywire here, so we need to install and uninstall
-        # git lfs install --skip-smudge --local
-        git lfs uninstall --local > /dev/null
-        git push -f origin ${BRANCH}_new:${BRANCH}
-      fi
-      
-      # clean up local branch
-      git checkout master > /dev/null
-      git branch -D ${BRANCH}_new > /dev/null
-    else
-      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
-      git push --delete origin ${BRANCH}
-    fi
-  done
-fi
-
-# VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/validation-done" ]; then
-  cd $SRC_CLONE
-  > validation-done
-
-  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
-  CURRENT_COMMIT_NUMBER=0
-  COUNT_SAME=0
-  COUNT_DIFF=0
-
-  # empty file
-  > $COMMIT_DIFF_LOG
-
-  echo "Validating commits..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # read each line from commit-map.txt
-  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
-    if [ "$NEW_COMMIT" == "EMPTY" ]; then
-      continue
-    fi
-    if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
-      continue
-    fi
-    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-    # retrieve short hashes and dates for the old and new commits
-    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
-    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
-    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
-    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
-
-    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
-    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-    
-    # generate lists of files and their hashes for the old and new commits, excluding ignored files
-    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-
-    # Compare the diffs
-    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
-      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
-      COUNT_SAME=$((COUNT_SAME + 1))
-    else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
-      COUNT_DIFF=$((COUNT_DIFF + 1))
-      set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
-      set -e
-    fi
-  done < "commit-map.txt"
-
-  echo "Summary:" >> $COMMIT_DIFF_LOG
-  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
-  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
-fi
-
-if [ ! -d $OUT ]; then
-  cp -r $SRC $OUT
-
-  cd $OUT
-
-  # remove all non-master branches
-  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
-
-  # echo "cleaning up refs"
-  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
-  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
-
-  echo "importing new lfs files"
-  # import "almost" everything to lfs
-  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
-  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
-
-  echo "reflog and gc"
-  # this is needed after lfs import
-  git reflog expire --expire=now --all
-  git gc --prune=now --aggressive
-
-  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "New size is $(du -sh .)"
-fi
-
-cd $OUT
-
-# fetch all lfs files from https://github.com/commaai/openpilot.git
-# some lfs files are missing on gitlab, but they can be found on github
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
-git lfs fetch --all || true
-
-# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-git lfs fetch --all || true
-
-# final push - will also push lfs
-# TODO: switch to git@github.com:commaai/openpilot.git when ready
-# git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/tag-commit-map.txt

@@ -1,82 +0,0 @@
-v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
-v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
-v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
-v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
-v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
-v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
-v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
-v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
-v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
-v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
-v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
-v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
-v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
-v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
-v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
-v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
-v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
-v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
-v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
-v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
-v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
-v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
-v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
-v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
-v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
-v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
-v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
-v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
-v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
-v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
-v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
-v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
-v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
-v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
-v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
-v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
-v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
-v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
-v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
-v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
-v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
-v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
-v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
-v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
-v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
-v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
-v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
-v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
-v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
-v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
-v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
-v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
-v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
-v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
-v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
-v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
-v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
-v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
-v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
-v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
-v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
-v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
-v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
-v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
-v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
-v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
-v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
-v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
-v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
-v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
-v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
-v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
-v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
-v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
-v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
-v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
-v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
-v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
-v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
-v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
-v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
-v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee

scripts/lint.sh

@@ -1,10 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../
-
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
-
-ruff check .

scripts/pyupgrade.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+set -e
+
+pip install --upgrade pyupgrade
+
+git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus

selfdrive/car/__init__.py

@@ -7,12 +7,10 @@ from dataclasses import replace
 import capnp
 
 from cereal import car
-from panda.python.uds import SERVICE_TYPE
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
-DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -218,7 +216,7 @@ def create_gas_interceptor_command(packer, gas_amount, idx):
     values["GAS_COMMAND"] = gas_amount * 255.
     values["GAS_COMMAND2"] = gas_amount * 255.
 
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
+  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
 
   checksum = crc8_pedal(dat[:-1])
   values["CHECKSUM_PEDAL"] = checksum
@@ -226,39 +224,8 @@ def create_gas_interceptor_command(packer, gas_amount, idx):
   return packer.make_can_msg("GAS_COMMAND", 0, values)
 
 
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
 def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
-
-
-def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-  dat.append(0x80 if suppress_response else 0x0)  # sub-function
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
+  return [addr, 0, dat, bus]
 
 
 def get_safety_config(safety_model, safety_param = None):

selfdrive/car/body/carcontroller.py

@@ -1,7 +1,7 @@
 import numpy as np
 
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.frame = 0
     self.packer = CANPacker(dbc_name)
 
     # PIDs

selfdrive/car/body/interface.py

@@ -1,6 +1,7 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 

selfdrive/car/card.py

@@ -11,10 +11,9 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.param_manager import ParamManager

selfdrive/car/chrysler/carcontroller.py

@@ -4,7 +4,8 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
@@ -15,8 +16,9 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.apply_steer_last = 0
+    self.frame = 0
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
@@ -269,8 +271,8 @@ class CarController(CarControllerBase):
     return min(target_speed_kph, curve_speed)
 
   def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
     cruise_button = self.get_button_type(self.button_type)
     return cruise_button
 

selfdrive/car/chrysler/fingerprints.py

@@ -4,6 +4,35 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
+  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68238840AH',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
+      b'68288309AD',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
+      b'05190226AK',
+    ],
+  },
   CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
@@ -26,7 +55,6 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
-      b'04672758AB',
       b'68226356AF',
       b'68226356AH',
       b'68226356AI',
@@ -48,7 +76,6 @@ FW_VERSIONS = {
       b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
-      b'68366853AG ',
       b'68372861AF ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -62,7 +89,6 @@ FW_VERSIONS = {
       b'68277374AD',
       b'68277374AN',
       b'68367471AC',
-      b'68367471AD',
       b'68380571AB',
     ],
   },
@@ -155,39 +181,26 @@ FW_VERSIONS = {
   },
   CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
       b'68358439AE',
       b'68358439AG',
     ],
     (Ecu.srs, 0x744, None): [
-      b'68238840AH',
       b'68358990AC',
       b'68405939AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
-      b'68226356AI',
     ],
     (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
       b'68288309AD',
       b'68525339AA',
     ],
     (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
       b'68366580AI ',
       b'68366580AK ',
       b'68366580AM ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
       b'05190226AI',
       b'05190226AK',
       b'05190226AM',
@@ -232,7 +245,6 @@ FW_VERSIONS = {
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
-      b'68444228AC ',
       b'68444228AD ',
       b'68444228AE ',
       b'68444228AF ',
@@ -390,7 +402,6 @@ FW_VERSIONS = {
       b'68294051AI',
       b'68294052AG',
       b'68294052AH',
-      b'68294059AI',
       b'68294063AG',
       b'68294063AH',
       b'68294063AI',
@@ -401,7 +412,6 @@ FW_VERSIONS = {
       b'68434858AC',
       b'68434859AC',
       b'68434860AC',
-      b'68453471AD',
       b'68453483AC',
       b'68453483AD',
       b'68453487AD',
@@ -426,13 +436,11 @@ FW_VERSIONS = {
       b'68527346AE',
       b'68527361AD',
       b'68527375AD',
-      b'68527381AD',
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
       b'68527383AE',
       b'68527387AE',
-      b'68527397AD',
       b'68527403AC',
       b'68527403AD',
       b'68546047AF',
@@ -523,7 +531,6 @@ FW_VERSIONS = {
       b'05036066AE ',
       b'05036193AA ',
       b'05149368AA ',
-      b'05149374AA ',
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
@@ -554,7 +561,6 @@ FW_VERSIONS = {
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
-      b'68460927AA ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -573,7 +579,6 @@ FW_VERSIONS = {
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
-      b'68586102AA ',
       b'68586105AB ',
       b'68629919AC ',
       b'68629922AC ',
@@ -612,8 +617,6 @@ FW_VERSIONS = {
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',
-      b'68520871AC',
-      b'68528325AE',
       b'68540431AB',
       b'68540433AB',
       b'68551676AA',

selfdrive/car/chrysler/interface.py

@@ -40,8 +40,8 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
-                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
+                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -98,9 +98,10 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled,
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise,
                                                             enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
                                                                            (ButtonType.accelCruise, ButtonType.decelCruise),
                                                             resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -113,16 +114,16 @@ class CarInterface(CarInterfaceBase):
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
           self.CS.lkas_disabled = not self.CS.lkas_disabled
-        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
-    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled)
+    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.get_sp_cancel_cruise_state()
+        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -135,7 +136,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -145,7 +146,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
 
-    events, ret = self.create_sp_events(ret, events)
+    events, ret = self.create_sp_events(self.CS, ret, events)
 
     # Low speed steer alert hysteresis logic
     if self.CP.carFingerprint in RAM_DT:
@@ -161,7 +162,9 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.update_custom_stock_long()
+    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
+                                                           self.CC.target_speed, self.CC.v_set_dis,
+                                                           self.CC.speed_diff, self.CC.button_type)
 
     ret.events = events.to_msg()
 

selfdrive/car/chrysler/radar_interface.py

@@ -39,6 +39,7 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG

selfdrive/car/chrysler/values.py

@@ -40,30 +40,34 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
+  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
     ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+  )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
       ChryslerCarDocs("Chrysler Pacifica 2019-20"),
       ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
     [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Jeep

selfdrive/car/ecu_addrs.py

@@ -4,13 +4,22 @@ import time
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_tester_present_msg
+from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 
-def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def make_tester_present_msg(addr, bus, subaddr=None):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0
@@ -24,7 +33,7 @@ def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subad
   return False
 
 
-def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
@@ -49,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
             continue
 
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
+          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
             if debug:
               print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
               if (msg.address, subaddr, msg.src) in ecu_responses:
@@ -85,7 +94,7 @@ if __name__ == "__main__":
   set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")

selfdrive/car/fingerprints.py

@@ -130,8 +130,7 @@ MIGRATION = {
 
   # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
   "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
   "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,

selfdrive/car/ford/carcontroller.py

@@ -3,12 +3,12 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
@@ -25,19 +25,17 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
+    self.frame = 0
 
     self.apply_curvature_last = 0
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
-    self.path_angle = 0.
-    self.path_offset = 0.
-    self.curvature_rate = 0.
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -77,10 +75,7 @@ class CarController(CarControllerBase):
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
-        else:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 
@@ -97,7 +92,6 @@ class CarController(CarControllerBase):
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      # TODO: look into using the actuators packet to send the desired speed
       can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###

selfdrive/car/ford/carstate.py

@@ -24,7 +24,6 @@ class CarState(CarStateBase):
 
     self.lkas_enabled = None
     self.prev_lkas_enabled = None
-    self.v_limit = 0
 
     self.button_states = {button.event_type: False for button in BUTTONS}
 
@@ -73,10 +72,6 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
     ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
-
-    if self.CP.flags & FordFlags.CANFD:
-      ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam)
-
     if not self.CP.openpilotLongitudinalControl:
       ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
@@ -134,16 +129,6 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_traffic_signals(self, cp_cam):
-    # TODO: Check if CAN platforms have the same signals
-    if self.CP.flags & FordFlags.CANFD:
-      self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
-      v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
-
-      speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
-
-      return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
-
   @staticmethod
   def get_can_parser(CP):
     messages = [
@@ -200,11 +185,6 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
-    if CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Traffic_RecognitnData", 1),
-      ]
-
     if CP.enableBsm and CP.flags & FordFlags.CANFD:
       messages += [
         ("Side_Detect_L_Stat", 5),

selfdrive/car/ford/fordcan.py

@@ -112,7 +112,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
   }
 
   # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
+  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
   values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
 
   return packer.make_can_msg("LateralMotionControl2", CAN.main, values)

selfdrive/car/ford/interface.py

@@ -3,8 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -19,15 +18,13 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
+    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
-      ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
-
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
@@ -54,13 +51,6 @@ class CarInterface(CarInterfaceBase):
           if config_tja != 0xFF or config_lca != 0xFF:
             ret.dashcamOnly = True
 
-    if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
-
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
     if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
@@ -89,9 +79,10 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -99,15 +90,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.get_sp_cancel_cruise_state()
+        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -115,7 +106,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -124,7 +115,7 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
 
-    events, ret = self.create_sp_events(ret, events)
+    events, ret = self.create_sp_events(self.CS, ret, events)
 
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)

selfdrive/car/ford/radar_interface.py

@@ -11,7 +11,6 @@ DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
-STEER_ASSIST_DATA_MSGS = 0x3d7
 
 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -29,9 +28,6 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
 
   return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
-def _create_steer_assist_data(CP) -> CANParser:
-  messages = [("Steer_Assist_Data", 20)]
-  return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
@@ -49,10 +45,6 @@ class RadarInterface(RadarInterfaceBase):
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self.rcp = _create_steer_assist_data(CP)
-      self.trigger_msg = STEER_ASSIST_DATA_MSGS
-
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -76,67 +68,11 @@ class RadarInterface(RadarInterfaceBase):
       self._update_delphi_esr()
     elif self.radar == RADAR.DELPHI_MRR:
       self._update_delphi_mrr()
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self._update_steer_assist_data()
 
     ret.points = list(self.pts.values())
     self.updated_messages.clear()
     return ret
 
-  def _update_steer_assist_data(self):
-    msg = self.rcp.vl["Steer_Assist_Data"]
-    updated_msg = self.updated_messages
-
-    dRel = msg['CmbbObjDistLong_L_Actl']
-    confidence = msg['CmbbObjConfdnc_D_Stat']
-    new_track = False
-
-    # if dRel < 1022:
-    if confidence > 0:
-      if 0 not in self.pts:
-        self.pts[0] = car.RadarData.RadarPoint.new_message()
-        self.pts[0].trackId = self.track_id
-        self.vRelCol[0] = collections.deque(maxlen=20)
-        self.track_id += 1
-        new_track = True
-
-      yRel = msg['CmbbObjDistLat_L_Actl']
-      vRel = msg['CmbbObjRelLong_V_Actl']
-      yvRel = msg['CmbbObjRelLat_V_Actl']
-      calc = 0
-      if not new_track:
-        # if this is a newly created track - we don't have historical data so skip it
-        # if we are on the same track
-        # Let's see if we are moving:
-        #   positive gap - lead is moving faster than us
-        #   negative gap - lead is moving slower than us
-        dDiff = dRel - self.pts[0].dRel
-        if (abs(vRel) < 1.0e-2):
-          self.vRelCol[0].append(dDiff)
-          vRel = sum(self.vRelCol[0])
-          calc = 1
-        else:
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-
-        if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5:
-          self.pts[0].trackId = self.track_id
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-          self.track_id += 1
-
-      self.pts[0].dRel = dRel  # from front of car
-      self.pts[0].yRel = yRel  # in car frame's y axis, left is positive
-      self.pts[0].vRel = vRel
-      self.pts[0].aRel = float('nan')
-      self.pts[0].yvRel = yvRel
-      self.pts[0].measured = True
-    else:
-      if 0 in self.pts:
-        del self.pts[0]
-        del self.vRelCol[0]
-
-
   def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]

selfdrive/car/ford/values.py

@@ -48,14 +48,9 @@ class FordFlags(IntFlag):
   CANFD = 1
 
 
-class FordFlagsSP(IntFlag):
-  SP_ENHANCED_LAT_CONTROL = 1
-
-
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
-  STEER_ASSIST_DATA = 'ford_lincoln_base_pt'
 
 
 class Footnote(Enum):
@@ -96,7 +91,7 @@ class FordPlatformConfig(PlatformConfig):
 
 @dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
 
   def init(self):
     super().init()

selfdrive/car/gm/carcontroller.py

@@ -1,14 +1,12 @@
 from cereal import car
-import cereal.messaging as messaging
-from openpilot.common.params import Params
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -22,11 +20,12 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
     self.apply_brake = 0
+    self.frame = 0
     self.last_steer_frame = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
@@ -40,36 +39,6 @@ class CarController(CarControllerBase):
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -78,40 +47,9 @@ class CarController(CarControllerBase):
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
-
     # Send CAN commands.
     can_sends = []
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
-
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
 
@@ -212,15 +150,6 @@ class CarController(CarControllerBase):
           self.last_button_frame = self.frame
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
-      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
-        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        if self.cruise_button is not None:
-          send_freq = 1
-          if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
-            send_freq = 3
-          if self.frame % 12 < 6:  # thanks to mochi86420 for the magic numbers
-            can_sends.extend([gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 2) % 4, self.cruise_button)] * 3)
-
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:
@@ -234,120 +163,3 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled or CS.cruise_buttons != CruiseButtons.UNPRESS:
-      self.timer = 40
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = CruiseButtons.RES_ACCEL
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = CruiseButtons.DECEL_SET
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = CruiseButtons.UNPRESS
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/gm/gmcan.py

@@ -64,7 +64,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenAlwaysOne3": 1,
   }
 
-  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
+  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
   values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
                                (((0xff - dat[2]) & 0xff) << 8) | \
                                ((0x100 - dat[3] - idx) & 0xff)

selfdrive/car/gm/interface.py

@@ -6,10 +6,11 @@ from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
+from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -119,7 +120,6 @@ class CarInterface(CarInterfaceBase):
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-      ret.customStockLongAvailable = True
 
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
@@ -205,6 +205,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
+    distance_button = 0
+
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       self.CS.button_events = [
@@ -213,19 +215,21 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
                               {1: ButtonType.gapAdjustCruise})
       ]
+      distance_button = self.CS.distance_button
 
     self.CS.button_events = [
       *self.CS.button_events,
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     if not self.CP.pcmCruise:
       if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
         self.CS.accEnabled = True
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -233,15 +237,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.get_sp_cancel_cruise_state()
+        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -249,7 +253,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -264,7 +268,7 @@ class CarInterface(CarInterfaceBase):
     #  if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
     #    events.add(EventName.buttonEnable)
 
-    events, ret = self.create_sp_events(ret, events, enable_pressed=self.CS.accEnabled,
+    events, ret = self.create_sp_events(self.CS, ret, events, enable_pressed=self.CS.accEnabled,
                                         enable_buttons=(ButtonType.decelCruise,))
 
     # Enabling at a standstill with brake is allowed
@@ -278,8 +282,6 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed and self.CS.madsEnabled:
       events.add(EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/carcontroller.py

@@ -5,12 +5,13 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, create_gas_interceptor_command
+from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import HONDA_V_CRUISE_MIN
+from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit, HONDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -109,10 +110,11 @@ def rate_limit_steer(new_steer, last_steer):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
+    self.frame = 0
 
     self.braking = False
     self.brake_steady = 0.
@@ -222,7 +224,7 @@ class CarController(CarControllerBase):
     # tester present - w/ no response (keeps radar disabled)
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
-        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
+        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,

selfdrive/car/honda/fingerprints.py

@@ -576,7 +576,6 @@ FW_VERSIONS = {
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
-      b'28102-5MX-C610\x00\x00',
       b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',

selfdrive/car/honda/interface.py

@@ -267,9 +267,10 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -277,7 +278,7 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
@@ -285,9 +286,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.get_sp_cancel_cruise_state()
+        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
                                                         else False if self.CP.pcmCruise \
                                                         else self.CS.accEnabled
@@ -300,7 +301,7 @@ class CarInterface(CarInterfaceBase):
       elif not ret.cruiseState.enabled:
         self.CS.accEnabled = False
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -312,7 +313,7 @@ class CarInterface(CarInterfaceBase):
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed and not self.CS.madsEnabled:
       events.add(EventName.belowEngageSpeed)
 
-    events, ret = self.create_sp_events(ret, events)
+    events, ret = self.create_sp_events(self.CS, ret, events)
 
     #if self.CP.pcmCruise:
     #  # we engage when pcm is active (rising edge)
@@ -329,7 +330,9 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    ret.customStockLong = self.update_custom_stock_long()
+    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
+                                                           self.CC.target_speed, self.CC.v_set_dis,
+                                                           self.CC.speed_diff, self.CC.button_type)
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/carcontroller.py

@@ -1,10 +1,11 @@
 from cereal import car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR, LEGACY_SAFETY_MODE_CAR
@@ -47,11 +48,12 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
+    self.frame = 0
 
     self.accel_last = 0
     self.apply_steer_last = 0
@@ -62,7 +64,7 @@ class CarController(CarControllerBase):
     self.lat_disengage_init = False
     self.lat_active_last = False
 
-    sub_services = ['longitudinalPlan', 'longitudinalPlanSP']
+    sub_services = ['longitudinalPlanSP']
     if CP.openpilotLongitudinalControl:
       sub_services.append('radarState')
     # TODO: Always true, prep for future conditional refactoring
@@ -94,24 +96,9 @@ class CarController(CarControllerBase):
     self.v_tsc = 0
     self.m_tsc = 0
     self.steady_speed = 0
-    self.speeds = 0
-    self.v_target_plan = 0
-    self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
+    self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
     self.lead_distance = 0
 
-    self.jerk = 0.0
-    self.jerk_l = 0.0
-    self.jerk_u = 0.0
-    self.jerkStartLimit = 2.0
-    self.cb_upper = 0.0
-    self.cb_lower = 0.0
-    self.jerk_count = 0.0
-
-    self.accel_raw = 0
-    self.accel_val = 0
-    self.accel_last_jerk = 0
-    self.hkg_custom_long_tuning = self.param_s.get_bool("HkgCustomLongTuning")
-
   def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
     lead_one = self.sm["radarState"].leadOne
     lead_two = self.sm["radarState"].leadTwo
@@ -128,10 +115,6 @@ class CarController(CarControllerBase):
       self.sm.update(0)
 
     if not self.CP.pcmCruiseSpeed:
-      if self.sm.updated['longitudinalPlan']:
-        _speeds = self.sm['longitudinalPlan'].speeds
-        self.speeds = _speeds[-1] if len(_speeds) else 0
-
       if self.sm.updated['longitudinalPlanSP']:
         self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
         self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
@@ -141,21 +124,14 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
       self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-      self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
 
     # steering torque
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)
 
     # >90 degree steering fault prevention
     self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
@@ -216,17 +192,14 @@ class CarController(CarControllerBase):
     if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \
       self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
-      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
+      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
       # for blinkers
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
-
-    if self.CP.openpilotLongitudinalControl:
-      self.make_jerk(CS, accel, actuators)
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
@@ -254,11 +227,9 @@ class CarController(CarControllerBase):
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-        else:
-          can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
+                                                           set_speed_in_units, hud_control))
           self.accel_last = accel
       else:
         # button presses
@@ -302,13 +273,15 @@ class CarController(CarControllerBase):
         self.lead_distance = self.calculate_lead_distance(hud_control)
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
+        if self.hkg_can_smooth_stop:
+          stopping = stopping and CS.out.vEgoRaw < 0.05
+
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        self.make_accel(CS, actuators)
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
+                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -475,8 +448,6 @@ class CarController(CarControllerBase):
         target_speed_kph = set_speed_kph
       else:
         target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.custom_stock_planner_speed:
-        target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH)
       if self.v_tsc_state != 0 or self.m_tsc_state > 1:
         self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
       else:
@@ -484,66 +455,3 @@ class CarController(CarControllerBase):
 
       cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
     return cruise_button
-
-  # jerk calculations thanks to apilot!
-  def cal_jerk(self, accel, actuators):
-    self.accel_raw = accel
-    if actuators.longControlState == LongCtrlState.off:
-      accel_diff = 0.0
-    elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
-      accel_diff = 0.0
-    else:
-      accel_diff = self.accel_raw - self.accel_last_jerk
-
-    accel_diff /= DT_CTRL
-    self.jerk = self.jerk * 0.9 + accel_diff * 0.1
-    return self.jerk
-
-  def make_jerk(self, CS, accel, actuators):
-    jerk = self.cal_jerk(accel, actuators)
-    a_error = accel - CS.out.aEgo
-    jerk = jerk + (a_error * 2.0)
-
-    if not self.hkg_custom_long_tuning:
-      self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
-      self.jerk_l = 5.0
-    elif True: #self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
-      startingJerk = 0.5
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      else:
-        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
-        self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
-    else:
-      startingJerk = self.jerkStartLimit
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      self.cb_upper = self.cb_lower = 0
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      else:
-        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
-        self.jerk_l = min(max(0.5, -jerk * 2.0), jerkLimit)
-        self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
-        self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
-
-  def make_accel(self, CS, actuators):
-    long_control = actuators.longControlState
-    is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
-    rate_up = 0.1
-    rate_down = 0.1
-    if long_control == LongCtrlState.off or (long_control == LongCtrlState.stopping and CS.out.standstill):
-      self.accel_raw, self.accel_val = 0, 0
-    else:
-      #self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
-      self.accel_val = self.accel_raw
-    self.accel_last = self.accel_val
-    self.accel_last_jerk = self.accel_val

selfdrive/car/hyundai/fingerprints.py

@@ -171,7 +171,6 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@@ -292,7 +291,6 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
@@ -409,7 +407,6 @@ FW_VERSIONS = {
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
@@ -483,13 +480,11 @@ FW_VERSIONS = {
   },
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
@@ -590,7 +585,6 @@ FW_VERSIONS = {
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
@@ -601,7 +595,6 @@ FW_VERSIONS = {
       b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
-      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
     ],
@@ -712,7 +705,6 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
@@ -765,12 +757,10 @@ FW_VERSIONS = {
       b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
       b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
-      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
     ],
   },
   CAR.KIA_OPTIMA_G4_FL: {
@@ -1171,17 +1161,6 @@ FW_VERSIONS = {
       b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
     ],
   },
-  CAR.HYUNDAI_KONA_EV_NON_SCC: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
-    ],
-  },
   CAR.KIA_CEED_PHEV_2022_NON_SCC: {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',

selfdrive/car/hyundai/hyundaican.py

@@ -81,7 +81,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
-  dat = packer.make_can_msg("LKAS11", 0, values)[1]
+  dat = packer.make_can_msg("LKAS11", 0, values)[2]
 
   if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
     # CRC Checksum as seen on 2019 Hyundai Santa Fe
@@ -130,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
-                        CS, escc, CP, lead_distance, cb_lower, cb_upper):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
+                        CS, escc, CP, lead_distance):
   commands = []
 
   scc11_values = {
@@ -150,8 +150,8 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
   scc12_values = {
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
     "StopReq": 1 if stopping else 0,
-    "aReqRaw": accel_raw,
-    "aReqValue": accel_val,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
+    "aReqRaw": accel,
+    "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
   }
 
@@ -166,16 +166,16 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
       scc12_values["CF_VSM_DecCmdAct"] = CS.escc_aeb_dec_cmd_act
       scc12_values["CR_VSM_DecCmd"] = CS.escc_aeb_dec_cmd
 
-  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1]
+  scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
 
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
   scc14_values = {
-    "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
@@ -197,7 +197,7 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
         "FCA_DrvSetStatus": 1,
         "FCA_Status": 1,  # AEB disabled
       }
-    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1]
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
     fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
     commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
@@ -207,7 +207,7 @@ def create_acc_opt(packer, escc, CS, CP):
   commands = []
 
   scc13_values = {
-    "SCCDrvModeRValue": 3,
+    "SCCDrvModeRValue": 2,
     "SCC_Equip": 1,
     "Lead_Veh_Dep_Alert_USM": 2,
   }

selfdrive/car/hyundai/hyundaicanfd.py

@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -137,8 +137,8 @@ def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, ga
     "aReqValue": a_val,
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
-    "JerkLowerLimit": lower_jerk,
-    "JerkUpperLimit": upper_jerk,
+    "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,
@@ -172,20 +172,6 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   return ret
 
 
-def create_fca_warning_light(packer, CAN, frame):
-  ret = []
-  if frame % 2 == 0:
-    values = {
-      'AEB_SETTING': 0x1,  # show AEB disabled icon
-      'SET_ME_2': 0x2,
-      'SET_ME_FF': 0xff,
-      'SET_ME_FC': 0xfc,
-      'SET_ME_9': 0x9,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
-  return ret
-
-
 def create_adrv_messages(packer, CAN, frame):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
@@ -196,7 +182,15 @@ def create_adrv_messages(packer, CAN, frame):
   }
   ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
-  ret.extend(create_fca_warning_light(packer, CAN, frame))
+  if frame % 2 == 0:
+    values = {
+      'AEB_SETTING': 0x1,  # show AEB disabled icon
+      'SET_ME_2': 0x2,
+      'SET_ME_FF': 0xff,
+      'SET_ME_FC': 0xfc,
+      'SET_ME_9': 0x9,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
 
   if frame % 5 == 0:
     values = {

selfdrive/car/hyundai/interface.py

@@ -1,8 +1,6 @@
-import cereal.messaging as messaging
 from cereal import car
 from panda import Panda
 from openpilot.common.params import Params
-from openpilot.selfdrive.car.sunnypilot.fingerprinting import can_fingerprint, get_one_can
 from openpilot.selfdrive.car.hyundai.enable_radar_tracks import enable_radar_tracks
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
@@ -93,7 +91,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
     else:
@@ -104,20 +102,13 @@ class CarInterface(CarInterfaceBase):
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.stoppingControl = True
+    ret.startingState = True
     ret.vEgoStarting = 0.1
-    ret.startAccel = 1.6
+    ret.startAccel = 1.0
     ret.longitudinalActuatorDelay = 0.5
 
-    if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      ret.startingState = False
-      ret.stopAccel = -2.0
-    else:
-      ret.startingState = True
-      ret.stopAccel = -1.0
-
     if DBC[ret.carFingerprint]["radar"] is None:
       if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
-        ret.radarTimeStep = 0.02
         ret.radarUnavailable = False
 
     # *** feature detection ***
@@ -126,8 +117,6 @@ class CarInterface(CarInterfaceBase):
 
       if 0x1fa in fingerprint[CAN.ECAN]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
-      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
-        ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
@@ -136,8 +125,7 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable:
         ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
-        if Params().get_bool("HyundaiRadarTracksAvailable"):
-          ret.radarUnavailable = False
+        ret.radarUnavailable = False
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
@@ -154,8 +142,6 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-      if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -181,8 +167,7 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
-                     CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_NON_SCC):
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
@@ -192,13 +177,16 @@ class CarInterface(CarInterfaceBase):
     if 0x2AA in fingerprint[0]:
       ret.minSteerSpeed = 0.
 
+    if Params().get_bool("HkgSmoothStop"):
+      ret.vEgoStopping = 0.1
+
     return ret
 
   @staticmethod
   def init(CP, logcan, sendcan):
     if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
       CP.carFingerprint not in CAMERA_SCC_CAR:
-      addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
@@ -213,23 +201,7 @@ class CarInterface(CarInterfaceBase):
     if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS:
       enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
 
-      params = Params()
-      rt_avail = params.get_bool("HyundaiRadarTracksAvailable")
-      rt_avail_persist = params.get_bool("HyundaiRadarTracksAvailablePersistent")
-      params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail)
-      if not rt_avail_persist:
-        messaging.drain_sock_raw(logcan)
-        fingerprint = can_fingerprint(lambda: get_one_can(logcan))
-        radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None
-        params.put_bool_nonblocking("HyundaiRadarTracksAvailable", not radar_unavailable)
-        params.put_bool_nonblocking("HyundaiRadarTracksAvailablePersistent", True)
-
   def _update(self, c):
-    if not self.CS.control_initialized and not self.CP.pcmCruise:
-      can_cruise_main_default = self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN and not self.CP.flags & HyundaiFlags.CANFD and \
-                                self.CS.params_list.hyundai_cruise_main_default
-      self.CS.mainEnabled = True if can_cruise_main_default or self.CP.carFingerprint in CANFD_CAR else False
-
     ret = self.CS.update(self.cp, self.cp_cam)
 
     self.CS.button_events = [
@@ -238,9 +210,10 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
@@ -248,12 +221,12 @@ class CarInterface(CarInterfaceBase):
           self.CS.accEnabled = True
 
     if self.enable_mads:
-      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and (self.CP.pcmCruise or
-        (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise)):
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
+        any(b.type == ButtonType.altButton3 for b in self.CS.button_events):
         self.CS.madsEnabled = True
       if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
         self.CS.madsEnabled = not self.CS.madsEnabled
-      self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
 
     if not ret.cruiseState.available and self.CS.out.cruiseState.available:
       self.CS.madsEnabled = False
@@ -261,15 +234,15 @@ class CarInterface(CarInterfaceBase):
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
       if not self.CP.pcmCruise:
         if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-          self.get_sp_cancel_cruise_state()
+          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       if not self.CP.pcmCruiseSpeed:
         if not ret.cruiseState.enabled:
-          self.get_sp_cancel_cruise_state()
+          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -283,7 +256,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic],
                                        pcm_enable=False, allow_enable=allow_enable)
 
-    events, ret = self.create_sp_events(ret, events, main_enabled=True, allow_enable=allow_enable)
+    events, ret = self.create_sp_events(self.CS, ret, events, main_enabled=True, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -293,10 +266,9 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert and self.CS.madsEnabled:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
-      events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
-
-    ret.customStockLong = self.update_custom_stock_long()
+    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
+                                                           self.CC.target_speed, self.CC.v_set_dis,
+                                                           self.CC.speed_diff, self.CC.button_type)
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/values.py

@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from cereal import car
-from panda.python import uds, Panda
+from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -16,7 +16,7 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
 
-  def __init__(self, CP, vEgoRaw=100.):
+  def __init__(self, CP):
     self.STEER_DELTA_UP = 3
     self.STEER_DELTA_DOWN = 7
     self.STEER_DRIVER_ALLOWANCE = 50
@@ -26,13 +26,12 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO
-      self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330
-      self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
-      self.STEER_THRESHOLD = 250 if not upstream_taco else 350
-      self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2
-      self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3
+      self.STEER_THRESHOLD = 250
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
@@ -109,7 +108,6 @@ class HyundaiFlagsSP(IntFlag):
   SP_CAMERA_SCC_LEAD = 2 ** 6
   SP_LKAS12 = 2 ** 7
   SP_RADAR_TRACKS = 2 ** 8
-  SP_UPSTREAM_TACO = 2 ** 9
 
 
 class Footnote(Enum):
@@ -576,12 +574,6 @@ class CAR(Platforms):
     HYUNDAI_KONA.specs,
     spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
   )
-  HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    HYUNDAI_KONA.specs,
-    flags=HyundaiFlags.EV,
-    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
-  )
   KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
     CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),

selfdrive/car/interfaces.py

@@ -18,15 +18,14 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG, \
-                                    ButtonEvents
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
 from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -72,7 +71,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -244,6 +242,8 @@ class CarInterfaceBase(ABC):
     self.cruise_cancelled_btn = True
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
+    self.gap_button_counter = 0
+    self.experimental_mode_hold = False
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
@@ -260,7 +260,7 @@ class CarInterfaceBase(ABC):
     self.lat_torque_nn_model, _ = get_nn_model(_car, eps_firmware)
     return self.lat_torque_nn_model is not None and self.param_s.get_bool("NNFF")
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -406,7 +406,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def sp_configure_custom_torque_tune(ret, params):
-    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
+    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
     ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
     return ret
 
@@ -416,10 +416,9 @@ class CarInterfaceBase(ABC):
 
   def update(self, c: car.CarControl, can_strings: list[bytes], params_list: SimpleNamespace) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_strings)
 
     self.CS.button_events = []
     self.CS.params_list = params_list
@@ -548,20 +547,20 @@ class CarInterfaceBase(ABC):
   def sp_v_cruise_initialized(v_cruise):
     return v_cruise != V_CRUISE_UNSET
 
-  def get_acc_mads(self, cs_out, mads_enabled):
+  def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
     if self.CS.params_list.acc_mads_combo:
-      if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled):
+      if not self.prev_acc_mads_combo and (cruiseState_enabled or acc_enabled):
         mads_enabled = True
-      self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled)
+      self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
 
     return mads_enabled
 
-  def get_sp_v_cruise_non_pcm_state(self, cs_out, vCruise, acc_enabled,
+  def get_sp_v_cruise_non_pcm_state(self, cs_out, acc_enabled, button_events, vCruise,
                                     enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
                                     resume_button=(ButtonType.accelCruise, ButtonType.resumeCruise)):
 
     if cs_out.cruiseState.available:
-      for b in self.CS.button_events:
+      for b in button_events:
         if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
           if b.type in enable_buttons and not b.pressed:
             acc_enabled = True
@@ -576,9 +575,9 @@ class CarInterfaceBase(ABC):
 
     return acc_enabled
 
-  def get_sp_cancel_cruise_state(self):
-    self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled
-    self.CS.accEnabled = False
+  def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False):
+    mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled
+    return mads_enabled, acc_enabled
 
   def get_sp_pedal_disengage(self, cs_out):
     accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator
@@ -586,22 +585,24 @@ class CarInterfaceBase(ABC):
     regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)
     return accel_pedal or brake or regen
 
-  def get_sp_cruise_main_state(self, cs_out):
-    if not self.CS.control_initialized:
-      return False
+  def get_sp_cruise_main_state(self, cs_out, CS):
+    if not CS.control_initialized:
+      mads_enabled = False
     elif not self.CS.params_list.mads_main_toggle:
-      return False
+      mads_enabled = False
     else:
-      return cs_out.cruiseState.available
+      mads_enabled = cs_out.cruiseState.available
 
-  def get_sp_started_mads(self, cs_out, mads_enabled):
-    if not cs_out.cruiseState.available and self.CS.out.cruiseState.available:
+    return mads_enabled
+
+  def get_sp_started_mads(self, cs_out, CS):
+    if not cs_out.cruiseState.available and CS.out.cruiseState.available:
       self.madsEnabledInit = False
       self.madsEnabledInitPrev = False
       return False
     if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
-      return mads_enabled
-    if not self.madsEnabledInit and self.CS.madsEnabled:
+      return CS.madsEnabled
+    if not self.madsEnabledInit and CS.madsEnabled:
       self.madsEnabledInit = True
       self.last_mads_init = time.monotonic()
     if cs_out.gearShifter not in FORWARD_GEARS:
@@ -612,16 +613,19 @@ class CarInterfaceBase(ABC):
       self.madsEnabledInitPrev = True
       return cs_out.cruiseState.available
     else:
-      return mads_enabled
+      return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, gear_allowed=True):
-    cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
-      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
-        self.CS.madsEnabled = True
-      elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
-        self.CS.madsEnabled = False
+      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
+        CS.madsEnabled = True
+      elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
+        CS.madsEnabled = False
+
+    if self.CP.openpilotLongitudinalControl:
+      self.toggle_exp_mode(gap_button)
 
     lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
@@ -633,24 +637,37 @@ class CarInterfaceBase(ABC):
 
     cs_out.latActive = gear_allowed
 
-    if not self.CS.control_initialized:
-      self.CS.control_initialized = True
+    if not CS.control_initialized:
+      CS.control_initialized = True
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \
       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \
       (cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)):
-      if self.CS.madsEnabled:
-        self.CS.disengageByBrake = True
+      if CS.madsEnabled:
+        CS.disengageByBrake = True
 
-    cs_out.madsEnabled = self.CS.madsEnabled
-    cs_out.accEnabled = self.CS.accEnabled
-    cs_out.disengageByBrake = self.CS.disengageByBrake
+    cs_out.madsEnabled = CS.madsEnabled
+    cs_out.accEnabled = CS.accEnabled
+    cs_out.disengageByBrake = CS.disengageByBrake
     cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
 
-    return cs_out
+    return cs_out, CS
 
-  def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
+  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
+  def toggle_exp_mode(self, gap_pressed):
+    if gap_pressed:
+      if not self.experimental_mode_hold:
+        self.gap_button_counter += 1
+        if self.gap_button_counter > 50:
+          self.gap_button_counter = 0
+          self.experimental_mode_hold = True
+          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
+    else:
+      self.gap_button_counter = 0
+      self.experimental_mode_hold = False
+
+  def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
 
@@ -658,7 +675,7 @@ class CarInterfaceBase(ABC):
       if cs_out.disengageByBrake and cs_out.madsEnabled:
         enable_pressed = True
         enable_from_brake = True
-      self.CS.disengageByBrake = False
+      CS.disengageByBrake = False
       cs_out.disengageByBrake = False
 
     for b in cs_out.buttonEvents:
@@ -687,11 +704,11 @@ class CarInterfaceBase(ABC):
     if self.CP.pcmCruise:
       # do disable on button down
       if main_enabled:
-        if any(self.CS.main_buttons) and not cs_out.cruiseState.enabled:
+        if any(CS.main_buttons) and not cs_out.cruiseState.enabled:
           if not cs_out.madsEnabled:
             events.add(EventName.buttonCancel)
       # do enable on both accel and decel buttons
-      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
+      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled and allow_enable:
         enable_pressed = True
         enable_pressed_long = True
       elif not cs_out.cruiseState.enabled:
@@ -711,19 +728,8 @@ class CarInterfaceBase(ABC):
 
     return events, cs_out
 
-  def update_custom_stock_long(self):
-    customStockLong = car.CarState.CustomStockLong.new_message()
-    customStockLong.cruiseButton = 0 if self.CC.cruise_button is None else int(self.CC.cruise_button)
-    customStockLong.finalSpeedKph = float(self.CC.final_speed_kph)
-    customStockLong.targetSpeed = float(self.CC.target_speed)
-    customStockLong.vSetDis = float(self.CC.v_set_dis)
-    customStockLong.speedDiff = float(self.CC.speed_diff)
-    customStockLong.buttonType = int(self.CC.button_type)
-    return customStockLong
-
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
-    self.CP = CP
     self.rcp = None
     self.pts = {}
     self.delay = 0
@@ -824,6 +830,16 @@ class CarStateBase(ABC):
 
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
+  def update_custom_stock_long(self, cruise_button, final_speed_kph, target_speed, v_set_dis, speed_diff, button_type):
+    customStockLong = car.CarState.CustomStockLong.new_message()
+    customStockLong.cruiseButton = 0 if cruise_button is None else cruise_button
+    customStockLong.finalSpeedKph = final_speed_kph
+    customStockLong.targetSpeed = target_speed
+    customStockLong.vSetDis = v_set_dis
+    customStockLong.speedDiff = speed_diff
+    customStockLong.buttonType = button_type
+    return customStockLong
+
   @staticmethod
   def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
     if gear is None:
@@ -851,17 +867,12 @@ class CarStateBase(ABC):
     return None
 
 
+SendCan = tuple[int, int, bytes, int]
+
+
 class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP, VM):
-    self.CP = CP
-    self.frame = 0
-
-    self.cruise_button = 0
-    self.final_speed_kph = 0.0
-    self.target_speed = 0.0
-    self.v_set_dis = 0.0
-    self.speed_diff = 0.0
-    self.button_type = 0
+    pass
 
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:

selfdrive/car/isotp_parallel_query.py

@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
@@ -36,11 +36,11 @@ class IsoTpParallelQuery:
     for packet in can_packets:
       for msg in packet.can:
         if msg.src == self.bus and msg.address in self.msg_addrs.values():
-          self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src))
+          self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
 
   def _can_tx(self, tx_addr, dat, bus):
     """Helper function to send single message"""
-    msg = [tx_addr, dat, bus]
+    msg = [tx_addr, 0, dat, bus]
     self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))
 
   def _can_rx(self, addr, sub_addr=None):
@@ -53,7 +53,7 @@ class IsoTpParallelQuery:
       # Filter based on subadress
       msgs = []
       for m in self.msg_buffer[addr]:
-        first_byte = m[1][0]
+        first_byte = m[2][0]
         if first_byte == sub_addr:
           msgs.append(m)
         else:

selfdrive/car/mazda/carcontroller.py

@@ -16,10 +16,11 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
+    self.frame = 0
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()

selfdrive/car/mazda/interface.py

@@ -45,9 +45,10 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -55,15 +56,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.get_sp_cancel_cruise_state()
+        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.get_sp_cancel_cruise_state()
+      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -71,7 +72,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -82,14 +83,16 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(ret, events)
+    events, ret = self.create_sp_events(self.CS, ret, events)
 
     #if self.CS.lkas_disabled:
     #  events.add(EventName.lkasDisabled)
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.update_custom_stock_long()
+    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
+                                                           self.CC.target_speed, self.CC.v_set_dis,
+                                                           self.CC.speed_diff, self.CC.button_type)
 
     ret.events = events.to_msg()
 

selfdrive/car/nissan/carcontroller.py

@@ -11,8 +11,9 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+    self.CP = CP
     self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
 
     self.lkas_max_torque = 0
     self.apply_angle_last = 0