Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test

Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 )
Source commit: 13cb725652 Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to afde277 * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)
2026-06-19 16:52:06 +08:00 · 2025-01-18 19:39:08 +01:00 · 2025-01-18 19:39:07 +01:00 · 2025-01-18 19:35:46 +01:00 · 2025-01-18 19:35:46 +01:00 · 2025-01-15 21:42:38 +01:00
167 changed files with 7438 additions and 1301 deletions
@@ -67,15 +67,7 @@ jobs:
      timeout-minutes: 1
      run: |
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
-    - name: Static analysis
-      timeout-minutes: 1
-      run: |
-        cd $GITHUB_WORKSPACE
-        cp pyproject.toml $STRIPPED_DIR
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
+        ${{ env.RUN }} "release/check-dirty.sh"

  build:
    runs-on:
@@ -86,7 +86,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
          A=($scenes)

          DIFF=""
@@ -1,16 +1,23 @@
-Version 0.9.8 (2024-XX-XX)
+Version 0.9.9 (2025-03-30)
+========================
+* Coming soon
+  * Rivian support
+  * F-150 & Mach-E support
+  * Tesla Model 3 support
+
+Version 0.9.8 (2025-01-30)
 ========================
-* New driving model
-  * Trained in brand new ML simulator
-  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
  * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
  * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler 
+  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
+* Coming soon
+  * New driving model with gas gating
+  * Training data upload mode

 Version 0.9.7 (2024-06-13)
 ========================
@@ -199,6 +199,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    silentParkBrake @162;
    controlsMismatchLateral @163;
    hyundaiRadarTracksConfirmed @164;
+    experimentalModeSwitched @165;

    soundsUnavailableDEPRECATED @47;
  }
@@ -483,6 +484,7 @@ struct GpsLocationData {
  speedAccuracy @12 :Float32;

  hasFix @13 :Bool;
+  satelliteCount @14 :Int8;

  enum SensorSource {
    android @0;
@@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }

+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
@@ -23,6 +23,7 @@

 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number

-from openpilot.common.numpy_fast import clip, interp
-
-
 class PIDController:
  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
    self._k_p = k_p
@@ -28,15 +25,15 @@ class PIDController:

  @property
  def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])

  @property
  def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])

  @property
  def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])

  @property
  def error_integral(self):
@@ -64,10 +61,10 @@ class PIDController:

        # Clip i to prevent exceeding control limits
        control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f

-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
    return self.control
@@ -26,6 +26,9 @@ public:
    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
    zmq_connect(sock, Path::swaglog_ipc().c_str());

+    // workaround for https://github.com/dropbox/json11/issues/38
+    setlocale(LC_NUMERIC, "C");
+
    print_level = CLOUDLOG_WARNING;
    if (const char* print_lvl = getenv("LOGPRINT")) {
      if (strcmp(print_lvl, "debug") == 0) {
@@ -1,21 +0,0 @@
-import numpy as np
-
-from openpilot.common.numpy_fast import interp
-
-
-class TestInterp:
-  def test_correctness_controls(self):
-    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
-    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
-    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
-                 39.999999, 40, 41]
-
-    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
-    np.testing.assert_equal(actual, expected)
-
-    for v_ego in v_ego_arr:
-      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-      np.testing.assert_equal(actual, expected)
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B 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=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K 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=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
@@ -6,41 +6,11 @@ from pathlib import Path
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = HERE + "/.."

-# blacklisting is for two purposes:
-# - minimizing release download size
-# - keeping the diff readable
 blacklist = [
-  "panda/drivers/",
-  "panda/examples/",
-  "panda/tests/safety/",
-
-  "opendbc_repo/dbc/.*.dbc$",
-  "opendbc_repo/dbc/generator/",
-
-  "cereal/.*test.*",
-  "^common/tests/",
-
-  # particularly large text files
-  "uv.lock",
-  "third_party/catch2",
-  "selfdrive/car/tests/test_models.*",
-
-  "^tools/",
-  "^tinygrad_repo/",
+  ".git/",

  "matlab.*.md",

-  ".git/",
-  ".github/",
-  ".devcontainer/",
-  "Darwin/",
-  ".vscode",
-
-  # common things
-  "LICENSE",
-  "Dockerfile",
-  ".pre-commit",
-
  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
@@ -48,153 +18,10 @@ blacklist = [
  ".gitmodules",
 ]

-# Sunnypilot blacklist
-sunnypilot_blacklist = [
-  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
-  ".idea/",
-  ".run/",
-  ".*__pycache__/.*",
-  ".*\\.pyc",
-  "teleoprtc/*",
-  "third_party/snpe/x86_64/*",
-  "body/board/canloader.py",
-  "body/board/flash_base.sh",
-  "body/board/flash_knee.sh",
-  "body/board/recover.sh",
-  ".*/test/",
-  ".*/tests/",
-  ".*tinygrad_repo/tinygrad/renderer/",
-  "README.md",
-  ".*internal/",
-  "docs/.*",
-  ".sconsign.dblite",
-  "release/ci/scons_cache/",
-  ".gitlab-ci.yml",
-  ".clang-tidy",
-  ".dockerignore",
-  ".editorconfig",
-  ".python-version",
-  "SECURITY.md",
-  "codecov.yml",
-  "conftest.py",
-  "poetry.lock",
-  ".venv/",
-]
-
-# Merge the blacklists
-blacklist += sunnypilot_blacklist
-
 # gets you through the blacklist
-whitelist = [
-  "tools/lib/",
-  "tools/bodyteleop/",
-  "tools/joystick/",
-  "tools/longitudinal_maneuvers/",
-
-  "tinygrad_repo/examples/openpilot/compile3.py",
-  "tinygrad_repo/extra/onnx.py",
-  "tinygrad_repo/extra/onnx_ops.py",
-  "tinygrad_repo/extra/thneed.py",
-  "tinygrad_repo/extra/utils.py",
-  "tinygrad_repo/tinygrad/codegen/kernel.py",
-  "tinygrad_repo/tinygrad/codegen/linearizer.py",
-  "tinygrad_repo/tinygrad/features/image.py",
-  "tinygrad_repo/tinygrad/features/search.py",
-  "tinygrad_repo/tinygrad/nn/*",
-  "tinygrad_repo/tinygrad/renderer/cstyle.py",
-  "tinygrad_repo/tinygrad/renderer/opencl.py",
-  "tinygrad_repo/tinygrad/runtime/lib.py",
-  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
-  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
-  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
-  "tinygrad_repo/tinygrad/shape/*",
-  "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",
+whitelist: list[str] = [
 ]

-# Sunnypilot whitelist
-sunnypilot_whitelist = [
-  "^README.md",
-  ".*selfdrive/test/fuzzy_generation.py",
-  ".*selfdrive/test/helpers.py",
-  ".*selfdrive/test/__init__.py",
-  ".*selfdrive/test/setup_device_ci.sh",
-  ".*selfdrive/test/test_time_to_onroad.py",
-  ".*selfdrive/test/test_onroad.py",
-  ".*system/manager/test/test_manager.py",
-  ".*system/manager/test/__init__.py",
-  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
-  ".*system/updated/casync/tests/test_casync.py",
-  ".*system/updated/tests/test_git.py",
-  ".*system/updated/tests/test_base.py",
-  ".*selfdrive/ui/tests/test_translations.py",
-  ".*selfdrive/car/tests/__init__.py",
-  ".*selfdrive/car/tests/test_car_interfaces.py",
-  ".*selfdrive/navd/tests/test_navd.py",
-  ".*selfdrive/navd/tests/test_map_renderer.py",
-  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
-  ".*INTEGRATION.md",
-  ".*HOW-TOS.md",
-  ".*CARS.md",
-  ".*LIMITATIONS.md",
-  ".*CONTRIBUTING.md",
-  ".*sunnyhaibin0850_qrcode_paypal.me.png",
-  "opendbc/.*.dbc",
-]
-
-# Merge the whitelists
-whitelist += sunnypilot_whitelist
-

 if __name__ == "__main__":
  for f in Path(ROOT).rglob("**/*"):
@@ -122,7 +122,7 @@ class CarSpecificEvents:

    elif self.CP.carName == 'volkswagen':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         pcm_enable=self.CP.pcmCruise,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))

      # Low speed steer alert hysteresis logic
@@ -149,7 +149,7 @@ class CarSpecificEvents:
      # Main button also can trigger an engagement on these cars
      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)

      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -165,7 +165,7 @@ class CarSpecificEvents:
    return events

  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
    events = Events()

    if CS.doorOpen:
@@ -191,7 +191,7 @@ class CarSpecificEvents:
      events.add(EventName.speedTooHigh)
    if CS.cruiseState.nonAdaptive:
      events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
      events.add(EventName.brakeHold)
    if CS.parkingBrake:
      events.add(EventName.parkBrake)
@@ -216,7 +216,8 @@ class CarSpecificEvents:
      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
        events.add(EventName.buttonEnable)
      # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
+      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
        events.add(EventName.buttonCancel)

    # Handle permanent and temporary steering faults
@@ -75,6 +75,7 @@ class Car:
    self.can_rcv_cum_timeout_counter = 0

    self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
    self.initialized_prev = False

    self.last_actuators_output = structs.CarControl.Actuators()
@@ -188,8 +189,12 @@ class Car:
    if can_rcv_valid and REPLAY:
      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime

-    # TODO: mirror the carState.cruiseState struct?
    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      # Use CarState w/ buttons from the step selfdrived enables on
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+
+    # TODO: mirror the carState.cruiseState struct?
    CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
    CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)

@@ -247,9 +252,6 @@ class Car:
  def step(self):
    CS, RD = self.state_update()

-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
-
    self.state_publish(CS, RD)

    initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
@@ -258,6 +260,7 @@ class Car:
      self.controls_update(CS, self.sm['carControl'])

    self.initialized_prev = initialized
+    self.CS_prev = CS

  def params_thread(self, evt):
    while not evt.is_set():
@@ -1,8 +1,8 @@
 import math
+import numpy as np

 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip


 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ class VCruiseHelper:
    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)

-    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)

  def update_button_timers(self, CS, enabled):
    # increment timer for buttons still pressed
@@ -130,6 +130,6 @@ class VCruiseHelper:
    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
      self.v_cruise_kph = self.v_cruise_kph_last
    else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))

    self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -119,15 +119,16 @@ class Controls:

    # accel PID loop
    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))

    # Steering PID loop and lateral MPC
    self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = self.desired_curvature
-    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = float(self.desired_curvature)
+    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                            self.steer_limited, self.desired_curvature,
                                                                            self.calibrated_pose) # TODO what if not available
-
+    actuators.steer = float(steer)
+    actuators.steeringAngleDeg = float(steeringAngleDeg)
    # Ensure no NaNs/Infs
    for p in ACTUATOR_FIELDS:
      attr = getattr(actuators, p)
@@ -192,7 +193,7 @@ class Controls:

    cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
    cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = self.desired_curvature
+    cs.desiredCurvature = float(self.desired_curvature)
    cs.longControlState = self.LoC.long_control_state
    cs.upAccelCmd = float(self.LoC.pid.p)
    cs.uiAccelCmd = float(self.LoC.pid.i)
@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import log
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL

 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@ MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0

 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
  v_ego = max(MIN_SPEED, v_ego)
  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(new_curvature,
+  safe_desired_curvature = np.clip(new_curvature,
                                prev_curvature - max_curvature_rate * DT_CTRL,
                                prev_curvature + max_curvature_rate * DT_CTRL)

@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
  # ToDo: Try relative error, and absolute speed
  if len(modelV2.temporalPose.trans):
-    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
    return float(vel_err)
  return 0.0
@@ -1,6 +1,6 @@
+import numpy as np
 from abc import abstractmethod, ABC

-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL

 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ class LatControl(ABC):
      self.sat_count += self.sat_count_rate
    else:
      self.sat_count -= self.sat_count_rate
-    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
    return self.sat_count > (self.sat_limit - 1e-3)
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
      angle_steers_des += params.angleOffsetDeg

    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des
    return 0, float(angle_steers_des), angle_log
@@ -39,10 +39,10 @@ class LatControlPID(LatControl):
      output_steer = self.pid.update(error, override=CS.steeringPressed,
                                     feedforward=steer_feedforward, speed=CS.vEgo)
      pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.f = self.pid.f
-      pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))

    return output_steer, angle_steers_des, pid_log
@@ -1,8 +1,8 @@
 import math
+import numpy as np

 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ class LatControlTorque(LatControl):
      else:
        assert calibrated_pose is not None
        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
        curvature_deadzone = 0.0
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

@@ -60,7 +60,7 @@ class LatControlTorque(LatControl):
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

-      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
@@ -68,7 +68,7 @@ class LatControlTorque(LatControl):
                                                            setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                               measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = torque_from_setpoint - torque_from_measurement
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                          desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                          gravity_adjusted=True)
@@ -80,14 +80,14 @@ class LatControlTorque(LatControl):
                                      freeze_integrator=freeze_integrator)

      pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.d = self.pid.d
-      pid_log.f = self.pid.f
-      pid_log.output = -output_torque
-      pid_log.actualLateralAccel = actual_lateral_accel
-      pid_log.desiredLateralAccel = desired_lateral_accel
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))

    # TODO left is positive in this convention
    return -output_torque, 0.0, pid_log
@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ class LongControl:
      output_accel = self.pid.update(error, speed=CS.vEgo,
                                     feedforward=a_target)

-    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
    return self.last_output_accel
@@ -4,7 +4,6 @@ import time
 import numpy as np
 from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -320,9 +319,9 @@ class LongitudinalMpc:
    # MPC will not converge if immediate crash is expected
    # Clip lead distance to what is still possible to brake for
    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = clip(x_lead, min_x_lead, 1e8)
-    v_lead = clip(v_lead, 0.0, 1e8)
-    a_lead = clip(a_lead, -10., 5.)
+    x_lead = np.clip(x_lead, min_x_lead, 1e8)
+    v_lead = np.clip(v_lead, 0.0, 1e8)
+    a_lead = np.clip(a_lead, -10., 5.)
    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
    return lead_xv

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.numpy_fast import clip, interp

 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
@@ -30,7 +29,7 @@ _A_TOTAL_MAX_BP = [20., 40.]


 def get_max_accel(v_ego):
-  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)

 def get_coast_accel(pitch):
  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -43,7 +42,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
  """
  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
  # The lookup table for turns should also be updated if we do this
-  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
  a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
  a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))

@@ -55,9 +54,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
    v_now = speeds[0]
    a_now = accels[0]

-    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
  else:
    v_target = 0.0
    v_target_1sec = 0.0
@@ -139,7 +138,7 @@ class LongitudinalPlanner:
    if reset_state:
      self.v_desired_filter.x = v_ego
      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -151,7 +150,7 @@ class LongitudinalPlanner:

    if not self.allow_throttle:
      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)

    if force_slow_decel:
@@ -176,7 +175,7 @@ class LongitudinalPlanner:

    # Interpolate 0.05 seconds and save as starting point for next iteration
    a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

  def publish(self, sm, pm):
@@ -200,9 +199,9 @@ class LongitudinalPlanner:
    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = a_target
-    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = self.allow_throttle
+    longitudinalPlan.allowThrottle = bool(self.allow_throttle)

    pm.send('longitudinalPlan', plan_send)
@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
+import numpy as np
 from collections import deque
 from typing import Any

 import capnp
 from cereal import messaging, log, car
-from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ class KalmanParams:
          0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
          0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
          0.26393339, 0.26278425]
-    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]


 class Track:
@@ -2,8 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE

 parser = argparse.ArgumentParser(description="clear DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import argparse

+from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
-from panda.python import uds


 def main(route: str | None, addrs: list[int]):
@@ -16,8 +16,8 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError

+from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from panda.python import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE

 class ConfigValues(NamedTuple):
  default_config: bytes
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
+import numpy as np
 import capnp
 from collections import defaultdict

 from cereal.messaging import SubMaster
-from openpilot.common.numpy_fast import mean

 def cputime_total(ct):
  return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -49,7 +49,7 @@ if __name__ == "__main__":

    if sm.updated['deviceState']:
      t = sm['deviceState']
-      last_temp = mean(t.cpuTempC)
+      last_temp = np.mean(t.cpuTempC)
      last_mem = t.memoryUsagePercent

    if sm.updated['procLog']:
@@ -72,7 +72,7 @@ if __name__ == "__main__":
      total_times = total_times_new[:]
      busy_times = busy_times_new[:]

-      print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
+      print(f"CPU {100.0 * np.mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")

      if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
        procs: dict[str, float] = defaultdict(float)
@@ -2,9 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
+from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
 from panda import Panda
-from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE
-from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names

 parser = argparse.ArgumentParser(description="read DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0))
@@ -3,9 +3,9 @@
 import argparse
 import struct
 from enum import IntEnum
-from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
+from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
  DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from panda import Panda
 from datetime import date

 # TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks
@@ -8,7 +8,6 @@ import cereal.messaging as messaging
 from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
-from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -66,7 +65,7 @@ class ParamsLearner:
        # This is done to bound the road roll estimate when localizer values are invalid
        roll = 0.0
        roll_std = np.radians(10.0)
-      self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+      self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)

      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
@@ -203,11 +202,11 @@ def main():
        learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
        x = learner.kf.x

-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()),
+      angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()),
                                  angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+      angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
                          angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
-      roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
+      roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
      roll_std = float(P[States.ROAD_ROLL].item())
      if learner.active and learner.speed > LOW_ACTIVE_SPEED:
        # Account for the opposite signs of the yaw rates
@@ -226,9 +225,9 @@ def main():
      liveParameters.sensorValid = sensors_valid
      liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
      liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.roll = roll
-      liveParameters.angleOffsetAverageDeg = angle_offset_average
-      liveParameters.angleOffsetDeg = angle_offset
+      liveParameters.roll = float(roll)
+      liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
+      liveParameters.angleOffsetDeg = float(angle_offset)
      liveParameters.valid = all((
        avg_offset_valid,
        total_offset_valid,
@@ -10,6 +10,7 @@ cdef extern from "common/clutil.h":
  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
  cl_device_id cl_get_device_id(unsigned long)
  cl_context cl_create_context(cl_device_id)
+  void cl_release_context(cl_context)

 cdef extern from "selfdrive/modeld/models/commonmodel.h":
  cppclass ModelFrame:
@@ -8,7 +8,7 @@ from libc.stdint cimport uintptr_t

 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
 from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame


@@ -17,6 +17,10 @@ cdef class CLContext(BaseCLContext):
    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
    self.context = cl_create_context(self.device_id)

+  def __dealloc__(self):
+    if self.context:
+      cl_release_context(self.context)
+
 cdef class CLMem:
  @staticmethod
  cdef create(void * cmem):
@@ -1,9 +1,9 @@
 from math import atan2
+import numpy as np

 from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
@@ -205,10 +205,10 @@ class DriverMonitoring:
    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
    bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD

@@ -1063,6 +1063,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {

  EventName.hyundaiRadarTracksConfirmed: {
    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  },
+
+  EventName.experimentalModeSwitched: {
+    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
  }

 }
@@ -25,6 +25,7 @@ from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
+from openpilot.sunnypilot.selfdrive.car.experimental_switcher import ExperimentalSwitcher

 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -44,7 +45,7 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)


-class SelfdriveD:
+class SelfdriveD(ExperimentalSwitcher):
  def __init__(self, CP=None):
    self.params = Params()

@@ -140,6 +141,8 @@ class SelfdriveD:

    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)

+    ExperimentalSwitcher.__init__(self, self.params)
+
  def update_events(self, CS):
    """Compute onroadEvents from carState"""

@@ -367,12 +370,18 @@ class SelfdriveD:
      if self.sm['modelV2'].frameDropPerc > 20:
        self.events.add(EventName.modeldLagging)

+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      ExperimentalSwitcher.update(self, CS, self.events, self.experimental_mode)
+
    # decrement personality on distance button press
    if self.CP.openpilotLongitudinalControl:
      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-        self.events.add(EventName.personalityChanged)
+        if not self.experimental_mode_switched:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+          self.events.add(EventName.personalityChanged)
+        self.experimental_mode_switched = False

  def data_sample(self):
    car_state = messaging.recv_one(self.car_state_sock)
@@ -452,6 +461,7 @@ class SelfdriveD:
    ss.alertStatus = self.AM.current_alert.alert_status
    ss.alertType = self.AM.current_alert.alert_type
    ss.alertSound = self.AM.current_alert.audible_alert
+    ss.alertHudVisual = self.AM.current_alert.visual_alert

    self.pm.send('selfdriveState', ss_msg)

@@ -121,7 +121,7 @@ class Plant:
    ss.selfdriveState.personality = self.personality
    control.controlsState.forceDecel = self.force_decel
    car_state.carState.vEgo = float(self.speed)
-    car_state.carState.standstill = self.speed < 0.01
+    car_state.carState.standstill = bool(self.speed < 0.01)
    car_state.carState.vCruise = float(v_cruise * 3.6)
    car_control.carControl.orientationNED = [0., float(pitch), 0.]

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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
DevTekVE	a3201845f2	Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test	2025-01-18 19:39:08 +01:00
DevTekVE	9567c074c1	Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 ) Source commit: `13cb725652` Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to `afde277` * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)	2025-01-18 19:39:07 +01:00
DevTekVE	a79a2ac494	Merge branch 'temp-squash-long-distance-btn-exp-mode' into master-dev-c3-new-test	2025-01-18 19:35:46 +01:00
DevTekVE	e6055d68be	Longitudinal: Distance button hold to toggle Chill/Experimental Mode (#576 ) Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs to `afde277` * # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)	2025-01-18 19:35:46 +01:00
DevTekVE	3b907acfe7	Longitudinal: Distance button hold to toggle Chill/Experimental Mode Original commits: * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode	2025-01-15 21:42:38 +01:00