Merge branch 'model-switcher-v2' into cp-sp-model

Moved the initialization of 20Hz-specific variables to be conditional based on the `is_20hz` flag. This ensures that unnecessary memory allocations are avoided when the model is not running at 20Hz, improving efficiency and clarity.

.codespellignore

@@ -1,3 +1,2 @@
 Wen
 REGIST
-PullRequest

.github/labeler.yaml

@@ -24,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/workflows/selfdrive_tests.yaml

@@ -322,7 +322,7 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,162 +0,0 @@
-name: Nightly Branch Reset and PR Squash
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
-  PR_LABEL: "dev-c3"
-
-on:
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master-new'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev-c3-new'
-        type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-          
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-          
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
-          
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '${{ github.workspace }}/release/ci/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ui_preview.yaml

@@ -86,7 +86,7 @@ jobs:
         run: >-
           sudo apt-get install -y imagemagick
 
-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
           A=($scenes)
 
           DIFF=""

.gitignore

@@ -74,9 +74,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
+sunnypilot/modeld/thneed/compile
+sunnypilot/modeld/models/*.thneed
+sunnypilot/modeld/models/*.pkl
 
 *.bz2
 *.zst

.gitmodules

@@ -1,11 +1,9 @@
 [submodule "panda"]
   path = panda
   url = https://github.com/sunnyhaibin/panda.git
-  branch = tn
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
-  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

Jenkinsfile

@@ -103,7 +103,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             def diffPaths = args.diffPaths ?: []
             def cmdTimeout = args.timeout ?: 9999
 
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
               println "Skipping ${name}: no changes in ${diffPaths}."
               return
             } else {
@@ -170,7 +170,7 @@ node {
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
+  if (env.BRANCH_NAME != 'master') {
     properties([
         disableConcurrentBuilds(abortPrevious: true)
     ])

RELEASES.md

@@ -1,22 +1,23 @@
-Version 0.9.8 (2025-02-27)
+Version 0.9.9 (2025-03-30)
 ========================
-* New driving model
-  * Model now gates applying positive acceleration in Chill mode
-* New driving monitoring model
-  * Reduced false positives related to passengers
-* Image processing pipeline moved to the ISP
-  * More GPU time for bigger driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* FIREHOSE mode
-  * Allows you to maximize your training data uploads to improve the models
-* Enable openpilot longitudinal control for Ford Q3 vehicles
-* New Toyota TSS2 longitudinal tune
 * Coming soon
   * Rivian support
   * F-150 & Mach-E support
   * Tesla Model 3 support
 
+Version 0.9.8 (2025-01-30)
+========================
+* New driving monitoring model
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for driving models
+  * Power draw reduced 0.5W, which means your device runs cooler
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Enable openpilot longitudinal control for Ford Q3 vehicles
+* New Toyota TSS2 longitudinal tune
+* Coming soon
+  * New driving model with gas gating
+  * Training data upload mode
 
 Version 0.9.7 (2024-06-13)
 ========================

SConstruct

@@ -361,7 +361,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 
 
@@ -373,6 +373,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ui/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',

cereal/custom.capnp

@@ -10,23 +10,23 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct ModularAssistiveDrivingSystem {
-  state @0 :ModularAssistiveDrivingSystemState;
-  enabled @1 :Bool;
-  active @2 :Bool;
-  available @3 :Bool;
-
-  enum ModularAssistiveDrivingSystemState {
-    disabled @0;
-    paused @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;
-  }
-}
-
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    available @3 :Bool;
+
+    enum ModularAssistiveDrivingSystemState {
+      disabled @0;
+      paused @1;
+      enabled @2;
+      softDisabling @3;
+      overriding @4;
+    }
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -70,7 +70,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
   enum Runner {
     snpe @0;
     tinygrad @1;
-    stock @2;
   }
 
   struct ModelBundle {
@@ -88,7 +87,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
-  accelPersonality @1 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -100,13 +98,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-    stock @3;
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -147,8 +138,7 @@ struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
 }
 
-struct CarControlSP @0xa5cd762cd951a455 {
-  mads @0 :ModularAssistiveDrivingSystem;
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }
 
 struct CustomReserved6 @0xf98d843bfd7004a3 {

cereal/log.capnp

@@ -2570,7 +2570,7 @@ struct Event {
     longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
     onroadEventsSP @110 :List(Custom.OnroadEventSP);
     carParamsSP @111 :Custom.CarParamsSP;
-    carControlSP @112 :Custom.CarControlSP;
+    customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;

cereal/messaging/bridge.cc

@@ -6,12 +6,12 @@
 
 ExitHandler do_exit;
 
-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
       continue;
     }
     service_list.push_back(name);

cereal/services.py

@@ -29,7 +29,7 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 20),
+  "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
@@ -53,15 +53,15 @@ _services: dict[str, tuple] = {
   "livePose": (True, 20., 4),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
+  "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 20),
+  "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20.),
@@ -80,7 +80,6 @@ _services: dict[str, tuple] = {
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
   "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),

common/file_helpers.py

@@ -1,10 +1,6 @@
-import io
 import os
 import tempfile
 import contextlib
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
 
 
 class CallbackReader:
@@ -39,20 +35,3 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
     yield tmp_file
     tmp_file_name = tmp_file.name
   os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size

common/logging_extra.py

@@ -8,7 +8,6 @@ import uuid
 import socket
 import logging
 import traceback
-import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -16,8 +15,6 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
 
 def json_handler(obj):
-  if isinstance(obj, np.bool_):
-    return bool(obj)
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
   return repr(obj)

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Not Too Shabby (Default)"

common/params.cc

@@ -89,7 +89,6 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -120,7 +119,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
     {"ExperimentalMode", PERSISTENT | BACKUP},
     {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
@@ -207,7 +205,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
@@ -239,13 +236,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
-    {"ToyotaAutoHold", PERSISTENT},
-    {"ToyotaEnhancedBsm", PERSISTENT},
-    {"ToyotaTSS2Long", PERSISTENT},
-    {"FastTakeOff", PERSISTENT},
-    {"AccelPersonality", PERSISTENT},
-    {"ToyotaDriveMode", PERSISTENT},
-    {"RainbowMode", PERSISTENT},
 };
 
 } // namespace

common/realtime.py

@@ -27,6 +27,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if not PC:
     os.sched_setaffinity(0, cores)
@@ -34,8 +39,7 @@ def set_core_affinity(cores: list[int]) -> None:
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
+  set_realtime_priority(priority)
   c = cores if isinstance(cores, list) else [cores, ]
   set_core_affinity(c)
 

conftest.py

@@ -19,7 +19,6 @@ collect_ignore = [
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
 ]
 
 

docs/CARS.md

@@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -128,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -184,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -260,7 +260,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

docs/CONTRIBUTING.md

@@ -63,12 +63,3 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
-
-## Contributing Training Data
-
-### A guide for forks
-
-In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
-* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
-* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

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

@@ -29,22 +29,6 @@ Here's an example command for connecting to your device using its tethered conne
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
-
-## ADB
-
-In order to use ADB on your device, you'll need to enable it in the device's settings.
-
-* Enable ADB in your device's settings
-* Connect to your device
-    * `adb shell` over USB
-    * `adb connect` over WiFi
-    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
-
-> [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
-
-For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
-
 ### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.8"
+  export AGNOS_VERSION="11.4"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -111,7 +111,6 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-  "raylib",
 ]
 
 tools = [
@@ -166,7 +165,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 

release/build_release.sh

@@ -75,7 +75,6 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +

release/ci/install_github_runner.sh

@@ -67,6 +67,8 @@ trap remount_ro EXIT
 
 setup_runner_user() {
     sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+    export BASE_DIR
+    sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }
 
 create_sudoers_entry() {
@@ -75,8 +77,8 @@ create_sudoers_entry() {
 
 set_directory_permissions() {
     sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod -R g+rwx "$BASE_DIR"
-    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
+    sudo chmod g+rwx "$BASE_DIR"
+    sudo chmod g+s "$BASE_DIR"
 }
 
 setup_directories() {
@@ -84,42 +86,30 @@ setup_directories() {
     sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
     mkdir -p "/data/openpilot"
     sudo chown -R comma:comma "/data/openpilot"
-    sync
-}
-
-wipe_bash_logout() {
-  export BASE_DIR
-  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
-  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
 }
 
 # System configuration functions (depends on basic utility functions)
 setup_system_configs() {
     echo "Setting up system configurations..."
-    remount_rw
     setup_runner_user
     create_sudoers_entry
-    remount_ro
     set_directory_permissions
-    wipe_bash_logout
 }
 
 # Runner setup functions
 install_runner() {
     echo "Downloading and setting up runner..."
     cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo chmod +x ./config.sh
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
 }
 
 configure_runner() {
-    remount_rw
     echo "Configuring runner..."
     cd "$RUNNER_DIR"
     sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-    remount_ro
 }
 
 create_service_template() {
@@ -149,7 +139,6 @@ EOL
 }
 
 install_service() {
-    remount_rw
     echo "Installing systemd service..."
     cd "$RUNNER_DIR"
     sudo ./svc.sh install $RUNNER_USER
@@ -163,7 +152,6 @@ install_service() {
         fi
         sudo systemctl disable "${service_name}"
     fi
-    remount_ro
 }
 
 check_restore_prerequisites() {
@@ -215,20 +203,23 @@ check_restore_prerequisites() {
 perform_restore() {
     echo "Starting runner restoration..."
     setup_directories
+    remount_rw
     setup_system_configs
     install_service
+    remount_ro
     echo "Runner restoration completed successfully"
 }
 
 perform_install() {
     echo "Starting fresh installation..."
     setup_directories
-    setup_system_configs
     install_runner
-    set_directory_permissions
     create_service_template
+    remount_rw
+    setup_system_configs
     configure_runner
     install_service
+    remount_ro
     echo "Installation completed successfully"
 }
 

release/ci/squash_and_merge.py

@@ -117,7 +117,7 @@ def workspace_manager(original_branch: str):
         if temp_branch:
           run_command(f"git branch -D {temp_branch}")
         print("\nOperation interrupted, but changes were already restored.")
-        sys.exit(3)
+        sys.exit(1)
 
       # First, switch back to original branch
       current = get_current_branch()
@@ -139,12 +139,12 @@ def workspace_manager(original_branch: str):
 
       if signum:
         print("\nOperation interrupted. Cleaned up and restored original state.")
-        sys.exit(4)
+        sys.exit(1)
 
     except Exception as e:
       print(f"Error during cleanup: {e}")
       if signum:
-        sys.exit(5)
+        sys.exit(1)
 
   try:
     # Set up signal handlers
@@ -275,7 +275,7 @@ def squash_and_merge(source_branch: str, target_branch: str, manual_title: str |
         return False
 
       print(f"Attempting to merge changes from {temp_branch}...")
-      code, _, error = run_command(f"git rebase {temp_branch}")
+      code, _, error = run_command(f"git merge {temp_branch}")
 
       if code != 0:
         print(f"\nMerge failed with error: {error}")
@@ -344,7 +344,7 @@ def main():
   parser.add_argument('--push', action='store_true',
                       help='Push changes to remote after squashing')
 
-  args, unknown = parser.parse_known_args()
+  args = parser.parse_args()
 
   # Determine source branch early
   source_branch = args.source
@@ -354,7 +354,7 @@ def main():
       sys.exit(1)
 
   if not squash_and_merge(source_branch, args.target, args.title, args.backup, args.push):
-    sys.exit(2)
+    sys.exit(1)
 
 
 if __name__ == "__main__":

release/ci/squash_and_merge_prs.py

@@ -1,163 +0,0 @@
-#!/usr/bin/env python3
-
-import subprocess
-import sys
-import os
-import argparse
-import json
-from datetime import datetime
-
-
-def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
-
-
-def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
-
-
-def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
-
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
-
-
-def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
-
-
-def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
-
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
-
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
-
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
-
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
-
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
-
-    return True, None
-
-
-def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
-
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
-
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠️ This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
-
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
-
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
-
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
-
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠️ Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
-
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
-
-
-def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
-
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
-
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
-
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())

scripts/jenkins_loop_test.sh

@@ -1,145 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-YELLOW='\033[0;33m'
-GREEN='\033[0;32m'
-UNDERLINE='\033[4m'
-BOLD='\033[1m'
-NC='\033[0m'
-
-BRANCH="master"
-RUNS="20"
-
-COOKIE_JAR=/tmp/cookies
-CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
-
-function loop() {
-  JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
-  API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
-
-  for run in $(seq 1 $((RUNS / 2))); do
-
-    N=2
-    TEST_BUILDS=()
-
-    # Try to find previous builds
-    ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) )
-
-    # No builds. Create branch
-    if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then
-      TEMP_DIR=$(mktemp -d)
-      GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
-      git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
-      echo "TESTING" >> $TEMP_DIR/testing_jenkins
-      git -C $TEMP_DIR add testing_jenkins
-      git -C $TEMP_DIR commit --quiet -m "testing"
-      git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
-      rm -rf $TEMP_DIR
-      FIRST_BUILD=1
-      echo ''
-      echo 'waiting on Jenkins...'
-      echo ''
-      sleep 90
-    else
-      # Found some builds. Wait for them to end if they are still running
-      for i in ${ALL_BUILDS[@]}; do
-        running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress)
-        if [[ $running == "false" ]]; then
-          continue
-        fi
-        TEST_BUILDS=( ${ALL_BUILDS[@]} )
-        N=${#TEST_BUILDS[@]}
-        break
-      done
-    fi
-
-    # No running builds found
-    if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then
-      FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
-      LAST_BUILD=$((FIRST_BUILD+N-1))
-      TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
-
-      # Start N new builds
-      for i in ${TEST_BUILDS[@]};
-      do
-        echo "Starting build $i"
-        curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
-        sleep 5
-      done
-      echo ""
-    fi
-
-    # Wait for all builds to end
-    while true; do
-      sleep 30
-
-      count=0
-      for i in ${TEST_BUILDS[@]};
-      do
-        RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json)
-        HTTP_CODE=$(tail -n1 <<< "$RES")
-        JSON=$(sed '$ d' <<< "$RES")
-
-        if [[ $HTTP_CODE == "200" ]]; then
-          STILL_RUNNING=$(echo $JSON | jq .inProgress)
-          if [[ $STILL_RUNNING == "true" ]]; then
-            echo -e "Build $i: ${YELLOW}still running${NC}"
-            continue
-          else
-            count=$((count+1))
-            echo -e "Build $i: ${GREEN}done${NC}"
-          fi
-        else
-          echo "No status for build $i"
-        fi
-      done
-      echo "See live results: ${API_ROUTE}/buildTimeTrend"
-      echo ""
-
-      if [[ $count -ge $N ]]; then
-        break
-      fi
-    done
-
-  done
-}
-
-function usage() {
-  echo ""
-  echo "Run the Jenkins tests multiple times on a specific branch"
-  echo ""
-  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
-  echo -e "  ${BOLD}-n, --n${NC}"
-  echo -e "          Specify how many runs to do (default to ${BOLD}20${NC})"
-  echo -e "  ${BOLD}-b, --branch${NC}"
-  echo -e "          Specify which branch to run the tests against (default to ${BOLD}master${NC})"
-  echo ""
-}
-
-function _looper() {
-  if [[ $# -eq 0 ]]; then
-    usage
-    exit 0
-  fi
-
-  # parse Options
-  while [[ $# -gt 0 ]]; do
-    case $1 in
-      -n | --n ) shift 1; RUNS="$1"; shift 1 ;;
-      -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;;
-      * ) usage; exit 0 ;;
-    esac
-  done
-
-  echo ""
-  echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch."
-  echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before."
-  echo ""
-  read -p "Press (y/Y) to confirm: " choice
-  if [[ "$choice" == "y" || "$choice" == "Y" ]]; then
-    loop
-  fi
-
-}
-
-_looper $@

scripts/lint/lint.sh

@@ -53,6 +53,7 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

selfdrive/car/car_specific.py

@@ -42,16 +42,19 @@ class CarSpecificEvents:
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.brand in ('body', 'mock'):
+    if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand == 'ford':
+    elif self.CP.carName in ('subaru', 'mazda'):
+      events = self.create_common_events(CS, CS_prev)
+
+    elif self.CP.carName == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
-    elif self.CP.brand == 'nissan':
+    elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.brand == 'chrysler':
+    elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
@@ -62,7 +65,7 @@ class CarSpecificEvents:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.brand == 'honda':
+    elif self.CP.carName == 'honda':
       events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -83,7 +86,7 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-    elif self.CP.brand == 'toyota':
+    elif self.CP.carName == 'toyota':
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
@@ -98,10 +101,14 @@ class CarSpecificEvents:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
-    elif self.CP.brand == 'gm':
+    elif self.CP.carName == 'gm':
+      # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+      if not self.CP.pcmCruise:
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
+          events.add(EventName.buttonEnable)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -113,9 +120,10 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.brand == 'volkswagen':
+    elif self.CP.carName == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+                                         pcm_enable=self.CP.pcmCruise,
+                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
       # Low speed steer alert hysteresis logic
       if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -135,7 +143,7 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
+    elif self.CP.carName == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
@@ -152,12 +160,12 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      events = self.create_common_events(CS, CS_prev)
+      raise ValueError(f"Unsupported car: {self.CP.carName}")
 
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True):
+                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
     if CS.doorOpen:
@@ -201,11 +209,12 @@ class CarSpecificEvents:
       events.add(EventName.invalidLkasSetting)
     if CS.lowSpeedAlert:
       events.add(EventName.belowSteerSpeed)
-    if CS.buttonEnable:
-      events.add(EventName.buttonEnable)
 
-    # Handle cancel button presses
+    # Handle button presses
     for b in CS.buttonEvents:
+      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
+      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
+        events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
       # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
       if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):

selfdrive/car/card.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
@@ -8,21 +7,21 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 
+from panda import ALTERNATIVE_EXPERIENCE
+
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, structs
+from opendbc.car import DT_CTRL, carlog, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
+from openpilot.selfdrive.car.helpers import convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
 from openpilot.sunnypilot.selfdrive.car import interfaces
@@ -73,8 +72,11 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
+
+    sock_services = list(self.pm.sock.keys()) + ['carParamsSP']
+    self.pm = messaging.PubMaster(sock_services)
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -105,9 +107,7 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
-
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
       self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -121,13 +121,9 @@ class Car:
 
     # set alternative experiences from parameters
     disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-    if sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-
 
     # mads
     MadsParams().set_alternative_experience(self.CP)
@@ -206,7 +202,7 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.brand == 'mock':
+    if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
@@ -271,7 +267,7 @@ class Car:
       cp_sp_send.carParamsSP = self.CP_SP_capnp
       self.pm.send('carParamsSP', cp_sp_send)
 
-  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
@@ -285,7 +281,7 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -298,7 +294,7 @@ class Car:
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
+      self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
     self.CS_prev = CS

selfdrive/car/helpers.py

@@ -44,16 +44,3 @@ def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStr
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
   return struct_capnp
-
-
-def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
-  # TODO: recursively handle any car struct as needed
-  def remove_deprecated(s: dict) -> dict:
-    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
-
-  struct_dict = struct.to_dict()
-  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
-
-  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-
-  return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car, custom
+from cereal import car
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,7 +40,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+    car_params, car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                            experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
@@ -73,16 +72,13 @@ class TestCarInterfaces:
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
-    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
-    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -90,7 +86,7 @@ class TestCarInterfaces:
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, CC_SP, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_models.py

@@ -1,4 +1,3 @@
-import time
 import capnp
 import copy
 import os
@@ -11,15 +10,17 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
 
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from opendbc.car.fingerprints import all_known_cars, MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.structs import car
-from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from opendbc.car.values import Platform
+from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from opendbc.car.fingerprints import all_known_cars, MIGRATION
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.values import Platform
+from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.selfdrived.events import ET
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -29,6 +30,8 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
+EventName = log.OnroadEvent.EventName
+PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
@@ -156,7 +159,7 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP, cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
@@ -171,6 +174,8 @@ class TestCarModelBase(unittest.TestCase):
     self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -200,11 +205,10 @@ class TestCarModelBase(unittest.TestCase):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, CC_SP, msg.logMonoTime)
+      self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
         can_valid = True
@@ -273,13 +277,13 @@ class TestCarModelBase(unittest.TestCase):
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control, car_control_sp):
+    def test_car_controller(car_control):
       now_nanos = 0
       msgs_sent = 0
       CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
+        _, sendcan = CI.apply(car_control, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -292,18 +296,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -339,8 +342,10 @@ class TestCarModelBase(unittest.TestCase):
       to_send = libpanda_py.make_CANPacket(address, bus, dat)
       self.safety.safety_rx_hook(to_send)
 
-      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS = self.CI.update(can)
+      can = messaging.new_message('can', 1)
+      can.can = [log.CanData(address=address, dat=dat, src=bus)]
+
+      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -360,11 +365,11 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
           self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
 
@@ -385,6 +390,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
+    selfdrived = SelfdriveD(CP=self.CP, CP_SP=self.CP_SP)
+    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -417,7 +424,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -428,15 +435,18 @@ class TestCarModelBase(unittest.TestCase):
         if not self.CP.notCar:
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
-        # Check for user button enable on rising edge of controls allowed
-        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
+        # Check for enable events on rising edge of controls allowed
+        selfdrived.update_events(CS)
+        selfdrived.CS_prev = CS
+        button_enable = (selfdrived.events.contains(ET.ENABLE) and
+                         EventName.pedalPressed not in selfdrived.events.names)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
         if button_enable and not mismatch:
           self.safety.set_controls_allowed(False)
 
-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
       CS_prev = CS

selfdrive/controls/controlsd.py

@@ -19,6 +19,8 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -40,9 +42,8 @@ class Controls:
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
-                                  poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False
     self.desired_curvature = 0.0
@@ -60,6 +61,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -94,7 +98,9 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
 
     ss_sp = self.sm['selfdriveStateSP']
+    CC.madsEnabled = ss_sp.mads.enabled
     if ss_sp.mads.available:
+      CC.sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
       _lat_active = ss_sp.mads.active
     else:
       _lat_active = self.sm['selfdriveState'].active
@@ -137,12 +143,9 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log
 
-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -218,18 +221,12 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
       rk.monitor_time()
 
 def main():

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -3,14 +3,12 @@ import os
 import time
 import numpy as np
 from cereal import log
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+from opendbc.car.interfaces import ACCEL_MIN
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
-from openpilot.common.conversions import Conversions as CV
-
 
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -57,8 +55,6 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
-CRUISE_MIN_ACCEL = -1.2
-CRUISE_MAX_ACCEL = 1.6
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -66,48 +62,24 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   elif personality==log.LongitudinalPersonality.standard:
     return 1.0
   elif personality==log.LongitudinalPersonality.aggressive:
-    return 0.3
+    return 0.5
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 
 def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
-    return 1.80
+    return 1.75
   elif personality==log.LongitudinalPersonality.standard:
-    return 1.25
+    return 1.45
   elif personality==log.LongitudinalPersonality.aggressive:
-    return 1.10
+    return 1.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
-  v_diff_offset = 0
-  v_diff_offset_max = 12
-  speed_to_reach_max_v_diff_offset = 26 * CV.KPH_TO_MS  # in m/s
-  delta_speed = v_lead - v_ego
-
-  if np.any(delta_speed > 0):
-    # Scale v_diff_offset with a hybrid approach: linear with a smooth transition
-    v_diff_offset = np.clip(delta_speed * 1.5, 0, v_diff_offset_max)
-    scaling_factor = np.clip((speed_to_reach_max_v_diff_offset - v_ego) / speed_to_reach_max_v_diff_offset, 0, 1)
-    # Apply a stronger decay at higher speeds to avoid pulling too close
-    smooth_scaling = scaling_factor ** 3 * (10 - 9 * scaling_factor)
-    v_diff_offset *= smooth_scaling
-
-  stopping_distance = (v_lead ** 2) / (2 * COMFORT_BRAKE) + v_diff_offset
-  return stopping_distance
-
-
-
-
-
-
-
-
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
@@ -309,7 +281,7 @@ class LongitudinalMpc:
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
       cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
     else:
       raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
     self.set_cost_weights(cost_weights, constraint_cost_weights)
@@ -353,7 +325,13 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, fast_take_off = False):
+  def set_accel_limits(self, min_a, max_a):
+    # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
+    # needs refactor
+    self.cruise_min_a = min_a
+    self.max_a = max_a
+
+  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]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -364,16 +342,12 @@ class LongitudinalMpc:
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
-    if fast_take_off:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
-    else:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
-
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = ACCEL_MAX
+    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -381,9 +355,9 @@ 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 * self.cruise_min_a * 1.05)
       # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
+      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.params import Params
+
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -18,6 +18,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
+A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -78,29 +79,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
     self.v_model_error = 0.0
-    self.output_a_target = 0.0
-    self.output_should_stop = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
-    self.params = Params()
-    self.param_read_counter = 0
-    self.read_param()
-
-    self.fast_take_off = False
-
-
-  def read_param(self):
-    try:
-      self.fast_take_off = self.params.get_bool("FastTakeOff")
-    except AttributeError:
-      pass
-
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
@@ -123,9 +108,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
-    if self.param_read_counter % 50 == 0:
-      self.read_param()
-    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode():
       self.mpc.mode = dec_mpc_mode
@@ -152,45 +134,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if self.mpc.mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      accel_limits = [A_CRUISE_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)
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
-      accel_clip = [ACCEL_MIN, ACCEL_MAX]
-
-    # Override accel using Accel Controller if enabled
-    if self.accel_controller.is_enabled:
-      max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
-
-      # Ensure max_limit is a single float value
-      if isinstance(max_limit, list):
-        max_limit = max_limit[1]
-
-      # If needed, ensure braking is allowed
-      # if not self.allow_throttle:
-      #     max_limit = min(max_limit, -3.5)  # Ensure braking is allowed if needed
-      #     print(f"allow_throttle={self.allow_throttle}, max_limit before={max_limit:.2f}")
-
-      print(f"Accel Controller: max_limit={max_limit:.2f}")
-
-      if self.mpc.mode == 'acc':
-        # Use the accel controller limits directly
-        accel_clip = [ACCEL_MIN, max_limit]
-        # Recalculate limit turn according to the new max limit
-        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)
-        print(f"ACC Mode Final: v_ego={v_ego:.2f}, accel_clip={accel_clip}")
-      else:
-        print(f"Blended Mode (Accel Controller Enabled): accel_clip={accel_clip}")
-    else:
-      print(f"Accel Controller Disabled: accel_clip={accel_clip}")
-
-
+      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -201,19 +155,20 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_clip[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
-      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
+    # clip limits, cannot init MPC outside of bounds
+    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
+    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
+    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    #print("Fast take off status:", self.fast_take_off)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, fast_take_off=self.fast_take_off)
-
-
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -229,15 +184,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-
-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
-    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
-    self.prev_accel_clip = accel_clip
-
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
@@ -256,8 +202,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    longitudinalPlan.aTarget = float(self.output_a_target)
-    longitudinalPlan.shouldStop = bool(self.output_should_stop)
+    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
+    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
+                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -19,7 +19,7 @@ class TestLatControl:
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CP, CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP, CarController, CarState)
     VM = VehicleModel(CP)
 

selfdrive/controls/plannerd.py

@@ -14,7 +14,7 @@ def main():
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.brand)
+  cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)

selfdrive/controls/radard.py

@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vRel": float(lead_v_rel_pred),
     "vLead": float(v_ego + lead_v_rel_pred),
     "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": float(lead_msg.a[0]),
+    "aLeadK": 0.0,
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),

selfdrive/debug/adb.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -e
+
+PORT=5555
+
+setprop service.adb.tcp.port $PORT
+sudo systemctl start adbd
+
+IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
+echo "then, connect on your computer:"
+echo "adb connect $IP:$PORT"

selfdrive/debug/car/disable_ecu.py

@@ -11,5 +11,5 @@ if __name__ == "__main__":
   time.sleep(1)
 
   # honda bosch radar disable
-  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
   print(f"disabled: {disabled}")

selfdrive/debug/car/ecu_addrs.py

@@ -2,7 +2,6 @@
 import argparse
 import time
 import cereal.messaging as messaging
-from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
@@ -16,9 +15,6 @@ if __name__ == "__main__":
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
@@ -33,7 +29,7 @@ if __name__ == "__main__":
   obd_callback(params)(not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
 
   print()
   print("Found ECUs on rx addresses:")

selfdrive/debug/car/fw_versions.py

@@ -3,7 +3,6 @@ import time
 import argparse
 import cereal.messaging as messaging
 from cereal import car
-from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
 from openpilot.common.params import Params
@@ -19,9 +18,6 @@ if __name__ == "__main__":
   parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   logcan = messaging.sub_sock('can')
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
@@ -50,13 +46,13 @@ if __name__ == "__main__":
   t = time.time()
   print("Getting vin...")
   set_obd_multiplexing(True)
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()

selfdrive/debug/car/vin.py

@@ -2,7 +2,6 @@
 import argparse
 import time
 import cereal.messaging as messaging
-from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
 
@@ -14,13 +13,10 @@ if __name__ == "__main__":
   parser.add_argument('--retry', type=int, default=5)
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
   can_callbacks = can_comm_callbacks(logcan, sendcan)
   time.sleep(1)
 
-  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

selfdrive/debug/clear_dtc.py

@@ -2,9 +2,7 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
-from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="clear DTC status")
@@ -13,9 +11,6 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
-if args.debug:
-  carlog.setLevel('DEBUG')
-
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -25,8 +20,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus)
+panda.set_safety_mode(Panda.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
 print("extended diagnostic session ...")
 try:
   uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/debug/hyundai_enable_radar_points.py

@@ -16,9 +16,7 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
 
-from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
-from opendbc.safety import Safety
 from panda.python import Panda
 
 class ConfigValues(NamedTuple):
@@ -80,9 +78,6 @@ if __name__ == "__main__":
   parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   try:
     check_output(["pidof", "pandad"])
     print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -97,8 +92,8 @@ if __name__ == "__main__":
     sys.exit(0)
 
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
-  uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
+  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)
 
   print("\n[START DIAGNOSTIC SESSION]")
   session_type : SESSION_TYPE = 0x07 # type: ignore

selfdrive/debug/qlog_size.py

@@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
-from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 

selfdrive/debug/read_dtc_status.py

@@ -2,9 +2,7 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
-from opendbc.safety import Safety
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="read DTC status")
@@ -13,9 +11,6 @@ parser.add_argument("--bus", type=int, default=0)
 parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
-if args.debug:
-  carlog.setLevel('DEBUG')
-
 try:
   check_output(["pidof", "pandad"])
   print("pandad is running, please kill openpilot before running this script! (aborted)")
@@ -25,8 +20,8 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
-uds_client = UdsClient(panda, args.addr, bus=args.bus)
+panda.set_safety_mode(Panda.SAFETY_ELM327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
 print("read diagnostic codes ...")

selfdrive/debug/uiview.py

@@ -3,25 +3,19 @@ import time
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
+from openpilot.system.manager.process_config import managed_processes, is_snpe_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
   params = Params()
   params.put("CarParams", CP.to_bytes())
-
   if use_snpe_modeld := is_snpe_model(False, params, CP):
     print("Using SNPE modeld")
-  if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
-    print("Using TinyGrad modeld")
-  if use_stock_modeld := is_stock_model(False, params, CP):
-    print("Using stock modeld")
-
   HARDWARE.set_power_save(False)
 
   procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
+  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 

selfdrive/debug/vw_mqb_config.py

@@ -3,10 +3,8 @@
 import argparse
 import struct
 from enum import IntEnum
-from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
-from opendbc.safety import Safety
 from panda import Panda
 from datetime import date
 
@@ -35,13 +33,10 @@ if __name__ == "__main__":
   parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config")
   args = parser.parse_args()
 
-  if args.debug:
-    carlog.setLevel('DEBUG')
-
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
+  panda.set_safety_mode(Panda.SAFETY_ELM327)
   bus = 1 if panda.has_obd() else 0
-  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)
+  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug)
 
   try:
     uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/locationd/calibrationd.py

@@ -6,6 +6,7 @@ While the roll calibration is a real value that can be estimated, here we assume
 and the image input into the neural network is not corrected for roll.
 '''
 
+import gc
 import os
 import capnp
 import numpy as np
@@ -15,7 +16,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import set_realtime_priority
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 from openpilot.common.swaglog import cloudlog
 
@@ -255,7 +256,8 @@ class Calibrator:
 
 
 def main() -> NoReturn:
-  config_realtime_process([0, 1, 2, 3], 5)
+  gc.disable()
+  set_realtime_priority(1)
 
   pm = messaging.PubMaster(['liveCalibration'])
   sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')

selfdrive/locationd/locationd.py

@@ -12,7 +12,6 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States
 from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR
@@ -25,16 +24,14 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
-INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
+INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
+TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
+TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
 
 
-def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
-  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
-
-
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
   assert len(values) == len(stds) == 3
   measurement.x, measurement.y, measurement.z = map(float, values)
@@ -79,20 +76,20 @@ class LocationEstimator:
     # sensor time and log time should be close
     sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF
     if sensor_time_invalid:
-      cloudlog.warning("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
+      print("Sensor reading ignored, sensor timestamp more than 100ms off from log time")
     return not sensor_time_invalid
 
   def _validate_timestamp(self, t: float):
     kf_t = self.kf.t
     invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME
     if invalid:
-      cloudlog.warning("Observation timestamp is older than the max rewind threshold of the filter")
+      print("Observation timestamp is older than the max rewind threshold of the filter")
     return not invalid
 
   def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray):
     all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all()
     if not all_finite:
-      cloudlog.error("Non-finite values detected, kalman reset")
+      print("Non-finite values detected, kalman reset")
       self.reset(t)
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult:
@@ -272,11 +269,11 @@ def main():
 
   filter_initialized = False
   critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  observation_timing_invalid = defaultdict(int)
   observation_input_invalid = defaultdict(int)
 
-  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
-  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
-  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
 
   initial_pose = params.get("LocationFilterInitialState")
   if initial_pose is not None:
@@ -309,19 +306,19 @@ def main():
             continue
 
           if res == HandleLogResult.TIMING_INVALID:
-            cloudlog.warning(f"Observation {which} ignored due to failed timing check")
-            observation_input_invalid[which] += 1
+            observation_timing_invalid[which] += 1
           elif res == HandleLogResult.INPUT_INVALID:
-            cloudlog.warning(f"Observation {which} ignored due to failed sanity check")
             observation_input_invalid[which] += 1
-          elif res == HandleLogResult.SUCCESS:
+          else:
             observation_input_invalid[which] *= input_invalid_decay[which]
+            observation_timing_invalid[which] *= timing_invalid_decay[which]
     else:
       filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
     if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
+      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)

selfdrive/locationd/test/test_locationd.py

@@ -0,0 +1,56 @@
+import capnp
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+
+from openpilot.system.manager.process_config import managed_processes
+
+
+class TestLocationdProc:
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+              'accelerometer', 'gyroscope', 'magnetometer']
+
+  def setup_method(self):
+    self.pm = messaging.PubMaster(self.LLD_MSGS)
+
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
+    managed_processes['locationd'].prepare()
+    managed_processes['locationd'].start()
+
+  def teardown_method(self):
+    managed_processes['locationd'].stop()
+
+  def get_msg(self, name, t):
+    try:
+      msg = messaging.new_message(name)
+    except capnp.lib.capnp.KjException:
+      msg = messaging.new_message(name, 0)
+
+    if name == "gpsLocationExternal":
+      msg.gpsLocationExternal.flags = 1
+      msg.gpsLocationExternal.hasFix = True
+      msg.gpsLocationExternal.verticalAccuracy = 1.0
+      msg.gpsLocationExternal.speedAccuracy = 1.0
+      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
+      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
+      msg.gpsLocationExternal.latitude = float(self.lat)
+      msg.gpsLocationExternal.longitude = float(self.lon)
+      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
+      msg.gpsLocationExternal.altitude = float(self.alt)
+    #if name == "gnssMeasurements":
+    #  msg.gnssMeasurements.measTime = t
+    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
+    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.positionECEF.valid = True
+    #  msg.gnssMeasurements.velocityECEF.value = []
+    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.velocityECEF.valid = True
+    elif name == 'cameraOdometry':
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
+    msg.logMonoTime = t
+    msg.valid = True
+    return msg

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -23,10 +23,8 @@ class Scenario(Enum):
   BASE = 'base'
   GYRO_OFF = 'gyro_off'
   GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
-  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
   ACCEL_OFF = 'accel_off'
   ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
-  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
   SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
   SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'
 
@@ -65,20 +63,18 @@ def run_scenarios(scenario, logs):
   elif scenario == Scenario.GYRO_OFF:
     logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
     def gyro_spike(msg):
       msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
-    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)
+    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
 
   elif scenario == Scenario.ACCEL_OFF:
     logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
 
-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
     def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 100.0
-    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
-    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 10.0
+    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
 
   elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
     def timing_spike(msg):
@@ -125,7 +121,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_gyro_spike(self):
+  def test_gyro_spikes(self):
     """
     Test: a gyroscope spike in the middle of the segment
     Expected Result:
@@ -136,17 +132,8 @@ class TestLocationdScenarios:
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
     assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
-    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
-
-  def test_consistent_gyro_spikes(self):
-    """
-    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
-    Expected Result: inputsOK becomes False after N of bad measurements
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
 
   def test_accel_off(self):
     """
@@ -161,7 +148,7 @@ class TestLocationdScenarios:
     assert np.allclose(replayed_data['roll'], 0.0)
     assert np.all(replayed_data['sensors_flag'] == 0.0)
 
-  def test_accel_spike(self):
+  def test_accel_spikes(self):
     """
     ToDo:
     Test: an accelerometer spike in the middle of the segment
@@ -186,5 +173,5 @@ class TestLocationdScenarios:
     Expected Result: inputsOK becomes False after N of bad measurements
     """
     orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0

selfdrive/locationd/torqued.py

@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction

selfdrive/modeld/constants.py

@@ -31,6 +31,7 @@ class ModelConstants:
   DISENGAGE_WIDTH = 5
   POSE_WIDTH = 6
   WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
   LEAD_WIDTH = 4
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
@@ -71,14 +72,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)

selfdrive/modeld/dmonitoringmodeld.py

@@ -8,6 +8,7 @@ if TICI:
   os.environ['QCOM'] = '1'
 else:
   from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
+import gc
 import math
 import time
 import pickle
@@ -20,12 +21,11 @@ from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import set_realtime_priority
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from openpilot.system import sentry
 
 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -37,7 +37,6 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
-
 class DriverStateResult(ctypes.Structure):
   _fields_ = [
     ("face_orientation", ctypes.c_float*3),
@@ -56,7 +55,6 @@ class DriverStateResult(ctypes.Structure):
     ("ready_prob", ctypes.c_float*4),
     ("not_ready_prob", ctypes.c_float*2)]
 
-
 class DMonitoringModelResult(ctypes.Structure):
   _fields_ = [
     ("driver_state_lhd", DriverStateResult),
@@ -65,7 +63,6 @@ class DMonitoringModelResult(ctypes.Structure):
     ("wheel_on_right_prob", ctypes.c_float),
     ("features", ctypes.c_float*FEATURE_LEN)]
 
-
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -85,7 +82,7 @@ class ModelState:
     else:
       self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
 
-  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
@@ -122,7 +119,6 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
   msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
   msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
 
-
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
   msg = messaging.new_message('driverStateV2', valid=True)
@@ -139,11 +135,9 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 
 def main():
+  gc.disable()
   setproctitle(PROCESS_NAME)
-  config_realtime_process([0, 1, 2, 3], 5)
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
+  set_realtime_priority(1)
 
   cl_context = CLContext()
   model = ModelState(cl_context)
@@ -183,10 +177,4 @@ def main():
 
 
 if __name__ == "__main__":
-  try:
-    main()
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+  main()

selfdrive/modeld/fill_model_msg.py

@@ -1,9 +1,11 @@
 import os
+
 import capnp
 import numpy as np
-from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+
+from cereal import log
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -28,7 +30,6 @@ def get_curvature_from_output(output, vego, delay):
 
   return float(get_curvature_from_plan(output['plan'][0], vego, delay))
 
-
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -85,7 +86,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
+  desired_curv = float(get_curvature_from_output(net_output_data, v_ego, delay))
 
   driving_model_data = base_msg.drivingModelData
 
@@ -93,7 +94,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = desired_curvature
+
+  action = driving_model_data.action
+  action.desiredCurvature = desired_curv
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -104,31 +107,31 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.modelExecutionTime = model_execution_time
 
   # plan
-  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  position = modelV2.position
+  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  velocity = modelV2.velocity
+  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  acceleration = modelV2.acceleration
+  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  orientation = modelV2.orientation
+  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  orientation_rate = modelV2.orientationRate
+  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  if 'sim_pose' in net_output_data:
-    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  else:
-    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
+  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
 
   # poly path
-  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  modelV2.action.desiredCurvature = desired_curvature
+  action = modelV2.action
+  action.desiredCurvature = desired_curv
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -157,7 +160,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
-  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
+  lane_line_meta = driving_model_data.laneLineMeta
+  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
 
   # road edges
   modelV2.init('roadEdges', 2)

selfdrive/modeld/modeld.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 from openpilot.system.hardware import TICI
 
+from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+
 #
 import time
 import numpy as np
@@ -23,8 +25,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
-from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+from sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 
@@ -56,6 +57,7 @@ class ModelState:
     if self.model_runner.is_20hz:
       self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
       self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    # Initialize model runner
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
@@ -76,7 +78,7 @@ class ModelState:
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
@@ -194,7 +196,7 @@ def main(demo=False):
     CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   steer_delay = CP.steerActuatorDelay + .2

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
-size 51461700
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312

selfdrive/modeld/parse_model_outputs.py

@@ -91,8 +91,6 @@ class Parser:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))

selfdrive/monitoring/dmonitoringd.py

@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
+import gc
+
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
 
 
 def dmonitoringd_thread():
-  config_realtime_process([0, 1, 2, 3], 5)
+  gc.disable()
+  set_realtime_priority(2)
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])

selfdrive/pandad/__init__.py

@@ -2,3 +2,10 @@
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
 assert can_capnp_to_list
+
+def can_capnp_to_can_list(can, src_filter=None):
+  ret = []
+  for msg in can:
+    if src_filter is None or msg.src in src_filter:
+      ret.append((msg.address, msg.dat, msg.src))
+  return ret

selfdrive/pandad/can_list_to_can_capnp.cc

@@ -1,7 +1,8 @@
 #include "cereal/messaging/messaging.h"
+#include "selfdrive/pandad/panda.h"
 #include "opendbc/can/common.h"
 
-void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
+void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
 

selfdrive/pandad/pandad.cc

@@ -105,6 +105,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   while (!do_exit && check_all_connected(pandas)) {
     std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
+      if (errno == EINTR) {
+        do_exit = true;
+      }
       continue;
     }
 
@@ -202,7 +205,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -250,7 +253,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
 
     pandaStates.push_back(health);
   }
@@ -337,14 +340,16 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
+  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
+
   std::vector<std::string> connected_serials;
   for (Panda *p : pandas) {
     connected_serials.push_back(p->hw_serial());
   }
 
   {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       return;
@@ -373,6 +378,9 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engag
       }
     }
 
+    sm.update(0);
+    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+    const bool engaged_mads = process_mads_heartbeat(&sm);
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged, engaged_mads);
     }
@@ -438,13 +446,9 @@ void pandad_run(std::vector<Panda *> &pandas) {
   std::thread send_thread(can_send_thread, pandas, fake_send);
 
   RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
   PandaSafety panda_safety(pandas);
   Panda *peripheral_panda = pandas[0];
-  bool engaged = false;
-  bool engaged_mads = false;
-  bool always_offroad = false;
 
   // Main loop: receive CAN data and process states
   while (!do_exit && check_all_connected(pandas)) {
@@ -457,11 +461,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
 
     // Process panda state at 10 Hz
     if (rk.frame() % 10 == 0) {
-      sm.update(0);
-      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-      engaged_mads = process_mads_heartbeat(&sm);
-      always_offroad = panda_safety.getOffroadMode();
-      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
+      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
       panda_safety.configureSafetyMode();
     }
 
@@ -473,16 +473,6 @@ void pandad_run(std::vector<Panda *> &pandas) {
     rk.keepTime();
   }
 
-  // Close relay on exit to prevent a fault
-  const bool is_onroad = Params().getBool("IsOnroad");
-  if (is_onroad && !engaged) {
-    for (auto &p : pandas) {
-      if (p->connected()) {
-        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-      }
-    }
-  }
-
   send_thread.join();
 }
 

selfdrive/pandad/pandad.py

@@ -3,8 +3,8 @@
 import os
 import usb1
 import time
-import signal
 import subprocess
+from typing import NoReturn
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
@@ -61,25 +61,13 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def main() -> None:
-  # signal pandad to close the relay and exit
-  def signal_handler(signum, frame):
-    cloudlog.info(f"Caught signal {signum}, exiting")
-    nonlocal do_exit
-    do_exit = True
-    if process is not None:
-      process.send_signal(signal.SIGINT)
-
-  process = None
-  do_exit = False
-  signal.signal(signal.SIGINT, signal_handler)
-
+def main() -> NoReturn:
   count = 0
   first_run = True
   params = Params()
   no_internal_panda_count = 0
 
-  while not do_exit:
+  while True:
     try:
       count += 1
       cloudlog.event("pandad.flash_and_connect", count=count)
@@ -171,9 +159,8 @@ def main() -> None:
 
     # run pandad with all connected serials as arguments
     os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
-    process.wait()
-
+    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
+    subprocess.run(["./pandad", *panda_serials], check=True)
 
 if __name__ == "__main__":
   main()

selfdrive/pandad/pandad_api_impl.pyx

@@ -6,6 +6,12 @@ from libcpp.string cimport string
 from libcpp cimport bool
 from libc.stdint cimport uint8_t, uint32_t, uint64_t
 
+cdef extern from "panda.h":
+  cdef struct can_frame:
+    long address
+    string dat
+    long src
+
 cdef extern from "opendbc/can/common.h":
   cdef struct CanFrame:
     long src
@@ -17,12 +23,12 @@ cdef extern from "opendbc/can/common.h":
     vector[CanFrame] frames
 
 cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid)
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid)
   void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
-  cdef CanFrame *f
-  cdef vector[CanFrame] can_list
+  cdef can_frame *f
+  cdef vector[can_frame] can_list
 
   can_list.reserve(len(can_msgs))
   for can_msg in can_msgs:

selfdrive/selfdrived/events.py

@@ -154,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
-  if CP.brand == "honda":
+  if CP.carName == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 

selfdrive/selfdrived/selfdrived.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from panda import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -31,6 +31,7 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -70,7 +71,7 @@ class SelfdriveD(CruiseHelper):
     self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -98,7 +99,7 @@ class SelfdriveD(CruiseHelper):
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    car_recognized = self.CP.brand != 'mock'
+    car_recognized = self.CP.carName != 'mock'
 
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
@@ -146,6 +147,8 @@ class SelfdriveD(CruiseHelper):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP', 'onroadEventsSP']
+    self.pm = messaging.PubMaster(sock_services)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -283,7 +286,7 @@ class SelfdriveD(CruiseHelper):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and not_running:
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
@@ -379,10 +382,6 @@ class SelfdriveD(CruiseHelper):
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
-    # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
-    if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
-      self.events.remove(EventName.canBusMissing)
-
     CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
 
     # decrement personality on distance button press

selfdrive/test/longitudinal_maneuvers/maneuver.py

@@ -66,7 +66,7 @@ class Maneuver:
         print("Crashed!!!!")
         valid = False
 
-      if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
+      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
         print('LongitudinalPlanner not starting!')
         valid = False
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -30,8 +30,8 @@ class Plant:
 
     self.distance = 0.
     self.speed = speed
-    self.should_stop = False
     self.acceleration = 0.0
+    self.speeds = []
 
     # lead car
     self.lead_relevancy = lead_relevancy
@@ -134,9 +134,9 @@ class Plant:
           'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
-    self.acceleration = self.planner.output_a_target
-    self.speed = self.speed + self.acceleration * self.ts
-    self.should_stop = self.planner.output_should_stop
+    self.speed = self.planner.v_desired_filter.x
+    self.acceleration = self.planner.a_desired
+    self.speeds = self.planner.v_desired_trajectory.tolist()
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
@@ -168,7 +168,7 @@ class Plant:
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
-      "should_stop": self.should_stop,
+      "speeds": self.speeds,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
     }

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -150,7 +150,10 @@ def create_maneuvers(kwargs):
       enabled=False,
       **kwargs,
     ),
-    Maneuver(
+  ]
+  if not kwargs['e2e']:
+    # allow_throttle won't trigger with e2e
+    maneuvers.append(Maneuver(
       "slow to 5m/s with allow_throttle = False and pitch = +0.1",
       duration=30.,
       initial_speed=20.,
@@ -161,7 +164,7 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       ensure_slowdown=True,
       **kwargs,
-    )]
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(

selfdrive/test/process_replay/fakedata/regen1CA7A48E6F7|2024-08-30--02-45-08--0_card_4b12690274eb951346624fbf58075c82ad5e73d1.zst

@@ -0,0 +1,3 @@
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+oid sha256:6e1555145a4482e4148c2e7a5cdbf370720a3cf684f18686a50bf25de0b55650
+size 356302

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@@ -1,3 +0,0 @@
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-oid sha256:a518e8ddeaf9998688e922c1e880c8ed87cd4d017ace099fb5d12b49495c0a60
-size 356259

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@@ -0,0 +1,3 @@
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@@ -1,3 +0,0 @@
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-oid sha256:d9d552eff00311b0e777a80a10d3fcd61fac4fc1f660ef5d915ad66c4478ffa5
-size 256497

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@@ -0,0 +1,3 @@
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+size 332404

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@@ -1,3 +0,0 @@
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-size 332430

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@@ -0,0 +1,3 @@
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+size 268879

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@@ -1,3 +0,0 @@
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