sunny said to split it, now he is going to say make separate pr... coming up

cereal/custom.capnp

@@ -69,48 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-
-  enum AudibleAlert {
-    none @0;
-
-    engage @1;
-    disengage @2;
-    refuse @3;
-
-    warningSoft @4;
-    warningImmediate @5;
-
-    prompt @6;
-    promptRepeat @7;
-    promptDistracted @8;
-
-    # unused, these are reserved for upstream events so we don't collide
-    reserved9 @9;
-    reserved10 @10;
-    reserved11 @11;
-    reserved12 @12;
-    reserved13 @13;
-    reserved14 @14;
-    reserved15 @15;
-    reserved16 @16;
-    reserved17 @17;
-    reserved18 @18;
-    reserved19 @19;
-    reserved20 @20;
-    reserved21 @21;
-    reserved22 @22;
-    reserved23 @23;
-    reserved24 @24;
-    reserved25 @25;
-    reserved26 @26;
-    reserved27 @27;
-    reserved28 @28;
-    reserved29 @29;
-    reserved30 @30;
-
-    promptSingleLow @31;
-    promptSingleHigh @32;
-  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -192,6 +150,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
+  accelPersonality @8 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -294,6 +253,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -446,12 +410,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+}
 
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {

common/params_keys.h

@@ -130,6 +130,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -160,9 +161,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
     {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -171,6 +172,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibePersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibeAccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibeFollowPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -205,8 +209,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/assets/sounds/prompt_single_high.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
-size 34638

selfdrive/assets/sounds/prompt_single_low.wav

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
-size 44416

selfdrive/controls/controlsd.py

@@ -99,6 +99,7 @@ class Controls(ControlsExt, ModelStateBase):
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
       self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
@@ -233,9 +234,6 @@ class Controls(ControlsExt, ModelStateBase):
     while not evt.is_set():
       self.get_params_sp()
 
-      if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
-
       time.sleep(0.1)
 
   def run(self):

selfdrive/controls/lib/desire_helper.py

@@ -6,7 +6,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -33,9 +32,9 @@ DESIRES = {
 }
 
 TURN_DESIRES = {
-  TurnDirection.none: log.Desire.none,
-  TurnDirection.turnLeft: log.Desire.turnLeft,
-  TurnDirection.turnRight: log.Desire.turnRight,
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
 }
 
 
@@ -50,7 +49,7 @@ class DesireHelper:
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = TurnDirection.none
+    self.lane_turn_direction = custom.TurnDirection.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -127,7 +126,7 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != TurnDirection.none:
+    if self.lane_turn_direction != custom.TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
       self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -10,6 +10,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +230,7 @@ class LongitudinalMpc:
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
     self.source = SOURCES[2]
+    self.vibe_controller = VibePersonalityController()
 
   def reset(self):
     # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -328,10 +331,18 @@ class LongitudinalMpc:
     return lead_xv
 
   def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
+
+    # Get following distance
+    t_follow_vibe = self.vibe_controller.get_follow_distance_multiplier(v_ego)
+    t_follow = t_follow_vibe if t_follow_vibe is not None else get_T_FOLLOW(personality)
+
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
+    # Get acceleration limits
+    accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+    a_cruise_min = accel_limits[0] if accel_limits is not None else CRUISE_MIN_ACCEL
+
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
@@ -350,7 +361,7 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
       # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -405,7 +416,7 @@ class LongitudinalMpc:
       if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
       if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
-         (lead_1_obstacle[0] - lead_0_obstacle[0]):
+            (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
   def run(self):

selfdrive/controls/lib/longitudinal_planner.py

@@ -124,7 +124,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+      if accel_limits is not None:
+        accel_clip = [ACCEL_MIN, accel_limits[1]]
+      else:
+        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
     else:

selfdrive/selfdrived/selfdrived.py

@@ -24,7 +24,6 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -44,7 +43,6 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
-TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -132,12 +130,7 @@ class SelfdriveD(CruiseHelper):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = get_sanitize_int_param(
-      "LongitudinalPersonality",
-      min(log.LongitudinalPersonality.schema.enumerants.values()),
-      max(log.LongitudinalPersonality.schema.enumerants.values()),
-      self.params
-    )
+    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -306,9 +299,9 @@ class SelfdriveD(CruiseHelper):
 
     # Handle lane turn
     lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == TurnDirection.turnLeft:
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == TurnDirection.turnRight:
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):

selfdrive/ui/qt/offroad/settings.cc

@@ -33,6 +33,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/experimental_white.svg",
       false,
     },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+      false,
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -85,7 +92,15 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                              "your steering wheel distance button."),
                                           "../assets/icons/speed_limit.png",
                                           longi_button_texts);
-
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
@@ -113,6 +128,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     // insert longitudinal personality after NDOG toggle
     if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
+      addItem(accel_personality_setting);
     }
   }
 
@@ -133,6 +149,13 @@ void TogglesPanel::updateState(const UIState &s) {
     }
     uiState()->scene.personality = personality;
   }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -179,10 +202,12 @@ void TogglesPanel::updateToggles() {
       experimental_mode_toggle->setEnabled(true);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
     } else {
       // no long for now
       experimental_mode_toggle->setEnabled(false);
       long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

selfdrive/ui/qt/offroad/settings.h

@@ -88,6 +88,7 @@ protected:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;
 
   virtual void updateToggles();
 };

selfdrive/ui/qt/onroad/model.cc

@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect);
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -173,6 +173,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -39,6 +39,9 @@ protected:
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
@@ -55,4 +58,5 @@ protected:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+
 };

selfdrive/ui/soundd.py

@@ -4,7 +4,7 @@ import time
 import wave
 
 
-from cereal import car, messaging, custom
+from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,15 +26,8 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
-sound_list_sp: dict[int, tuple[str, int | None, float]] = {
-  # AudibleAlertSP, file name, play count (none for infinite)
-  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
-  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
-}
-
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
   AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -47,8 +40,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
-
-  **sound_list_sp,
 }
 
 def check_selfdrive_timeout_alert(sm):

selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc

@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
     "Onroad Brightness",
     "",
     "",
-    {0, 90}, 10, true);
+    {0, 100}, 10, true);
 
   connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
   connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h

@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };
 
 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
+  QObject::tr("None"),
+  QObject::tr("Fixed"),
+  QObject::tr("Percent"),
 };
 
 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };
 
 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
+  QObject::tr("Car\nOnly"),
+  QObject::tr("Map\nOnly"),
+  QObject::tr("Car\nFirst"),
+  QObject::tr("Map\nFirst"),
+  QObject::tr("Combined\nData")
 };
 
 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };
 
 inline const QString SpeedLimitModeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
+  QObject::tr("Off"),
+  QObject::tr("Information"),
+  QObject::tr("Warning"),
+  QObject::tr("Assist"),
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc

@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
   ListWidgetSP *list = new ListWidgetSP(this);
 
   std::vector<QString> speed_limit_policy_texts{
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
   };
   speed_limit_policy = new ButtonParamControlSP(
     "SpeedLimitPolicy",

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc

@@ -7,8 +7,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
   subPanelFrame = new QFrame();
   QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -27,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   speedLimitPolicyScreen = new SpeedLimitPolicy(this);
 
   std::vector<QString> speed_limit_mode_texts{
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
@@ -66,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
 
   std::vector<QString> speed_limit_offset_texts{
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
   };
   speed_limit_offset_settings = new ButtonParamControlSP(
     "SpeedLimitOffsetType",
@@ -111,7 +109,7 @@ void SpeedLimitSettings::refresh() {
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
   bool has_longitudinal_control;
-  bool has_icbm;
+  bool intelligent_cruise_button_management_available;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -123,16 +121,10 @@ void SpeedLimitSettings::refresh() {
     cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
-    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    if (!has_longitudinal_control && !has_icbm) {
-      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
-        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
-      }
-    }
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
-    has_icbm = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -152,14 +144,13 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->showDescription();
   }
 
-  if (has_longitudinal_control || has_icbm) {
+  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
   } else {
     speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
   }
 
-  speed_limit_mode_settings->refresh();
   speed_limit_mode_settings->showDescription();
   speed_limit_offset->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h

@@ -35,7 +35,6 @@ private:
   SpeedLimitPolicy *speedLimitPolicyScreen;
   ButtonParamControlSP *speed_limit_offset_settings;
   OptionControlSP *speed_limit_offset;
-  bool icbm_available = false;
 
   static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
     QString none_str = tr("⦿ None: No Offset");

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

@@ -7,8 +7,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   setStyleSheet(R"(
     #back_btn {
@@ -42,20 +40,9 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
     "",
     this
   );
-  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
-    refresh(offroad);
-  });
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
   list->addItem(intelligentCruiseButtonManagement);
 
-  dynamicExperimentalControl = new ParamControlSP(
-    "DynamicExperimentalControl",
-    tr("Dynamic Experimental Control (DEC)"),
-    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-    "",
-    this
-  );
-  list->addItem(dynamicExperimentalControl);
-
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -88,6 +75,35 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
     main_layout->setCurrentWidget(cruisePanelScreen);
   });
 
+
+  // Vibe Personality Controller
+  vibePersonalityControl = new ParamControlSP("VibePersonalityEnabled",
+    tr("Vibe Personality Controller"),
+    tr("Advanced driving personality system with separate controls for acceleration behavior (Eco/Normal/Sport) and following distance/braking (Relaxed/Standard/Aggressive). "
+      "Customize your driving experience with independent acceleration and distance personalities."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibePersonalityControl);
+
+  connect(vibePersonalityControl, &ParamControlSP::toggleFlipped, [=]() {
+    refresh(offroad);
+  });
+
+  // Vibe Acceleration Personality
+  vibeAccelPersonalityControl = new ParamControlSP("VibeAccelPersonalityEnabled",
+    tr("Acceleration Personality"),
+    tr("Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive). "
+      "Adjust how aggressively the vehicle accelerates while maintaining smooth operation."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeAccelPersonalityControl);
+
+  // Vibe Following Distance Personality
+  vibeFollowPersonalityControl = new ParamControlSP("VibeFollowPersonalityEnabled",
+    tr("Following Distance Personality"),
+    tr("Controls following distance and braking behavior: Relaxed (longer distance, gentler braking), Standard (balanced), Aggressive (shorter distance, firmer braking). "
+      "Fine-tune your comfort level in traffic situations."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeFollowPersonalityControl);
+
   main_layout->addWidget(cruisePanelScreen);
   main_layout->addWidget(speedLimitScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
@@ -116,41 +132,11 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
-      intelligentCruiseButtonManagement->setEnabled(offroad);
-    } else {
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->setEnabled(false);
-    }
-
-    if (has_longitudinal_control || has_icbm) {
-      // enable Custom ACC Increments when long is available and is not PCM cruise
-      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
-      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
-      SmartCruiseControlVision->setEnabled(true);
-      SmartCruiseControlMap->setEnabled(true);
-    } else {
-      params.remove("CustomAccIncrementsEnabled");
-      params.remove("DynamicExperimentalControl");
-      params.remove("SmartCruiseControlVision");
-      params.remove("SmartCruiseControlMap");
-      customAccIncrement->setEnabled(false);
-      dynamicExperimentalControl->setEnabled(false);
-      SmartCruiseControlVision->setEnabled(false);
-      SmartCruiseControlMap->setEnabled(false);
-    }
-
-    intelligentCruiseButtonManagement->refresh();
-    customAccIncrement->refresh();
-    dynamicExperimentalControl->refresh();
-    SmartCruiseControlVision->refresh();
-    SmartCruiseControlMap->refresh();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    has_icbm = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -162,19 +148,48 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || has_icbm) {
-      if (has_longitudinal_control && is_pcm_cruise) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+      if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
       } else {
         customAccIncrement->setDescription(accEnabledDescription);
       }
     } else {
+      params.remove("CustomAccIncrementsEnabled");
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
+  bool vibePersonalityEnabled = params.getBool("VibePersonalityEnabled");
+  if (vibePersonalityEnabled) {
+    vibeAccelPersonalityControl->setVisible(true);
+    vibeFollowPersonalityControl->setVisible(true);
+  } else {
+    vibeAccelPersonalityControl->setVisible(false);
+    vibeFollowPersonalityControl->setVisible(false);
+  }
+
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
+  // enable toggle when long is available and is not PCM cruise
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
+  customAccIncrement->refresh();
+
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
+  // Vibe Personality controls - always enabled for toggling
+  vibePersonalityControl->setEnabled(true);
+  vibeAccelPersonalityControl->setEnabled(true);
+  vibeFollowPersonalityControl->setEnabled(true);
+  vibePersonalityControl->refresh();
+  vibeAccelPersonalityControl->refresh();
+  vibeFollowPersonalityControl->refresh();
 
   offroad = _offroad;
 }

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

@@ -25,7 +25,7 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool has_icbm = false;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -35,7 +35,10 @@ private:
   ParamControl *SmartCruiseControlVision;
   ParamControl *SmartCruiseControlMap;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
-  ParamControl *dynamicExperimentalControl = nullptr;
   SpeedLimitSettings *speedLimitScreen;
   PushButtonSP *speedLimitSettings;
+
+  ParamControlSP *vibePersonalityControl;
+  ParamControlSP *vibeAccelPersonalityControl;
+  ParamControlSP *vibeFollowPersonalityControl;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc

@@ -8,52 +8,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
 
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
-  stopAndGoToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoToggle);
-
-  stopAndGoManualParkingBrakeToggle = new ParamControl(
-    "SubaruStopAndGoManualParkingBrake",
-    tr("Stop and Go for Manual Parking Brake (Beta)"),
-    "",
-    ""
-  );
-  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoManualParkingBrakeToggle);
 }
 
 void SubaruSettings::updateSettings() {
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    is_subaru = CP.getBrand() == "subaru";
-
-    if (is_subaru) {
-      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
-        has_stop_and_go = true;
-      }
-    }
-  } else {
-    is_subaru = false;
-    has_stop_and_go = false;
-  }
-
-  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
-  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
-  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
-  if (stop_and_go_disabled) {
-    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
-    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
-  }
-
-  stopAndGoToggle->setEnabled(has_stop_and_go);
-  stopAndGoToggle->setDescription(stop_and_go_desc);
-  stopAndGoToggle->showDescription();
-
-  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
-  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
-  stopAndGoManualParkingBrakeToggle->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h

@@ -14,9 +14,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
-const int SUBARU_FLAG_HYBRID = 32;
-
 class SubaruSettings : public BrandSettingsInterface {
   Q_OBJECT
 
@@ -26,32 +23,4 @@ public:
 
 private:
   bool offroad = false;
-  bool is_subaru;
-  bool has_stop_and_go;
-
-  ParamControl* stopAndGoToggle;
-  ParamControl* stopAndGoManualParkingBrakeToggle;
-
-  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
-  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
-
-  QString stopAndGoDisabledMsg() const {
-    if (is_subaru && !has_stop_and_go) {
-      return tr("This feature is currently not available on this platform.");
-    }
-
-    if (!is_subaru) {
-      return tr("Start the car to check car compatibility.");
-    }
-
-    if (!offroad) {
-      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
-    }
-
-    return QString();
-  }
-
-  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
-    return "<b>" + custom_description + "</b><br><br>" + base_description;
-  }
 };

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

@@ -12,65 +12,43 @@
 
 
 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
 
-  int size = e2e_alert_size * 2 - 40;
-  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
-  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
+  int small_max = e2e_alert_small * 2 - 40;
+  int large_max = e2e_alert_large * 2 - 40;
+  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
+  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
+  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
+  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
 }
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
 
-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  devUiInfo = s.scene.dev_ui_info;
-  roadName = s.scene.road_name;
-  showTurnSignals = s.scene.turn_signals;
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  standstillTimer = s.scene.standstill_timer;
-
   const SubMaster &sm = *(s.sm);
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
   const auto car_control = sm["carControl"].getCarControl();
   const auto radar_state = sm["radarState"].getRadarState();
   const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
-  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
-  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
-  if (sm.updated("carParams")) {
-    steerControlType = car_params.getSteerControlType();
-  }
-
-  if (sm.updated("carParamsSP")) {
-    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
-  }
-
-  if (sm.updated("longitudinalPlanSP")) {
-    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
-    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-  }
-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
-
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+  roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
     roadNameStr = QString::fromStdString(lmd.getRoadName());
     speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -86,7 +64,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
-  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
+  if (int(car_state.getGearShifter()) != 4) {
     reverse_delay = 0;
     reverse_allowed = false;
   } else {
@@ -98,47 +76,46 @@ void HudRendererSP::updateState(const UIState &s) {
 
   reversing = reverse_allowed;
 
-  if (sm.updated("liveParameters")) {
-    roll = sm["liveParameters"].getLiveParameters().getRoll();
-  }
-
-  if (sm.updated("deviceState")) {
-    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  }
-
-  if (sm.updated(gps_source)) {
-    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-    altitude = gpsLocation.getAltitude();
-    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-    bearingDeg = gpsLocation.getBearingDeg();
-  }
-
-  if (sm.updated("liveTorqueParameters")) {
-    torquedUseParams = ltp.getUseParams();
-    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-    liveValid = ltp.getLiveValid();
-  }
-
   latActive = car_control.getLatActive();
-  actuators = car_control.getActuators();
-  longOverride = car_control.getCruiseControl().getOverride();
-  carControlEnabled = car_control.getEnabled();
-
   steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
   lead_d_rel = radar_state.getLeadOne().getDRel();
   lead_v_rel = radar_state.getLeadOne().getVRel();
   lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
   torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
   angleSteers = car_state.getSteeringAngleDeg();
   desiredCurvature = cs.getDesiredCurvature();
   curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
   vEgo = car_state.getVEgo();
   aEgo = car_state.getAEgo();
   steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 
+  standstillTimer = s.scene.standstill_timer;
   isStandstill = car_state.getStandstill();
-  if (!s.scene.started) standstillElapsedTime = 0.0;
+  if (not s.scene.started) standstillElapsedTime = 0.0;
+  longOverride = car_control.getCruiseControl().getOverride();
+  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
 
   // override stock current speed values
   float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -149,11 +126,10 @@ void HudRendererSP::updateState(const UIState &s) {
   rightBlinkerOn = car_state.getRightBlinker();
   leftBlindspot = car_state.getLeftBlindspot();
   rightBlindspot = car_state.getRightBlindspot();
+  showTurnSignals = s.scene.turn_signals;
 
+  carControlEnabled = car_control.getEnabled();
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
-
-  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
-                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -246,7 +222,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     drawRoadName(p, surface_rect);
 
     // Green Light & Lead Depart Alerts
-    if (greenLightAlert || leadDepartAlert) {
+    if (greenLightAlert or leadDepartAlert) {
       e2eAlertDisplayTimer = 3 * UI_FREQ;
       // reset onroad sleep timer for e2e alerts
       uiStateSP()->reset_onroad_sleep_timer();
@@ -256,11 +232,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       e2eAlertFrame++;
       if (greenLightAlert) {
         alert_text = tr("GREEN\nLIGHT");
-        alert_img = green_light_alert_img;
+        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
       }
       else if (leadDepartAlert) {
         alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = lead_depart_alert_img;
+        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
       }
       drawE2eAlert(p, surface_rect);
     }
@@ -278,7 +254,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     // No Alerts displayed
     else {
       e2eAlertFrame = 0;
-      if (!isStandstill) standstillElapsedTime = 0.0;
+      if (not isStandstill) standstillElapsedTime = 0.0;
     }
 
     // Blinker
@@ -569,8 +545,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }
 
 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
-                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
   if (!speed_limit_ahead) {
     return;
   }
@@ -664,7 +639,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
 
 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
   const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 1.4;
+  const int arrow_spacing = sign_margin * 3;
   int arrow_x = sign_rect.right() + arrow_spacing;
 
   int _set_speed = std::nearbyint(set_speed);
@@ -714,7 +689,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   }
 
   // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (!pcmCruiseSpeed && carControlEnabled) {
+  if (carControlEnabled) {
     if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
       icbm_active_counter = 3 * UI_FREQ;
     } else if (icbm_active_counter > 0) {
@@ -739,26 +714,26 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }
 
 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
-  if (!allow_e2e_alerts) return;
-
-  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
+  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
+  int x = surface_rect.center().x() + surface_rect.width() / 4;
   int y = surface_rect.center().y() + 20;
-  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);
+  x += devUiInfo > 0 ? 0 : 50;
+  QRect alertRect(x - size, y - size, size * 2, size * 2);
 
   // Alert Circle
   QPoint center = alertRect.center();
   QColor frameColor;
-  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
   else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
   p.setPen(QPen(frameColor, 15));
   p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);
+  p.drawEllipse(center, size, size);
 
   // Alert Text
   QColor txtColor;
   QFont font;
   int alert_bottom_adjustment;
-  if (!alert_alt_text.isEmpty()) {
+  if (not alert_alt_text.isEmpty()) {
     font = InterFont(100, QFont::Bold);
     alert_bottom_adjustment = 5;
     txtColor = QColor(255, 255, 255, 255);
@@ -775,7 +750,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
   textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
   p.drawText(textRect, Qt::AlignCenter, alert_text);
 
-  if (!alert_alt_text.isEmpty()) {
+  if (not alert_alt_text.isEmpty()) {
     // Alert Alternate Text
     p.setFont(InterFont(80, QFont::Bold));
     p.setPen(QColor(255, 175, 3, 240));
@@ -804,7 +779,7 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
 
 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
   const bool hazard = leftBlinkerOn && rightBlinkerOn;
-  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;
 
   if (!leftBlinkerOn && !rightBlinkerOn) {
     blinkerFrameCounter = 0;

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

@@ -83,7 +83,6 @@ private:
   bool speedLimitValid;
   bool speedLimitLastValid;
   float speedLimitFinalLast;
-  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;
@@ -97,14 +96,16 @@ private:
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
   QPixmap minus_arrow_down_img;
-  int e2e_alert_size = 250;
-  QPixmap green_light_alert_img;
+  int e2e_alert_small = 250;
+  int e2e_alert_large = 300;
+  QPixmap green_light_alert_small_img;
+  QPixmap green_light_alert_large_img;
   bool greenLightAlert;
   int e2eAlertFrame;
   int e2eAlertDisplayTimer = 0;
-  bool allow_e2e_alerts;
   bool leadDepartAlert;
-  QPixmap lead_depart_alert_img;
+  QPixmap lead_depart_alert_small_img;
+  QPixmap lead_depart_alert_large_img;
   QString alert_text;
   QPixmap alert_img;
   bool hideVEgoUI;
@@ -119,5 +120,4 @@ private:
   bool carControlEnabled;
   float speedCluster = 0;
   int icbm_active_counter = 0;
-  bool pcmCruiseSpeed = true;
 };

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

@@ -21,73 +21,74 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
   mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }
 
-void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
+void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
+  bool blindspot = s->scene.blindspot_ui;
 
-  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
-      sm.rcv_frame("modelV2") < s->scene.started_frame) {
-    return;
+  if (blindspot) {
+    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
+    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
+
+    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
+
+    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(left_blindspot_vertices);
+    }
+
+    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(right_blindspot_vertices);
+    }
   }
 
-  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
-  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
+  bool rainbow = s->scene.rainbow_mode;
+  //float v_ego = sm["carState"].getCarState().getVEgo();
 
-  painter.save();
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
 
-  const auto &model = sm["modelV2"].getModelV2();
-  const auto &radar_state = sm["radarState"].getRadarState();
-  const auto &lead_one = radar_state.getLeadOne();
-  const auto &car_state = sm["carState"].getCarState();
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);
 
-  update_model(model, lead_one);
-  drawLaneLines(painter);
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
 
-  if (s->scene.rainbow_mode) {
-    drawRainbowPath(painter, surface_rect);
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
   } else {
+    // Normal path rendering
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
 
-  if (longitudinal_control && sm.alive("radarState")) {
-    update_leads(radar_state, model.getPosition());
-    const auto &lead_two = radar_state.getLeadTwo();
-    if (lead_one.getStatus()) {
-      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
-    }
-    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
-    }
-  }
-
-  if (s->scene.blindspot_ui) {
-    const bool left_blindspot = car_state.getLeftBlindspot();
-    const bool right_blindspot = car_state.getRightBlindspot();
-    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
-  }
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
-
-  painter.restore();
-}
-
-void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
-  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-    painter.setBrush(gradient);
-    painter.drawPolygon(left_blindspot_vertices);
-  }
-
-  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-    painter.setBrush(gradient);
-    painter.drawPolygon(right_blindspot_vertices);
-  }
 }
 
 void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -120,16 +121,19 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
   }
 
   if (has_lead_one) {
-    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
+    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
   }
 
   if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
+    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
   }
 }
 
-void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
-                                             const QPointF &chevron_pos, int height, int width) {
+void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
+                                               const cereal::RadarState::LeadData::Reader &lead_data,
+                                               const QPointF &chevron_pos,
+                                               int height, int width,
+                                               const QString &label) {
   float d_rel = lead_data.getDRel();
   float v_rel = lead_data.getVRel();
   auto *s = uiState();
@@ -219,36 +223,3 @@ void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::Ra
 
   painter.setPen(Qt::NoPen);
 }
-
-void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
-  // Simple time-based animation
-  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
-
-  // simple linear gradient from bottom to top
-  QLinearGradient bg(0, surface_rect.height(), 0, 0);
-
-  // evenly spaced colors across the spectrum
-  // The animation shifts the entire spectrum smoothly
-  float animation_speed = 40.0f; // speed vroom vroom
-  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
-
-  // 6-8 color stops for smooth transitions more color makes it laggy
-  const int num_stops = 7;
-  for (int i = 0; i < num_stops; i++) {
-    float position = static_cast<float>(i) / (num_stops - 1);
-
-    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-    float saturation = 0.9f;
-    float lightness = 0.6f;
-
-    // Alpha fades out towards the far end of the path
-    float alpha = 0.8f * (1.0f - position * 0.3f);
-
-    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-    bg.setColorAt(position, color);
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(track_vertices);
-}

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

@@ -13,15 +13,17 @@ class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
 
-  void draw(QPainter &painter, const QRect &surface_rect);
-
 private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+
+  // Lead status display methods
   void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
-                              const QPointF &chevron_pos, int height, int width);
-  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
-  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                                const cereal::RadarState::LeadData::Reader &lead_data,
+                                const QPointF &chevron_pos,
+                                int height, int width,
+                                const QString &label);
 
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;

selfdrive/ui/sunnypilot/qt/util.cc

@@ -122,7 +122,3 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
-
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
-  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
-}

selfdrive/ui/sunnypilot/qt/util.h

@@ -23,4 +23,3 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

selfdrive/ui/sunnypilot/ui.cc

@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
+    "carStateSP", "liveParameters", "liveMapDataSP"
   });
 
   // update timer

selfdrive/ui/translations/main_ko.ts

@@ -1778,6 +1778,62 @@ Warning: You are on a metered connection!</source>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
     </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2142,34 +2198,6 @@ Warning: You are on a metered connection!</source>
         <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
         <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
     </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation>차량만</translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation>지도만</translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation>차량
-우선</translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation>지도
-우선</translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation>결합
-데이터</translation>
-    </message>
 </context>
 <context>
     <name>SpeedLimitSettings</name>
@@ -2217,34 +2245,6 @@ Data</source>
         <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
         <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
     </message>
-    <message>
-        <source>None</source>
-        <translation>없음</translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation>고정</translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation>비율</translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation>끄기</translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation>정보</translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation>경고</translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation>보조</translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/ui.h

@@ -60,6 +60,7 @@ typedef struct UIScene {
   cereal::PandaState::PandaType pandaType;
 
   cereal::LongitudinalPersonality personality;
+  cereal::LongitudinalPlanSP::AccelerationPersonality accel_personality;
 
   float light_sensor = -1;
   bool started, ignition, is_metric, recording_audio;

sunnypilot/__init__.py

@@ -5,7 +5,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from enum import IntEnum
 import hashlib
 
 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -17,23 +16,3 @@ def get_file_hash(path: str) -> str:
     for byte_block in iter(lambda: f.read(4096), b""):
       sha256_hash.update(byte_block)
   return sha256_hash.hexdigest()
-
-
-class IntEnumBase(IntEnum):
-  @classmethod
-  def min(cls):
-    return min(cls)
-
-  @classmethod
-  def max(cls):
-    return max(cls)
-
-
-def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
-  val: int = params.get(key, return_default=True)
-  clipped_val = max(min_val, min(max_val, val))
-
-  if clipped_val != val:
-    params.put(key, clipped_val)
-
-  return clipped_val

sunnypilot/mapd/live_map_data/base_map_data.py

@@ -8,12 +8,8 @@ from abc import abstractmethod, ABC
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.constants import CV
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param
 
-MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
-
 
 class BaseMapData(ABC):
   def __init__(self):
@@ -50,9 +46,9 @@ class BaseMapData(ABC):
     mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
     live_map_data = mapd_sp_send.liveMapDataSP
 
-    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
+    live_map_data.speedLimitValid = bool(speed_limit > 0)
     live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
     live_map_data.speedLimitAhead = next_speed_limit
     live_map_data.speedLimitAheadDistance = next_speed_limit_distance
     live_map_data.roadName = self.get_current_road_name()

sunnypilot/selfdrive/car/interfaces.py

@@ -11,7 +11,6 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
 
 import openpilot.system.sentry as sentry
 
@@ -67,30 +66,6 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
     CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
 
-def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
-    cloudlog.warning("SteerControlType is angle, cleaning up params")
-    params.remove("NeuralNetworkLateralControl")
-    params.remove("EnforceTorqueControl")
-
-  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
-    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
-    params.remove("IntelligentCruiseButtonManagement")
-
-  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
-    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
-    params.remove("DynamicExperimentalControl")
-    params.remove("CustomAccIncrementsEnabled")
-    params.remove("SmartCruiseControlVision")
-    params.remove("SmartCruiseControlMap")
-
-    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
-
-
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
@@ -99,7 +74,6 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
   _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
-  _cleanup_unsupported_params(CP, CP_SP)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:
@@ -110,10 +84,4 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "HyundaiLongitudinalTuning"
   ])
 
-  # subaru
-  keys.extend([
-    "SubaruStopAndGo",
-    "SubaruStopAndGoManualParkingBrake",
-  ])
-
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py

@@ -12,159 +12,47 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
-GREEN_LIGHT_X_THRESHOLD = 30
-LEAD_DEPART_DIST_THRESHOLD = 1.0
-TRIGGER_TIMER_THRESHOLD = 0.3
-
-
-class E2EStates:
-  INACTIVE = 0
-  ARMED = 1
-  CONSUMED = 2
+TRIGGER_THRESHOLD = 30
 
 
 class E2EAlertsHelper:
   def __init__(self):
     self._params = Params()
-    self.frame = -1
-    self.green_light_state = E2EStates.INACTIVE
-    self.prev_green_light_state = E2EStates.INACTIVE
-    self.lead_depart_state = E2EStates.INACTIVE
-    self.prev_lead_depart_state = E2EStates.INACTIVE
+    self._frame = -1
 
     self.green_light_alert = False
     self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
     self.lead_depart_alert = False
     self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
-    self.green_light_trigger_timer = 0
-    self.lead_depart_trigger_timer = 0
-    self.last_lead_distance = -1
-    self.last_moving_frame = -1
-
-    self.allowed = False
-    self.last_allowed = False
-    self.has_lead = False
-
-    self.lead_depart_arm_timer = 0
-    self.lead_depart_confirmed_lead = False
-    self.lead_depart_armed = False
-
   def _read_params(self) -> None:
-    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
       self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
 
-  def update_alert_trigger(self, sm: messaging.SubMaster):
+    self._frame += 1
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
+      return
+
     CS = sm['carState']
     CC = sm['carControl']
 
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
-    self.has_lead = sm['radarState'].leadOne.status
-    lead_dRel = sm['radarState'].leadOne.dRel
+    has_lead = sm['radarState'].leadOne.status
+    lead_vRel: float = sm['radarState'].leadOne.vRel
 
-    standstill = CS.standstill
-    moving = not standstill and CS.vEgo > 0.1
-
-    if moving:
-      self.last_moving_frame = self.frame
-    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
-
-    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
-
-    # Green Light Alert
-    green_light_trigger = False
-    if self.green_light_state == E2EStates.ARMED:
-      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
-        self.green_light_trigger_timer += 1
-      else:
-        self.green_light_trigger_timer = 0
-
-      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
-        green_light_trigger = True
-    elif self.green_light_state != E2EStates.ARMED:
-      self.green_light_trigger_timer = 0
+    # Green light alert
+    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
+                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
 
     # Lead Departure Alert
-    close_lead_valid = self.has_lead and lead_dRel < 8.0
-    if self.allowed and not self.last_allowed and close_lead_valid:
-      self.lead_depart_confirmed_lead = True
-    elif not self.allowed:
-      self.lead_depart_confirmed_lead = False
-
-    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
-      self.lead_depart_arm_timer += 1
-
-      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
-        self.lead_depart_armed = True
-    else:
-      self.lead_depart_arm_timer = 0
-      self.lead_depart_armed = False
-
-    lead_depart_trigger = False
-    if self.lead_depart_state == E2EStates.ARMED:
-      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
-        self.last_lead_distance = lead_dRel
-
-      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
-        self.lead_depart_trigger_timer += 1
-      else:
-        self.lead_depart_trigger_timer = 0
-
-      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
-        lead_depart_trigger = True
-    elif self.lead_depart_state != E2EStates.ARMED:
-      self.last_lead_distance = -1
-      self.lead_depart_trigger_timer = 0
-
-    self.last_allowed = self.allowed
-
-    return green_light_trigger, lead_depart_trigger
-
-  @staticmethod
-  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
-    if state != E2EStates.INACTIVE:
-      if not allowed or not enabled:
-        state = E2EStates.INACTIVE
-
-      else:
-        if state == E2EStates.ARMED:
-          if triggered:
-            state = E2EStates.CONSUMED
-
-        elif state == E2EStates.CONSUMED:
-          pass
-
-    elif state == E2EStates.INACTIVE:
-      if allowed and enabled:
-        state = E2EStates.ARMED
-
-    return state, triggered
-
-  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
-    self._read_params()
-
-    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
-
-    self.prev_green_light_state = self.green_light_state
-    self.prev_lead_depart_state = self.lead_depart_state
-
-    self.green_light_state, self.green_light_alert = self.update_state_machine(
-      self.green_light_state,
-      self.green_light_alert_enabled,
-      self.allowed and not self.has_lead,
-      green_light_trigger
-    )
-
-    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
-      self.lead_depart_state,
-      self.lead_depart_alert_enabled,
-      self.allowed and self.lead_depart_armed,
-      lead_depart_trigger
-    )
+    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
+                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
 
     if self.green_light_alert or self.lead_depart_alert:
       events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
-
-    self.frame += 1

sunnypilot/selfdrive/controls/lib/lane_turn_desire.py

@@ -9,15 +9,13 @@ from cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 
-TurnDirection = custom.ModelDataV2SP.TurnDirection
-
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 
 
 class LaneTurnController:
   def __init__(self, desire_helper):
     self.DH = desire_helper
-    self.turn_direction = TurnDirection.none
+    self.turn_direction = custom.TurnDirection.none
     self.params = Params()
     self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
     self.param_read_counter = 0
@@ -35,13 +33,13 @@ class LaneTurnController:
 
   def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
     if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = TurnDirection.turnLeft
+      self.turn_direction = custom.TurnDirection.turnLeft
     elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = TurnDirection.turnRight
+      self.turn_direction = custom.TurnDirection.turnRight
     else:
-      self.turn_direction = TurnDirection.none
+      self.turn_direction = custom.TurnDirection.none
 
   def get_turn_direction(self):
     if not self.enabled:
-      return TurnDirection.none
+      return custom.TurnDirection.none
     return self.turn_direction

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -17,6 +17,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
@@ -29,6 +30,7 @@ class LongitudinalPlannerSP:
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
     self.sla = SpeedLimitAssist(CP)
+    self.vibe_controller = VibePersonalityController()
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
@@ -81,6 +83,7 @@ class LongitudinalPlannerSP:
     self.events_sp.clear()
     self.dec.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
+    self.vibe_controller.update()
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')

sunnypilot/selfdrive/controls/lib/speed_limit/common.py

@@ -4,11 +4,10 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
-from openpilot.sunnypilot import IntEnumBase
+from enum import IntEnum
 
 
-class Policy(IntEnumBase):
+class Policy(IntEnum):
   car_state_only = 0
   map_data_only = 1
   car_state_priority = 2
@@ -16,13 +15,13 @@ class Policy(IntEnumBase):
   combined = 4
 
 
-class OffsetType(IntEnumBase):
+class OffsetType(IntEnum):
   off = 0
   fixed = 1
   percentage = 2
 
 
-class Mode(IntEnumBase):
+class Mode(IntEnum):
   off = 0
   information = 1
   warning = 2

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py

@@ -27,11 +27,7 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
 
 DISABLED_GUARD_PERIOD = 0.5  # secs.
-# secs. Time to wait after activation before considering temp deactivation signal.
-PRE_ACTIVE_GUARD_PERIOD = {
-  True: 15,
-  False: 5,
-}
+PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.
 
 LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
@@ -113,16 +109,6 @@ class SpeedLimitAssist:
   def target_set_speed_confirmed(self) -> bool:
     return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
 
-  @property
-  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
-    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
-
-  def update_active_event(self, events_sp: EventsSP) -> None:
-    if self.v_cruise_cluster_below_confirm_speed_threshold:
-      events_sp.add(EventNameSP.speedLimitChanged)
-    else:
-      events_sp.add(EventNameSP.speedLimitActive)
-
   def get_v_target_from_control(self) -> float:
     if self._has_speed_limit:
       if self.pcm_op_long and self.is_enabled:
@@ -189,7 +175,7 @@ class SpeedLimitAssist:
   @property
   def apply_confirm_speed_threshold(self) -> bool:
     # below CST: always require user confirmation
-    if self.v_cruise_cluster_below_confirm_speed_threshold:
+    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
       return True
 
     # at/above CST:
@@ -245,7 +231,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.adapting
 
@@ -255,7 +241,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.active
 
@@ -265,7 +251,7 @@ class SpeedLimitAssist:
             self._update_confirmed_state()
           elif self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -291,7 +277,7 @@ class SpeedLimitAssist:
             self._update_confirmed_state()
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.pending
 
@@ -317,7 +303,7 @@ class SpeedLimitAssist:
 
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -331,7 +317,7 @@ class SpeedLimitAssist:
         elif self.state == SpeedLimitAssistState.inactive:
           if self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           elif self._update_non_pcm_long_confirmed_state():
             self.state = SpeedLimitAssistState.active
 
@@ -347,7 +333,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.active
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.inactive
 
@@ -365,15 +351,15 @@ class SpeedLimitAssist:
 
     if self.is_active:
       if self._state_prev not in ACTIVE_STATES:
-        self.update_active_event(events_sp)
+        events_sp.add(EventNameSP.speedLimitActive)
 
       # only notify if we acquire a valid speed limit
       # do not check has_speed_limit here
       elif self._speed_limit != self.speed_limit_prev:
         if self.speed_limit_prev <= 0:
-          self.update_active_event(events_sp)
+          events_sp.add(EventNameSP.speedLimitActive)
         elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          self.update_active_event(events_sp)
+          events_sp.add(EventNameSP.speedLimitChanged)
 
   def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
              speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:

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

@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -42,12 +42,6 @@ class SpeedLimitResolver:
     self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
 
     self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
-    self.policy = get_sanitize_int_param(
-      "SpeedLimitPolicy",
-      Policy.min().value,
-      Policy.max().value,
-      self.params
-    )
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -60,12 +54,7 @@ class SpeedLimitResolver:
       self._reset_limit_sources(source)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = get_sanitize_int_param(
-      "SpeedLimitOffsetType",
-      OffsetType.min().value,
-      OffsetType.max().value,
-      self.params
-    )
+    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
     self.speed_limit = 0.
@@ -142,7 +131,6 @@ class SpeedLimitResolver:
     self.limit_solutions[SpeedLimitSource.map] = speed_limit
     self.distance_solutions[SpeedLimitSource.map] = 0.
 
-    # FIXME-SP: this is not working as expected
     if 0. < next_speed_limit < self.v_ego:
       adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
       adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2

sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

@@ -39,7 +39,7 @@ class TestSpeedLimitAssist:
     self.events_sp = EventsSP()
     CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
     self.sla = SpeedLimitAssist(CI.CP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
 
@@ -114,7 +114,7 @@ class TestSpeedLimitAssist:
     self.sla.state = SpeedLimitAssistState.preActive
     self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
 
-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.inactive
 

sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -1,113 +1,113 @@
 import pytest
-from cereal import log, custom
+from cereal import log
 from openpilot.common.params import Params
 
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
 
-TurnDirection = custom.ModelDataV2SP.TurnDirection
+
+class TurnDirection:
+    none = 0
+    turnLeft = 1
+    turnRight = 2
 
 
 @pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-  (True, False, 5, False, False, TurnDirection.turnLeft),
-  (False, True, 6, False, False, TurnDirection.turnRight),
-  (True, False, 9, False, False, TurnDirection.none),
-  (True, False, 7, True, False, TurnDirection.none),
-  (False, True, 6, False, True, TurnDirection.none),
-  (False, False, 5, False, False, TurnDirection.none),
-  (True, True, 5, False, False, TurnDirection.none),
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-  assert controller.get_turn_direction() == expected
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
 
 
 def test_lane_turn_desire_disabled():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = False
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, False, True, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
 
 
 def test_lane_turn_overrides_lane_change():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  # left turn desire
-  controller.update_lane_turn(False, False, True, False, 5)
-  assert controller.get_turn_direction() == TurnDirection.turnLeft
-  # right turn desire
-  controller.update_lane_turn(False, False, False, True, 6)
-  assert controller.get_turn_direction() == TurnDirection.turnRight
-  # no turn
-  controller.update_lane_turn(False, False, False, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
 
 
 @pytest.mark.parametrize("v_ego,expected", [
-  (8.93, TurnDirection.turnLeft),  # just below threshold
-  (8.96, TurnDirection.none),  # above threshold
-  (8.95, TurnDirection.none),  # just above threshold
+    (8.93, TurnDirection.turnLeft),   # just below threshold
+    (8.96, TurnDirection.none),       # above threshold
+    (8.95, TurnDirection.none),       # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, True, True, False, v_ego)
-  assert controller.get_turn_direction() == expected
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
 
 
 class DummyCarState:
-  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-               steeringPressed=False, steeringTorque=0, brakePressed=False):
-    self.vEgo = vEgo
-    self.leftBlinker = leftBlinker
-    self.rightBlinker = rightBlinker
-    self.leftBlindspot = leftBlindspot
-    self.rightBlindspot = rightBlindspot
-    self.steeringPressed = steeringPressed
-    self.steeringTorque = steeringTorque
-    self.brakePressed = brakePressed
-
+    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=False, steeringTorque=0, brakePressed=False):
+        self.vEgo = vEgo
+        self.leftBlinker = leftBlinker
+        self.rightBlinker = rightBlinker
+        self.leftBlindspot = leftBlindspot
+        self.rightBlindspot = rightBlindspot
+        self.steeringPressed = steeringPressed
+        self.steeringTorque = steeringTorque
+        self.brakePressed = brakePressed
 
 @pytest.fixture
 def set_lane_turn_params():
-  params = Params()
-  params.put("LaneTurnDesire", True)
-  params.put("LaneTurnValue", 20.0)
-
+    params = Params()
+    params.put("LaneTurnDesire", True)
+    params.put("LaneTurnValue", 20.0)
 
 @pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-  # Lane turn desire overrides lane change desire
-  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnLeft),
-  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnRight),
-  # Lane change desire only (no turn desires)
-  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-  # No desire (inactive)
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+        dh.update(carstate, lateral_active, lane_change_prob)
+    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers

sunnypilot/selfdrive/controls/lib/vibe_personality/accel_personality.py

@@ -0,0 +1,74 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log, custom
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+MAX_ACCEL_PROFILES = {
+  AccelPersonality.eco:       [2.0,  1.99,  1.88, 1.10, .500, .292, .15, .10],
+  AccelPersonality.normal:    [2.0,  2.00,  1.94, 1.22, .635, .33, .20, .16],
+  AccelPersonality.sport:     [2.0,  2.00,  2.00, 1.85, .800, .54, .32, .22],
+}
+MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
+
+MIN_ACCEL_PROFILES = {
+  LongPersonality.relaxed:    [-.0007, -.0007, -.07, -1.00, -1.00],
+  LongPersonality.standard:   [-.0007, -.0007, -.08, -1.10, -1.10],
+  LongPersonality.aggressive: [-.0006, -.0007, -.09, -1.20, -1.20],
+}
+MIN_ACCEL_BREAKPOINTS = [0., 3.0, 11., 22., 50.]
+
+
+class AccelPersonalityController:
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+    self.accel_personality = AccelPersonality.normal
+    self.long_personality = LongPersonality.standard
+
+  def _update_from_params(self):
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+    accel_bytes = self.params.get('AccelPersonality')
+    if accel_bytes:
+      self.accel_personality = int(accel_bytes)
+    long_bytes = self.params.get('LongitudinalPersonality')
+    if long_bytes:
+      self.long_personality = int(long_bytes)
+
+  def is_enabled(self) -> bool:
+    return self.params.get_bool('VibeAccelPersonalityEnabled') or False
+
+  def set_accel_personality(self, personality: int) -> bool:
+    if personality not in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      return False
+    self.accel_personality = personality
+    self.params.put('AccelPersonality', str(personality))
+    return True
+
+  def cycle_accel_personality(self) -> int:
+    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
+    idx = personalities.index(self.accel_personality)
+    next_p = personalities[(idx + 1) % len(personalities)]
+    self.set_accel_personality(next_p)
+    return int(next_p)
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float] | None:
+    if not self.is_enabled():
+      return None
+    self._update_from_params()
+    max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
+    min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.long_personality])
+    return float(min_a), float(max_a)
+
+  def update(self):
+    self.frame += 1

sunnypilot/selfdrive/controls/lib/vibe_personality/follow_personality.py

@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+LongPersonality = log.LongitudinalPersonality
+
+FOLLOW_PROFILES = {
+  LongPersonality.relaxed:    [1.55, 1.65, 1.65, 1.80, 1.80],
+  LongPersonality.standard:   [1.35, 1.45, 1.45, 1.55, 1.55],
+  LongPersonality.aggressive: [1.05, 1.10, 1.10, 1.25, 1.35],
+}
+FOLLOW_BREAKPOINTS = [0., 6., 18., 20., 36.]
+
+
+class FollowPersonalityController:
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+    self.long_personality = LongPersonality.standard
+
+  def _update_from_params(self):
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+    long_bytes = self.params.get('LongitudinalPersonality')
+    if long_bytes:
+      self.long_personality = int(long_bytes)
+
+  def is_enabled(self) -> bool:
+    return self.params.get_bool('VibeFollowPersonalityEnabled') or False
+
+  def get_follow_distance_multiplier(self, v_ego: float) -> float | None:
+    if not self.is_enabled():
+      return None
+    self._update_from_params()
+    return float(np.interp(v_ego, FOLLOW_BREAKPOINTS, FOLLOW_PROFILES[self.long_personality]))
+
+  def update(self):
+    self.frame += 1

sunnypilot/selfdrive/controls/lib/vibe_personality/tests/test_vibe.py

@@ -0,0 +1,314 @@
+import pytest
+
+# Import the actual modules
+from cereal import log, custom
+from openpilot.common.realtime import DT_MDL
+
+# Import the enums we need for testing
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+
+class MockParams:
+  """Simple mock for Params class"""
+  def __init__(self):
+    self.data = {}
+    self.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+  def get(self, key, encoding=None):
+    return self.data.get(key)
+
+  def get_bool(self, key):
+    return self.bool_data.get(key, True)
+
+  def put(self, key, value):
+    self.data[key] = value
+
+  def put_bool(self, key, value):
+    self.bool_data[key] = value
+
+  def reset_mock(self):
+    self.call_count = 0
+
+  @property
+  def call_count(self):
+    return getattr(self, '_call_count', 0)
+
+  @call_count.setter
+  def call_count(self, value):
+    self._call_count = value
+
+
+@pytest.fixture
+def mock_params():
+  """Create mock params instance"""
+  return MockParams()
+
+
+@pytest.fixture
+def controller(mock_params, monkeypatch):
+  """Create controller instance with mocked Params"""
+  # Patch the Params import in the controller module
+  monkeypatch.setattr('openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality.Params',
+                      lambda: mock_params)
+
+  from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+  return VibePersonalityController()
+
+
+class TestVibePersonalityController:
+
+  def test_initialization(self, controller):
+    """Test controller initializes with correct defaults"""
+    assert controller.frame == 0
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert 'accel_personality' in controller.param_keys
+    assert 'long_personality' in controller.param_keys
+
+  def test_frame_increment(self, controller):
+    """Test frame counter increments correctly"""
+    initial_frame = controller.frame
+    controller.update()
+    assert controller.frame == initial_frame + 1
+
+    controller.update()
+    assert controller.frame == initial_frame + 2
+
+  def test_parameter_reading_throttled(self, controller, mock_params):
+    """Test parameters are only read every DT_MDL frames"""
+    # Track calls manually
+    original_get = mock_params.get
+    call_count = 0
+
+    def counting_get(*args, **kwargs):
+      nonlocal call_count
+      call_count += 1
+      return original_get(*args, **kwargs)
+
+    mock_params.get = counting_get
+
+    # First call should read params (frame 0)
+    controller._update_from_params()
+
+    # Reset counter
+    call_count = 0
+
+    # Advance frame but not to threshold
+    controller.frame = 5  # Less than int(1/DT_MDL)
+    controller._update_from_params()
+    assert call_count == 0  # Should not read params
+
+    # Advance to threshold
+    controller.frame = int(1. / DT_MDL)  # Equal to threshold
+    controller._update_from_params()
+    assert call_count >= 2  # Should read both personality params
+
+  def test_accel_personality_management(self, controller, mock_params):
+    """Test acceleration personality setting and cycling"""
+    # Test setting valid personality
+    assert controller.set_accel_personality(AccelPersonality.eco)
+    assert controller.accel_personality == AccelPersonality.eco
+
+    assert controller.set_accel_personality(AccelPersonality.sport)
+    assert controller.accel_personality == AccelPersonality.sport
+
+    # Test setting invalid personality
+    assert not controller.set_accel_personality(999)
+    assert controller.accel_personality == AccelPersonality.sport  # Should remain unchanged
+
+    # Test cycling
+    controller.accel_personality = AccelPersonality.eco
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.normal  # should cycle to normal
+    assert controller.accel_personality == AccelPersonality.normal
+
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.sport  # should cycle to sport
+
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.eco  # should cycle back to eco
+
+  def test_long_personality_management(self, controller, mock_params):
+    """Test longitudinal personality setting and cycling"""
+    # Test setting valid personality
+    assert controller.set_long_personality(LongPersonality.relaxed)
+    assert controller.long_personality == LongPersonality.relaxed
+
+    assert controller.set_long_personality(LongPersonality.aggressive)
+    assert controller.long_personality == LongPersonality.aggressive
+
+    # Test setting invalid personality
+    assert not controller.set_long_personality(999)
+    assert controller.long_personality == LongPersonality.aggressive  # Should remain unchanged
+
+    # Test cycling
+    controller.long_personality = LongPersonality.standard
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.aggressive  # should cycle to aggressive
+    assert controller.long_personality == LongPersonality.aggressive
+
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.relaxed  # should cycle to relaxed
+
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.standard  # should cycle back to standard
+
+  def test_toggle_functions(self, controller, mock_params):
+    """Test toggle functionality"""
+    # Set initial state to False
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+
+    result = controller.toggle_personality()
+    assert result  # Should toggle to True
+    assert mock_params.bool_data['VibePersonalityEnabled']
+
+    # Set initial state to True
+    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
+
+    result = controller.toggle_accel_personality()
+    assert not result  # Should toggle to False
+    assert not mock_params.bool_data['VibeAccelPersonalityEnabled']
+
+  def test_enable_checks(self, controller, mock_params):
+    """Test various enable state checks"""
+    # All enabled
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    assert controller.is_enabled()
+    assert controller.is_accel_enabled()
+    assert controller.is_follow_enabled()
+
+    # Main toggle disabled
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+
+    assert not controller.is_enabled()
+    assert not controller.is_accel_enabled()
+    assert not controller.is_follow_enabled()
+
+  def test_accel_limits_calculation(self, controller, mock_params):
+    """Test acceleration limits calculation"""
+    # Enable all features through mock_params bool_data
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    # Test with different speeds and personalities
+    controller.accel_personality = 1  # normal
+    controller.long_personality = 1  # standard
+
+    limits = controller.get_accel_limits(10.0)  # 10 m/s
+    assert limits is not None
+    min_a, max_a = limits
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+    assert min_a < 0  # Should be negative (braking)
+    assert max_a > 0  # Should be positive (acceleration)
+
+    # Test with disabled controller
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+    limits = controller.get_accel_limits(10.0)
+    assert limits is None
+
+  def test_follow_distance_multiplier(self, controller, mock_params):
+    """Test following distance multiplier calculation"""
+    # Enable controller
+    mock_params.bool_data['VibePersonalityEnabled'] = True
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
+
+    # Test with different speeds and personalities
+    controller.long_personality = LongPersonality.relaxed
+
+    multiplier = controller.get_follow_distance_multiplier(15.0)  # 15 m/s
+    assert multiplier is not None
+    assert isinstance(multiplier, float)
+    assert multiplier > 0
+
+    # Test with different personality - aggressive should have shorter distance
+    controller.long_personality = LongPersonality.aggressive
+    aggressive_multiplier = controller.get_follow_distance_multiplier(15.0)
+    assert aggressive_multiplier is not None
+    assert aggressive_multiplier < multiplier  # Aggressive should have shorter distance
+
+    # Test with disabled controller
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = False
+    multiplier = controller.get_follow_distance_multiplier(15.0)
+    assert multiplier is None
+
+  def test_personality_differences(self, controller, mock_params):
+    """Test that different personalities actually produce different values"""
+    # Enable controller
+    mock_params.bool_data['VibePersonalityEnabled'] = True
+    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
+
+    # Test acceleration differences - sport should have higher max acceleration than eco
+    controller.accel_personality = AccelPersonality.eco
+    eco_limits = controller.get_accel_limits(20.0)
+
+    controller.accel_personality = AccelPersonality.sport
+    sport_limits = controller.get_accel_limits(20.0)
+
+    assert sport_limits[1] > eco_limits[1]  # Sport should have higher max acceleration
+
+    # Test following distance differences - relaxed should have longer distance than aggressive
+    controller.long_personality = LongPersonality.relaxed
+    relaxed_dist = controller.get_follow_distance_multiplier(20.0)
+
+    controller.long_personality = LongPersonality.aggressive
+    aggressive_dist = controller.get_follow_distance_multiplier(20.0)
+
+    assert relaxed_dist > aggressive_dist  # Relaxed should have longer following distance
+
+  def test_reset(self, controller):
+    """Test reset functionality"""
+    # Change some values
+    controller.accel_personality = AccelPersonality.sport
+    controller.long_personality = LongPersonality.relaxed
+    controller.frame = 100
+
+    # Reset
+    controller.reset()
+
+    # Check defaults are restored
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert controller.frame == 0
+
+  def test_edge_cases(self, controller, mock_params):
+    """Test edge cases and error handling"""
+    # Enable all features
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    # Test with zero speed
+    limits = controller.get_accel_limits(0.0)
+    assert limits is not None
+
+    multiplier = controller.get_follow_distance_multiplier(0.0)
+    assert multiplier is not None
+
+    # Test with very high speed
+    limits = controller.get_accel_limits(100.0)
+    assert limits is not None
+
+    multiplier = controller.get_follow_distance_multiplier(100.0)
+    assert multiplier is not None
+
+    # Test interpolation works correctly
+    low_speed_limits = controller.get_accel_limits(5.0)
+    high_speed_limits = controller.get_accel_limits(50.0)
+    assert low_speed_limits[1] > high_speed_limits[1]  # Max accel should decrease with speed

sunnypilot/selfdrive/controls/lib/vibe_personality/vibe_personality.py

@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log, custom
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.accel_personality import AccelPersonalityController
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.follow_personality import FollowPersonalityController
+
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+
+class VibePersonalityController:
+  def __init__(self):
+    self.accel = AccelPersonalityController()
+    self.follow = FollowPersonalityController()
+    self.params = Params()
+
+  @property
+  def frame(self):
+    return self.accel.frame
+
+  @frame.setter
+  def frame(self, value):
+    self.accel.frame = self.follow.frame = value
+
+  @property
+  def accel_personality(self):
+    return self.accel.accel_personality
+
+  @property
+  def long_personality(self):
+    return self.accel.long_personality
+
+  @long_personality.setter
+  def long_personality(self, value):
+    self.accel.long_personality = self.follow.long_personality = value
+
+  def set_accel_personality(self, personality: int) -> bool:
+    return self.accel.set_accel_personality(personality)
+
+  def cycle_accel_personality(self) -> int:
+    return self.accel.cycle_accel_personality()
+
+  def set_long_personality(self, personality: int) -> bool:
+    if personality not in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
+      return False
+    self.long_personality = personality
+    self.params.put('LongitudinalPersonality', str(personality))
+    return True
+
+  def cycle_long_personality(self) -> int:
+    personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
+    idx = personalities.index(self.long_personality)
+    next_p = personalities[(idx + 1) % len(personalities)]
+    self.set_long_personality(next_p)
+    return int(next_p)
+
+  def is_enabled(self) -> bool:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    return main_enabled and (self.accel.is_enabled() or self.follow.is_enabled())
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float] | None:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    if not (main_enabled and self.accel.is_enabled()):
+      return None
+    return self.accel.get_accel_limits(v_ego)
+
+  def get_follow_distance_multiplier(self, v_ego: float) -> float | None:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    if not (main_enabled and self.follow.is_enabled()):
+      return None
+    return self.follow.get_follow_distance_multiplier(v_ego)
+
+  def update(self):
+    self.accel.update()
+    self.follow.update()

sunnypilot/selfdrive/selfdrived/events.py

@@ -4,13 +4,13 @@ from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
 
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName
 
 
@@ -33,9 +33,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
-  alert_1_str = ""
-  alert_2_str = ""
-  alert_size = AlertSize.none
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -43,16 +40,25 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
-
-    alert_1_str = "Speed Limit Assist: Activation Required"
     alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-    alert_size = AlertSize.mid
+  else:
+    # Non PCM long
+    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
+
+    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
+    arrow_str = ""
+    if req_plus:
+      arrow_str = "RES/+"
+    elif req_minus:
+      arrow_str = "SET/-"
+
+    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
 
   return Alert(
-    alert_1_str,
+    "Speed Limit Assist: Activation Required",
     alert_2_str,
-    AlertStatus.normal, alert_size,
-    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
 
 
 class EventsSP(EventsBase):
@@ -196,7 +202,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Automatically adjusting to the posted speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
   },
 
   EventNameSP.speedLimitChanged: {
@@ -204,7 +210,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Set speed changed",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
   },
 
   EventNameSP.speedLimitPreActive: {
@@ -216,7 +222,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Automatically adjusting to the last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
   },
 
   EventNameSP.e2eChime: {
@@ -224,6 +230,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       "",
       AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
   },
 }