Merge branch 'master' into clippy

* new new

* Simplify model removal

* use a var

.github/workflows/selfdrive_tests.yaml

@@ -21,12 +21,11 @@ env:
   PYTHONWARNINGS: error
   BASE_IMAGE: sunnypilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: release/ci/docker_build_sp.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 

.gitignore

@@ -109,3 +109,7 @@ Pipfile
 !.idea/customTargets.xml
 !.idea/tools/*
 !.run/*
+
+### clippy ###
+clippy_stats.json
+clippy.log

.gitmodules

@@ -4,7 +4,6 @@
 [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

cereal/custom.capnp

@@ -192,7 +192,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -204,11 +203,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
+
   struct SmartCruiseControl {
     vision @0 :Vision;
     map @1 :Map;
@@ -345,7 +340,6 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
-    laneChangeRoadEdge @24;
   }
 }
 
@@ -452,8 +446,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
-  leftLaneChangeEdgeBlock @1 :Bool;
-  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;
@@ -462,20 +454,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct Navigationd @0xcb9fd56c7057593a {
-  upcomingTurn @0 :Text;
-  currentSpeedLimit @1 :UInt64;
-  bannerInstructions @2 :Text;
-  distanceFromRoute @3 :Float64;
-  allManeuvers @4 :List(Maneuver);
-  valid @5 :Bool;
-
-  struct Maneuver {
-    distance @0 :Float64;
-    type @1 :Text;
-    modifier @2 :Text;
-    instruction @3 :Text;
-  }
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {
@@ -496,84 +475,11 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }
 
-enum MapdExtendedOutType {
-  paths @0;
-  settings @1;
+struct CustomReserved17 @0xa30662f84033036c {
 }
 
-struct MapdExtendedOut @0xa30662f84033036c {
-  type @0 :MapdExtendedOutType;
-  json @1 :Text;
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
 }
 
-enum MapdInputType {
-  download @0;
-  setTargetLateralAccel @1;
-  setSpeedLimitOffset @2;
-  setSpeedLimitControl @3;
-  setCurveSpeedControl @4;
-  setVisionCurveSpeedControl @5;
-  setLogLevel @6;
-  setVisionCurveTargetLatA @7;
-  setVisionCurveMinTargetV @8;
-  reloadSettings @9;
-  saveSettings @10;
-  setEnableSpeed @11;
-  setVisionCurveUseEnableSpeed @12;
-  setCurveUseEnableSpeed @13;
-  setSpeedLimitUseEnableSpeed @14;
-  setHoldLastSeenSpeedLimit @15;
-  setCurveTargetJerk @16;
-  setCurveTargetAccel @17;
-  setCurveTargetOffset @18;
-  setDefaultLaneWidth @19;
-  setCurveTargetLatA @20;
-  loadDefaultSettings @21;
-  loadRecommendedSettings @22;
-  setSlowDownForNextSpeedLimit @23;
-  setSpeedUpForNextSpeedLimit @24;
-  setHoldSpeedLimitWhileChangingSetSpeed @25;
-}
-
-enum SpeedLimitOffsetType {
-  static @0;
-  percent @1;
-}
-
-struct MapdIn @0xc86a3d38d13eb3ef {
-  type @0 :MapdInputType;
-  float @1 :Float32;
-  str @2 :Text;
-  bool @3 :Bool;
-}
-
-enum RoadContext {
-  freeway @0;
-  city @1;
-  unknown @2;
-}
-
-struct MapdOut @0xa4f1eb3323f5f582 {
-  wayName @0 :Text;
-  wayRef @1 :Text;
-  roadName @2 :Text;
-  speedLimit @3 :Float32;
-  nextSpeedLimit @4 :Float32;
-  nextSpeedLimitDistance @5 :Float32;
-  hazard @6 :Text;
-  nextHazard @7 :Text;
-  nextHazardDistance @8 :Float32;
-  advisorySpeed @9 :Float32;
-  nextAdvisorySpeed @10 :Float32;
-  nextAdvisorySpeedDistance @11 :Float32;
-  oneWay @12 :Bool;
-  lanes @13 :UInt8;
-  tileLoaded @14 :Bool;
-  speedLimitOffset @15 :Float32;
-  suggestedSpeed @16 :Float32;
-  estimatedRoadWidth @17 :Float32;
-  roadContext @18 :RoadContext;
-  distanceFromWayCenter @19 :Float32;
-  visionCurveSpeed @20 :Float32;
-  curveSpeed @21 :Float32;
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
 }

cereal/log.capnp

@@ -2632,16 +2632,16 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    navigationd @136 :Custom.Navigationd;
+    customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;
     customReserved14 @140 :Custom.CustomReserved14;
     customReserved15 @141 :Custom.CustomReserved15;
     customReserved16 @142 :Custom.CustomReserved16;
-    mapdExtendedOut @143 :Custom.MapdExtendedOut;
-    mapdIn @144 :Custom.MapdIn;
-    mapdOut @145 :Custom.MapdOut;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated

cereal/services.py

@@ -89,9 +89,7 @@ _services: dict[str, tuple] = {
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20.),
-  "navigationd": (True, 3.),
   "liveLocationKalman": (True, 20.),
-  "mapdOut": (True, 20., 20),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -130,8 +130,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -148,7 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DynamicFollow", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -171,19 +168,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // toyota specific params
-    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -198,14 +187,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
-    // Navigation params
-    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
-    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
-    {"MapboxRoute", {PERSISTENT, STRING}},
-    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
-
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -239,9 +220,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
-
-	  // mapd v020
-	  {"MapdSettings", {PERSISTENT | BACKUP, JSON}},
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
     {"MapdVersion", {PERSISTENT, STRING}},

pyproject.toml

@@ -73,6 +73,10 @@ dependencies = [
 
   # ui
   "qrcode",
+
+  # clippy
+  "discord-py",
+  "flask",
 ]
 
 [project.optional-dependencies]

selfdrive/car/card.py

@@ -10,7 +10,7 @@ from cereal import car, log, custom
 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.safety import ALTERNATIVE_EXPERIENCE
+
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -123,13 +123,7 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
-    if sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-
-
     # mads
     set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)

selfdrive/controls/lib/desire_helper.py

@@ -3,7 +3,6 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
-from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -52,13 +51,12 @@ class DesireHelper:
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
     self.lane_turn_direction = TurnDirection.none
-    self.navigation_desires = NavigationDesires()
 
   @staticmethod
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
+  def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -90,8 +88,8 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 
@@ -145,7 +143,3 @@ class DesireHelper:
         self.desire = log.Desire.none
 
     self.alc.update_state()
-
-    nav_desire = self.navigation_desires.update(carstate, lateral_active)
-    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
-      self.desire = nav_desire

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -10,8 +10,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
-from openpilot.sunnypilot.selfdrive.controls.lib.dynamic_personality.dynamic_follow import FollowDistanceController
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -230,8 +228,6 @@ class LongitudinalMpc:
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
     self.source = SOURCES[2]
-    self.accel_controller = AccelPersonalityController()
-    self.dynamic_follow = FollowDistanceController()
 
   def reset(self):
     # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -332,27 +328,10 @@ class LongitudinalMpc:
     return lead_xv
 
   def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
-
-    if self.dynamic_follow.is_enabled():
-      t_follow = self.dynamic_follow.get_follow_distance_multiplier(v_ego)
-      #print(f"DEBUG: dynamic_follow enabled, t_follow={t_follow:.3f}, v_ego={v_ego:.2f}, v_cruise={v_cruise:.2f}")
-    else:
-      t_follow = get_T_FOLLOW(personality)
-      #print(f"DEBUG: dynamic_follow disabled, using personality t_follow={t_follow:.3f}, personality={personality}")
-
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
-    # Get acceleration limits
-    if self.accel_controller.is_enabled():
-      min_accel = self.accel_controller.get_min_accel(v_ego)
-      #print(f"DEBUG: accel_enabled=True, min_accel={min_accel:.3f}")
-    else:
-      min_accel = CRUISE_MIN_ACCEL
-      #print(f"DEBUG: accel_enabled=False, using stock min_accel={min_accel}")
-
-    a_cruise_min = min_accel
-
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
@@ -371,7 +350,7 @@ class LongitudinalMpc:
 
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
       # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),

selfdrive/controls/lib/longitudinal_planner.py

@@ -124,13 +124,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
     if mode == 'acc':
-      if self.accel_controller.is_enabled():
-        max_accel = self.accel_controller.get_max_accel(v_ego)
-        #print(f"Vibe personality active - max accel: {max_accel:.3f}")
-        accel_clip = [ACCEL_MIN, max_accel]
-      else:
-        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
     else:
@@ -155,10 +149,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
     v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
 
-    if sm.valid['mapdOut']:
-      if sm['mapdOut'].suggestedSpeed > 0 and v_cruise > sm['mapdOut'].suggestedSpeed:
-        v_cruise = sm['mapdOut'].suggestedSpeed
-
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/plannerd.py

@@ -27,12 +27,12 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', 'mapdOut', gps_location_service],
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                            poll='carState')
 
   while True:
     sm.update()
-    #longitudinal_planner.sla.update_car_state(sm['carState'])
+    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/modeld/SConscript

@@ -51,8 +51,8 @@ def tg_compile(flags, model_name):
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
     'larch64': 'DEV=QCOM',
-    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
+    'Darwin': 'DEV=CPU IMAGE=0',
+  }.get(arch, 'DEV=LLVM IMAGE=0')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import math

selfdrive/modeld/modeld.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -33,7 +33,7 @@ from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -298,7 +298,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -396,10 +395,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

selfdrive/selfdrived/selfdrived.py

@@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ['navigationd']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -98,8 +98,8 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \
-                                  self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
@@ -230,8 +230,8 @@ class SelfdriveD(CruiseHelper):
 
       # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
       if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-            (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-            (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
@@ -292,22 +292,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
-      mdv2sp = self.sm['modelDataV2SP']
-
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-        (CS.rightBlindspot and direction == LaneChangeDirection.right):
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
-
-      elif mdv2sp.leftLaneChangeEdgeBlock or mdv2sp.rightLaneChangeEdgeBlock:
-        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
-
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                     LaneChangeState.laneChangeFinishing):
+                                                    LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
     # Handle lane turn
@@ -502,7 +496,7 @@ class SelfdriveD(CruiseHelper):
 
     # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
     if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
     return CS

selfdrive/ui/qt/offroad/settings.cc

@@ -33,42 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/experimental_white.svg",
       false,
     },
-    {
-      "ToyotaDriveMode",
-      tr("Enable drive mode btn link"),
-      tr("Links cars drive mode btn with accel personalities based on personality (i.e., relaxed, standard, sport)"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaAutoHold",
-      tr("Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS"),
-      tr("As you may auto brake hold currently supported by openpilot, this feature will allow sunnypilot to automatically hold the vehicle at a stop when the lead car is stopped. (TSS2 Hybird only)"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaEnhancedBsm",
-      tr("Toyota: Prius TSS2 BSM and some tssp"),
-      tr("Add support for BSM."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaTSS2Long",
-      tr("Toyota: custom tune"),
-      tr("idk something gas and brake"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaStockLongitudinal",
-      tr("Toyota: Stock Toyota Longitudinal"),
-      tr("This feature will allow sunnypilot to use the stock Toyota longitudinal control instead of the sunnypilot longitudinal control. "
-         ""),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -121,15 +85,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                              "your steering wheel distance button."),
                                           "../assets/icons/speed_limit.png",
                                           longi_button_texts);
-  // accel controller
-  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
-  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
-                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
-                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
-                                             "acceleration personality within Onroad Settings on the driving screen."),
-                                          "",
-                                          accel_personality_texts);
-  accel_personality_setting->showDescription();
+
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
@@ -157,7 +113,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     // insert longitudinal personality after NDOG toggle
     if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
-      addItem(accel_personality_setting);
     }
   }
 
@@ -178,13 +133,6 @@ void TogglesPanel::updateState(const UIState &s) {
     }
     uiState()->scene.personality = personality;
   }
-  if (sm.updated("longitudinalPlanSP")) {
-    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
-    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
-      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
-    }
-    uiState()->scene.accel_personality = accel_personality;
-  }
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -231,12 +179,10 @@ void TogglesPanel::updateToggles() {
       experimental_mode_toggle->setEnabled(true);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
-      accel_personality_setting->setEnabled(true);
     } else {
       // no long for now
       experimental_mode_toggle->setEnabled(false);
       long_personality_setting->setEnabled(false);
-      accel_personality_setting->setEnabled(true);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

selfdrive/ui/qt/offroad/settings.h

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

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -118,7 +118,7 @@ void AnnotatedCameraWidget::paintGL() {
       } else if (v_ego > 15) {
         wide_cam_requested = false;
       }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      // wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
     CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());

selfdrive/ui/qt/onroad/model.cc

@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height(), surface_rect.width());
+  drawPath(painter, model, surface_rect.height());
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -92,7 +92,7 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
   }
 }
 
-void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width) {
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
   QLinearGradient bg(0, height, 0, 0);
   if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
@@ -127,9 +127,6 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
-
-  //LongFuel(painter,height, width);
-  //LateralFuel(painter, height, width);
 }
 
 void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
@@ -176,195 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
-void ModelRenderer::drawGaugeBackground(QPainter &painter, qreal centerX, qreal centerY) {
-    const qreal backgroundSize = GAUGE_SIZE * BACKGROUND_SIZE_MULTIPLIER;
-
-    // Draw circular background
-    painter.setPen(Qt::NoPen);
-    painter.setBrush(BACKGROUND_COLOR);
-    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
-
-    // Draw border
-    QPen borderPen(BORDER_COLOR);
-    borderPen.setWidth(BORDER_PEN_WIDTH);
-    painter.setPen(borderPen);
-    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
-
-    // Draw background semicircle
-    QPen semicirclePen(GAUGE_BACKGROUND_COLOR);
-    semicirclePen.setWidth(GAUGE_PEN_WIDTH);
-    semicirclePen.setCapStyle(Qt::RoundCap);
-    painter.setPen(semicirclePen);
-    painter.drawArc(QRectF(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                          GAUGE_SIZE, GAUGE_SIZE), 0, SEMICIRCLE_SPAN);
-}
-
-QColor ModelRenderer::getIndicatorColor(float absoluteValue, float lowThreshold, float highThreshold) {
-    if (absoluteValue < lowThreshold) {
-        return LOW_INDICATOR_COLOR;
-    } else if (absoluteValue < highThreshold) {
-        return MODERATE_INDICATOR_COLOR;
-    } else {
-        return HIGH_INDICATOR_COLOR;
-    }
-}
-
-int ModelRenderer::calculateSpanAngle(float absoluteValue, float maxValue) {
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * (absoluteValue / maxValue));
-    return std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-}
-
-void ModelRenderer::drawGaugeArc(QPainter &painter, qreal centerX, qreal centerY,
-                                float value, bool isPositive, const QString &label) {
-    const float absoluteValue = std::abs(value);
-
-    if (absoluteValue <= MIN_THRESHOLD) {
-        return; // Skip drawing if value is too small
-    }
-
-    // Set up the arc rectangle
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Configure pen for the indicator arc
-    QPen indicatorPen;
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    // Draw the arc based on direction
-    const int spanAngle = calculateSpanAngle(absoluteValue, 1.0f); // Adjust max value as needed
-    if (isPositive) {
-        painter.drawArc(arcRect, STARTING_ANGLE, spanAngle);
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, -spanAngle);
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, label);
-}
-
-void ModelRenderer::LongFuel(QPainter &painter, int height, int width) {
-    const qreal rectWidth = static_cast<qreal>(width);
-    const qreal rectHeight = static_cast<qreal>(height);
-
-    UIState *s = uiState();
-    if (!s || !s->sm) {
-        return; // Safety check
-    }
-
-    // Get current acceleration
-    const float currentAcceleration = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
-    const float absoluteAcceleration = std::abs(currentAcceleration);
-
-    // Calculate gauge position
-    const qreal centerX = rectWidth / 17;
-    const qreal centerY = rectHeight / 2 + 120;
-
-    // Draw gauge background
-    drawGaugeBackground(painter, centerX, centerY);
-
-    // Skip drawing arc if acceleration is too small
-    if (absoluteAcceleration <= MIN_THRESHOLD) {
-        drawGaugeArc(painter, centerX, centerY, 0.0f, true, "LONG");
-        return;
-    }
-
-    // Determine indicator color based on acceleration magnitude
-    const QColor indicatorColor = getIndicatorColor(absoluteAcceleration, 0.3f, 0.6f);
-
-    // Calculate span angle (scale for better visibility)
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * absoluteAcceleration);
-    const int clampedSpanAngle = std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-
-    // Draw the acceleration arc
-    QPen indicatorPen(indicatorColor);
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Draw arc based on acceleration direction
-    if (currentAcceleration > 0) {
-        painter.drawArc(arcRect, STARTING_ANGLE, -clampedSpanAngle); // Left side for positive
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, clampedSpanAngle);  // Right side for negative
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LONG");
-}
-
-void ModelRenderer::LateralFuel(QPainter &painter, int height, int width) {
-    const qreal rectWidth = static_cast<qreal>(width);
-    const qreal rectHeight = static_cast<qreal>(height);
-
-    UIState *s = uiState();
-    if (!s || !s->sm) {
-        return; // Safety check
-    }
-
-    // Get current steering angle
-    const float currentLateral = (*s->sm)["carState"].getCarState().getSteeringAngleDeg();
-    const float absoluteLateral = std::abs(currentLateral);
-
-    // Calculate gauge position
-    const qreal centerX = rectWidth / 17;
-    const qreal centerY = rectHeight / 2 - 120;
-
-    // Draw gauge background
-    drawGaugeBackground(painter, centerX, centerY);
-
-    // Skip drawing arc if lateral force is too small
-    if (absoluteLateral <= 0.1f) {
-        drawGaugeArc(painter, centerX, centerY, 0.0f, true, "LAT");
-        return;
-    }
-
-    // Determine indicator color based on lateral force magnitude
-    const QColor indicatorColor = getIndicatorColor(absoluteLateral, 5.0f, 15.0f);
-
-    // Calculate span angle (normalized to max expected steering angle)
-    const float maxSteeringAngle = 15.0f; // Adjust based on your vehicle's characteristics
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * (absoluteLateral / maxSteeringAngle));
-    const int clampedSpanAngle = std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-
-    // Draw the lateral arc
-    QPen indicatorPen(indicatorColor);
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Draw arc based on steering direction
-    if (currentLateral < 0) {
-        painter.drawArc(arcRect, STARTING_ANGLE, -clampedSpanAngle); // Left turn
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, clampedSpanAngle);  // Right turn
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LAT");
-}
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -29,8 +29,6 @@ public:
   ModelRenderer() {}
   void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
   void draw(QPainter &painter, const QRect &surface_rect);
-  void LongFuel(QPainter &p, int height, int width);
-  void LateralFuel(QPainter &p, int height, int width);
 
 protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
@@ -40,16 +38,7 @@ protected:
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width);
-
-  // Gauge helper methods
-  void drawGaugeBackground(QPainter &painter, qreal centerX, qreal centerY);
-  void drawGaugeArc(QPainter &painter, qreal centerX, qreal centerY,
-                    float value, bool isPositive, const QString &label);
-  QColor getIndicatorColor(float absoluteValue, float lowThreshold, float highThreshold);
-  int calculateSpanAngle(float absoluteValue, float maxValue);
-
-
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
@@ -66,22 +55,4 @@ protected:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
-
-  // Gauge configuration constants
-  static constexpr qreal GAUGE_SIZE = 140.0;
-  static constexpr qreal BACKGROUND_SIZE_MULTIPLIER = 1.4;
-  static constexpr qreal GAUGE_PEN_WIDTH = 30.0;
-  static constexpr qreal BORDER_PEN_WIDTH = 2.0;
-  static constexpr int SEMICIRCLE_SPAN = 180 * 16;
-  static constexpr int QUARTER_CIRCLE_SPAN = 90 * 16;
-  static constexpr int STARTING_ANGLE = 90 * 16;
-  static constexpr qreal MIN_THRESHOLD = 0.01;
-
-  // Color constants - Note: QColor cannot be constexpr, use inline static const instead
-  inline static const QColor BACKGROUND_COLOR = QColor(0, 0, 0, 80);
-  inline static const QColor BORDER_COLOR = QColor(0, 0, 0, 100);
-  inline static const QColor GAUGE_BACKGROUND_COLOR = QColor(50, 50, 50);
-  inline static const QColor LOW_INDICATOR_COLOR = QColor(23, 241, 66, 200);
-  inline static const QColor MODERATE_INDICATOR_COLOR = QColor(255, 166, 0, 200);
-  inline static const QColor HIGH_INDICATOR_COLOR = QColor(245, 0, 0, 200);
 };

selfdrive/ui/sunnypilot/SConscript

@@ -30,7 +30,6 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/brightness.cc",
   "sunnypilot/qt/offroad/settings/models_panel.cc",
-  "sunnypilot/qt/offroad/settings/navigation_panel.cc",
   "sunnypilot/qt/offroad/settings/osm_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",

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

@@ -33,12 +33,6 @@ LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
       tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
       "../assets/offroad/icon_blank.png",
     },
-    {
-      "RoadEdgeLaneChangeEnabled",
-      tr("Block Lane Change: Road Edge Detection"),
-      tr("Enable this toggle to block lane change when road edge is detected on the stalk actuated side."),
-      "../assets/offroad/icon_blank.png",
-    }
   };
 
   // Controls: Auto Lane Change Timer

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

@@ -75,22 +75,6 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
-  // Acceleration Personality
-  AccelPersonalityControl = new ParamControlSP("AccelPersonalityEnabled",
-    tr("Acceleration Personality"),
-    tr("Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive). "
-      "Adjust how aggressively the vehicle accelerates while maintaining smooth operation."),
-    "../assets/offroad/icon_shell.png");
-  list->addItem(AccelPersonalityControl);
-
-  // Dynamic Personality
-  DynamicPersonalityControl = new ParamControlSP("DynamicFollow",
-    tr("Following Distance Personality"),
-    tr("Controls following distance and braking behavior: Relaxed (longer distance, gentler braking), Standard (balanced), Aggressive (shorter distance, firmer braking). "
-      "Fine-tune your comfort level in traffic situations."),
-    "../assets/offroad/icon_shell.png");
-  list->addItem(DynamicPersonalityControl);
-
   speedLimitSettings = new PushButtonSP(tr("Speed Limit"), 750, this);
   connect(speedLimitSettings, &QPushButton::clicked, [&]() {
     cruisePanelScroller->setLastScrollPosition();
@@ -180,10 +164,6 @@ void LongitudinalPanel::refresh(bool _offroad) {
     dynamicExperimentalControl->refresh();
     SmartCruiseControlVision->refresh();
     SmartCruiseControlMap->refresh();
-    AccelPersonalityControl->setEnabled(true);
-    DynamicPersonalityControl->setEnabled(true);
-    AccelPersonalityControl->refresh();
-    DynamicPersonalityControl->refresh();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;

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

@@ -36,9 +36,6 @@ private:
   ParamControl *SmartCruiseControlMap;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
   ParamControl *dynamicExperimentalControl = nullptr;
-
-  ParamControlSP *AccelPersonalityControl;
-  ParamControlSP *DynamicPersonalityControl;
   SpeedLimitSettings *speedLimitScreen;
   PushButtonSP *speedLimitSettings;
 };

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

@@ -1,79 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
-
-NavigationPanel::NavigationPanel(QWidget* parent) : QWidget(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 25, 50, 25);
-
-  list = new ListWidget(this, false);
-  scroller = new ScrollViewSP(list, this);
-  main_layout->addWidget(scroller);
-
-  // Mapbox Token
-  mapbox_token = new ButtonControl(tr("Mapbox Token"), tr("Edit"), tr("Enter your Mapbox API token"));
-  QObject::connect(mapbox_token, &ButtonControl::clicked, [=]() {
-    QString current = QString::fromStdString(params.get("MapboxToken"));
-    QString token = InputDialog::getText(tr("Enter Mapbox Token"), this, "", false, -1, current);
-    if (!token.isEmpty()) {
-      params.put("MapboxToken", token.toStdString());
-      refresh();
-    }
-  });
-  list->addItem(mapbox_token);
-
-  // Mapbox Route
-  mapbox_route = new ButtonControl(tr("Mapbox Route"), tr("Edit"), tr("Enter Mapbox route data"));
-  QObject::connect(mapbox_route, &ButtonControl::clicked, [=]() {
-    QString current = QString::fromStdString(params.get("MapboxRoute"));
-    QString route = InputDialog::getText(tr("Enter Mapbox Route"), this, "", false, -1, current);
-    if (!route.isEmpty()) {
-      params.put("MapboxRoute", route.toStdString());
-      refresh();
-    }
-  });
-  list->addItem(mapbox_route);
-
-  // Allow Navigation
-  allow_navigation = new ParamControlSP("AllowNavigation", tr("Allow Navigation"), tr("Enable navigation features and start navigationd"), "", this);
-  QObject::connect(allow_navigation, &ParamControlSP::toggleFlipped, this, &NavigationPanel::updateNavigationVisibility);
-  list->addItem(allow_navigation);
-
-  // Mapbox Recompute
-  mapbox_recompute = new ParamControlSP("MapboxRecompute", tr("Mapbox Recompute"), tr("Enable automatic route recomputation"), "", this);
-  list->addItem(mapbox_recompute);
-
-  // Nav Allowed
-  nav_allowed = new ParamControlSP("NavDesiresAllowed", tr("Navigation Allowed"), tr("Allow navigation to automatically take turns"), "", this);
-  list->addItem(nav_allowed);
-}
-
-void NavigationPanel::updateNavigationVisibility(bool state) {
-  mapbox_recompute->setVisible(state);
-  nav_allowed->setVisible(state);
-}
-
-void NavigationPanel::showEvent(QShowEvent *event) {
-  refresh();
-}
-
-void NavigationPanel::refresh() {
-  allow_navigation->refresh();
-
-  bool nav_enabled = allow_navigation->isToggled();
-  updateNavigationVisibility(nav_enabled);
-
-  QString token = QString::fromStdString(params.get("MapboxToken"));
-  mapbox_token->setValue(token.isEmpty() ? tr("Not set") : token);
-
-  QString route = QString::fromStdString(params.get("MapboxRoute"));
-  mapbox_route->setValue(route.isEmpty() ? tr("Not set") : route);
-
-  mapbox_recompute->refresh();
-  nav_allowed->refresh();
-}

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

@@ -1,38 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/offroad/settings.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
-
-class NavigationPanel : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit NavigationPanel(QWidget* parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-public slots:
-  void updateNavigationVisibility(bool state);
-
-private:
-  Params params;
-  ListWidget* list;
-  ScrollViewSP* scroller;
-  ParamControlSP* allow_navigation;
-  ButtonControl* mapbox_token;
-  ButtonControl* mapbox_route;
-  ParamControlSP* mapbox_recompute;
-  ParamControlSP* nav_allowed;
-};

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

@@ -15,7 +15,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -86,7 +85,6 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
     PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
-    PanelInfo("   " + tr("Navigation"), new NavigationPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),

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

@@ -5,7 +5,6 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include <QPainterPath>
-#include <cmath>
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
@@ -44,6 +43,8 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto car_params = sm["carParams"].getCarParams();
   const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
+
   if (sm.updated("carParams")) {
     steerControlType = car_params.getSteerControlType();
   }
@@ -52,80 +53,37 @@ void HudRendererSP::updateState(const UIState &s) {
     pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
   }
 
-  if (sm.alive("mapdOut") && sm.rcv_frame("mapdOut") > 0) {
-    const auto mapd = sm["mapdOut"].getMapdOut();
-
-    // Road name can come from wayName, wayRef, or roadName
-    wayName = QString::fromStdString(mapd.getWayName());
-    wayRef = QString::fromStdString(mapd.getWayRef());
-    QString mapdRoadName = QString::fromStdString(mapd.getRoadName());
-
-    if (!mapdRoadName.isEmpty()) {
-      roadNameStr = mapdRoadName;
-    } else if (!wayRef.isEmpty() && !wayName.isEmpty()) {
-      roadNameStr = wayRef + " - " + wayName;
-    } else if (!wayName.isEmpty()) {
-      roadNameStr = wayName;
-    } else if (!wayRef.isEmpty()) {
-      roadNameStr = wayRef;
-    } else {
-      roadNameStr = "";
-    }
-
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+  }
   greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
   leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
 
-    tileLoaded = mapd.getTileLoaded();
-
-    float mapdSpeedLimitRaw = mapd.getSpeedLimit();
-    float mapdOffsetRaw = mapd.getSpeedLimitOffset();
-
-
-    mapdSpeedLimit = mapdSpeedLimitRaw * speedConv;
-    speedLimit = mapdSpeedLimit;
-    speedLimitLast = mapdSpeedLimit;
-    speedLimitOffset = mapdOffsetRaw * speedConv;
-    speedLimitValid = tileLoaded && mapdSpeedLimitRaw > 0;
-    speedLimitLastValid = speedLimitValid;
-    speedLimitFinalLast = mapdSpeedLimit + speedLimitOffset;
-
-    if (tileLoaded) {
-      speedLimitSource = 1;  // MAP
-    } else {
-      speedLimitSource = 0;  // NONE
-    }
-
-    float nextSpeedLimitRaw = mapd.getNextSpeedLimit();
-    speedLimitAheadValid = nextSpeedLimitRaw > 0 && tileLoaded;
-    speedLimitAhead = nextSpeedLimitRaw * speedConv;
-    speedLimitAheadDistance = mapd.getNextSpeedLimitDistance();
-
+  if (sm.updated("liveMapDataSP")) {
+    roadNameStr = QString::fromStdString(lmd.getRoadName());
+    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
+    speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
+    speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
     if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD) {
       speedLimitAheadValidFrame++;
     } else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
       speedLimitAheadValidFrame--;
     }
-
-    // SCC data from mapd
-    suggestedSpeed = mapd.getSuggestedSpeed() * speedConv;
-    visionCurveSpeed = mapd.getVisionCurveSpeed() * speedConv;
-    curveSpeed = mapd.getCurveSpeed() * speedConv;
-
-    smartCruiseControlVisionEnabled = visionCurveSpeed > 0;
-    smartCruiseControlVisionActive = visionCurveSpeed > 0 && visionCurveSpeed < speedLimit;
-
-    smartCruiseControlMapEnabled = curveSpeed > 0;
-    smartCruiseControlMapActive = curveSpeed > 0 && curveSpeed < speedLimit;
-
-    advisorySpeed = mapd.getAdvisorySpeed() * speedConv;
-    nextAdvisorySpeed = mapd.getNextAdvisorySpeed() * speedConv;
-    nextAdvisorySpeedDistance = mapd.getNextAdvisorySpeedDistance();
   }
   speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
-  speedLimitAssistState = 0;
-  speedLimitAssistActive = false;
-
   static int reverse_delay = 0;
   bool reverse_allowed = false;
   if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
@@ -149,7 +107,7 @@ void HudRendererSP::updateState(const UIState &s) {
   }
 
   if (sm.updated(gps_source)) {
-    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
     altitude = gpsLocation.getAltitude();
     bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
     bearingDeg = gpsLocation.getBearingDeg();
@@ -196,63 +154,6 @@ void HudRendererSP::updateState(const UIState &s) {
 
   allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
                      sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
-
-  // Navigationd
-  if (sm.updated("navigationd")) {
-    auto nav = sm["navigationd"].getNavigationd();
-    navigationValid = nav.getValid();
-    if (navigationValid && nav.getAllManeuvers().size() > 0) {
-      int currManeuverIdx = nav.getAllManeuvers().size() > 1 ? 1 : 0;
-      auto maneuver = nav.getAllManeuvers()[currManeuverIdx];
-      navigationModifier = QString::fromStdString(maneuver.getModifier());
-      navigationManeuverType = QString::fromStdString(maneuver.getType());
-
-      float dist = maneuver.getDistance();
-      if (is_metric) {
-        if (dist < 1000) {
-          if (dist < 500) {
-            navigationDistance = QString::number(std::round(dist / 25.0) * 25) + " m";
-          }
-          else {
-            navigationDistance = QString::number(std::round(dist / 50.0) * 50) + " m";
-          }
-        } else {
-          navigationDistance = QString::number(dist / 1000, 'f', 1) + " km";
-        }
-      } else {
-        float dist_ft = dist * 3.28084f;
-        if (dist_ft < 1000) {
-          if (dist_ft <= 100){
-            navigationDistance = QString::number((std::round(dist_ft / 10.0) * 10)) + " ft";
-          }
-          else {
-            navigationDistance = QString::number((std::round(dist_ft / 50.0) * 50)) + " ft";
-          }
-        } else {
-          navigationDistance = QString::number(dist_ft / 5280, 'f', 1) + " mi";
-        }
-      }
-
-      QString instruction = QString::fromStdString(maneuver.getInstruction());
-      QStringList parts = instruction.split(" onto ");
-      if (parts.size() > 1) {
-        navigationStreet = parts[1].trimmed();
-      } else {
-        navigationStreet = instruction;
-      }
-      navigationStreet = navigationStreet.replace(".", "");
-
-      // Get next maneuver if available
-      if (nav.getAllManeuvers().size() > 2) {
-        auto nextManeuver = nav.getAllManeuvers()[2];
-        navigationNextModifier = QString::fromStdString(nextManeuver.getModifier());
-        navigationNextManeuverType = QString::fromStdString(nextManeuver.getType());
-        navigationHasNext = true;
-      } else {
-        navigationHasNext = false;
-      }
-    }
-  }
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -323,7 +224,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     const int sign_height = 204;
     QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
 
-    if (speedLimitAssistState == 1) {
+    if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
       speedLimitAssistFrame++;
       showSpeedLimit = speed_limit_assist_pre_active_pulse;
       drawSpeedLimitPreActiveArrow(p, sign_rect);
@@ -336,7 +237,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       drawSpeedLimitSigns(p, sign_rect);
 
       // do not show during SLA's preActive state
-      if (speedLimitAssistState != 1) {
+      if (speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
         drawUpcomingSpeedLimit(p);
       }
     }
@@ -386,8 +287,6 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     }
   }
 
-  drawNavigationHUD(p, surface_rect);
-
   p.restore();
 }
 
@@ -407,14 +306,9 @@ bool HudRendererSP::pulseElement(int frame) {
 }
 
 void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
-  int base_x = surface_rect.center().x();
+  int x = surface_rect.center().x();
   int y = surface_rect.height() / 4;
 
-  if (navigationValid) {
-    base_x = 618;
-    y = 420;
-  }
-
   QString text = QString::fromStdString(name);
   QFont font = InterFont(36, QFont::Bold);
   p.setFont(font);
@@ -425,7 +319,7 @@ void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &s
   int box_width = 160;
   int box_height = fm.height() + padding_v * 2;
 
-  QRectF bg_rect(base_x - (box_width / 2) + x_offset,
+  QRectF bg_rect(x - (box_width / 2) + x_offset,
                  y - (box_height / 2) + y_offset,
                  box_width, box_height);
 
@@ -676,7 +570,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 
 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
   bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
-                           tileLoaded;
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
   if (!speed_limit_ahead) {
     return;
   }
@@ -790,16 +684,15 @@ void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect)
 }
 
 void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
-  // ICBM counter logic
-  if (!pcmCruiseSpeed && carControlEnabled) {
-    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
-      icbm_active_counter = 3 * UI_FREQ;
-    } else if (icbm_active_counter > 0) {
-      icbm_active_counter--;
-    }
-  } else {
-    icbm_active_counter = 0;
-  }
+  // Draw outer box + border to contain set speed
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+  // Draw set speed box
+  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+  p.setBrush(QColor(0, 0, 0, 166));
+  p.drawRoundedRect(set_speed_rect, 32, 32);
 
   // Colors based on status
   QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -820,62 +713,29 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
     }
   }
 
-  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
-  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
-
-  if (!navigationValid) {
-    // Original positions when navigation is not valid
-    const QSize default_size = {172, 204};
-    QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
-    QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-
-    // Draw set speed box
-    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
-    p.setBrush(QColor(0, 0, 0, 166));
-    p.drawRoundedRect(set_speed_rect, 32, 32);
-
-    // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-    int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
-    int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
-
-    p.setFont(InterFont(max_str_size, QFont::DemiBold));
-    p.setPen(max_color);
-    p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
-
-    // Draw set speed
-    p.setFont(InterFont(90, QFont::Bold));
-    p.setPen(set_speed_color);
-    p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+  if (!pcmCruiseSpeed && carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
   } else {
-    // Modified positions when navigation is valid
-    const int container_width = 200;
-    const int container_height = 320;
-    const int container_x = 40;
-    const int container_y = 45;
-
-    QRect speed_container(container_x, container_y, container_width, container_height);
-
-    // Draw outer rounded rectangle container
-    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
-    p.setBrush(QColor(0, 0, 0, 166));
-    p.drawRoundedRect(speed_container, 24, 24);
-
-    int divider_y = container_y + 190;
-    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
-    p.drawLine(container_x + 20, divider_y, container_x + container_width - 20, divider_y);
-
-    // max label
-    QRect max_label_rect(container_x, container_y + 200, container_width, 35);
-    p.setFont(InterFont(32, QFont::Normal));
-    p.setPen(max_color);
-    p.drawText(max_label_rect, Qt::AlignCenter, max_str);
-
-    // Set speed value
-    QRect set_speed_rect(container_x, container_y + 240, container_width, 70);
-    p.setFont(InterFont(68, QFont::Bold));
-    p.setPen(set_speed_color);
-    p.drawText(set_speed_rect, Qt::AlignCenter, setSpeedStr);
+    icbm_active_counter = 0;
   }
+  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
+  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
+
+  p.setFont(InterFont(max_str_size, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+
+  // Draw set speed
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 }
 
 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
@@ -934,40 +794,12 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
 
 void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
   QString speedStr = QString::number(std::nearbyint(speed));
-  QString unit = is_metric ? tr("km/h") : tr("mph");
 
-  int speed_x = surface_rect.center().x();
-  int speed_y = 210;
-  int unit_y = 290;
-  QFont speed_font = InterFont(176, QFont::Bold);
-  QFont unit_font = InterFont(66);
+  p.setFont(InterFont(176, QFont::Bold));
+  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
 
-  if (navigationValid) {
-    speed_y = 75;
-    unit_y = 175;
-    speed_font = InterFont(100, QFont::Bold);
-    unit_font = InterFont(35, QFont::Normal);
-  }
-
-  // Draw speed
-  p.setFont(speed_font);
-  if (!navigationValid) {
-    HudRenderer::drawText(p, speed_x, speed_y, speedStr);
-  } else {
-    QRect current_speed_rect(40, speed_y, 200, 100);
-    p.setPen(Qt::white);
-    p.drawText(current_speed_rect, Qt::AlignCenter, speedStr);
-  }
-
-  // Draw unit
-  p.setFont(unit_font);
-  if (!navigationValid) {
-    HudRenderer::drawText(p, speed_x, unit_y, unit, 200);
-  } else {
-    QRect unit_rect(40, unit_y, 200, 40);
-    p.setPen(QColor(180, 180, 180, 255));
-    p.drawText(unit_rect, Qt::AlignCenter, unit);
-  }
+  p.setFont(InterFont(66));
+  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
 }
 
 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
@@ -995,7 +827,7 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
   const int circleRadius = 60;
   const int arrowLength = 60;
   const int x_gap = 160;
-  const int y_offset = navigationValid ? 352 : 300;
+  const int y_offset = 272;
 
   const int centerX = surface_rect.center().x();
 
@@ -1053,181 +885,3 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
 
   p.restore();
 }
-
-QString HudRendererSP::getNavigationIconName(const QString &type, const QString &mod) {
-  static QMap<QString, QString> icon_map;
-  if (icon_map.isEmpty()) {
-    icon_map["turn|uturn"] = "direction_uturn.png";
-    icon_map["turn|sharp right"] = "direction_turn_sharp_right.png";
-    icon_map["turn|right"] = "direction_turn_right.png";
-    icon_map["turn|slight right"] = "direction_turn_slight_right.png";
-    icon_map["turn|straight"] = "direction_turn_straight.png";
-    icon_map["turn|slight left"] = "direction_turn_slight_left.png";
-    icon_map["turn|left"] = "direction_turn_left.png";
-    icon_map["turn|sharp left"] = "direction_turn_sharp_left.png";
-
-    icon_map["arrive|right"] = "direction_arrive_right.png";
-    icon_map["arrive|straight"] = "direction_arrive_straight.png";
-    icon_map["arrive|left"] = "direction_arrive_left.png";
-    icon_map["arrive|"] = "direction_arrive.png";
-
-    icon_map["merge|slight right"] = "direction_merge_slight_right.png";
-    icon_map["merge|right"] = "direction_merge_right.png";
-    icon_map["merge|straight"] = "direction_merge_straight.png";
-    icon_map["merge|slight left"] = "direction_merge_slight_left.png";
-    icon_map["merge|left"] = "direction_merge_left.png";
-
-    icon_map["on ramp|sharp right"] = "direction_on_ramp_sharp_right.png";
-    icon_map["on ramp|right"] = "direction_on_ramp_right.png";
-    icon_map["on ramp|slight right"] = "direction_on_ramp_slight_right.png";
-    icon_map["on ramp|straight"] = "direction_on_ramp_straight.png";
-    icon_map["on ramp|slight left"] = "direction_on_ramp_slight_left.png";
-    icon_map["on ramp|left"] = "direction_on_ramp_left.png";
-    icon_map["on ramp|sharp left"] = "direction_on_ramp_sharp_left.png";
-
-    icon_map["off ramp|slight right"] = "direction_off_ramp_slight_right.png";
-    icon_map["off ramp|right"] = "direction_off_ramp_right.png";
-    icon_map["off ramp|slight left"] = "direction_off_ramp_slight_left.png";
-    icon_map["off ramp|left"] = "direction_off_ramp_left.png";
-
-    icon_map["roundabout|sharp right"] = "direction_roundabout_sharp_right.png";
-    icon_map["roundabout|right"] = "direction_roundabout_right.png";
-    icon_map["roundabout|slight right"] = "direction_roundabout_slight_right.png";
-    icon_map["roundabout|straight"] = "direction_roundabout_straight.png";
-    icon_map["roundabout|slight left"] = "direction_roundabout_slight_left.png";
-    icon_map["roundabout|left"] = "direction_roundabout_left.png";
-    icon_map["roundabout|sharp left"] = "direction_roundabout_sharp_left.png";
-    icon_map["roundabout|"] = "direction_roundabout.png";
-  }
-
-  QString normalized_type = type;
-  if (normalized_type == "rotary") {
-    normalized_type = "roundabout";
-  } else if (normalized_type == "new name") {
-    normalized_type = "turn";
-  } else if (normalized_type == "continue") {
-    normalized_type = "turn";
-  }
-
-  QString icon_name;
-  QStringList keys = {normalized_type + "|" + mod, normalized_type + "|", "turn|" + mod};
-  for (const QString &key : keys) {
-    icon_name = icon_map.value(key);
-    if (!icon_name.isEmpty()) break;
-  }
-  if (icon_name.isEmpty()) {
-    icon_name = "direction_turn_straight.png";
-  }
-  return icon_name;
-}
-
-void HudRendererSP::drawNavigationHUD(QPainter &p, const QRect &surface_rect) {
-  if (!navigationValid) return;
-  p.save();
-
-  const int container_width = 1080;
-  const int container_height = 225;
-  const int container_x = (surface_rect.width() - container_width) / 2;
-  const int container_y = 62;
-  const int border_radius = 42;
-
-  QRect container_rect(container_x, container_y, container_width, container_height);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(QColor(0, 0, 0, 180));
-  p.drawRoundedRect(container_rect, border_radius, border_radius);
-
-  // Navigation icon
-  const int icon_size = 150;
-  const int icon_padding = 30;
-  const int icon_x = container_x + icon_padding;
-  const int icon_y = container_y;
-
-  QString icon_name = getNavigationIconName(navigationManeuverType, navigationModifier);
-  QPixmap nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + icon_name, {icon_size, icon_size});
-
-  if (!nav_icon.isNull()) {
-    p.drawPixmap(icon_x, icon_y, nav_icon);
-  }
-
-  // Distance
-  p.setFont(InterFont(48, QFont::Bold));
-  p.setPen(Qt::white);
-  QRect distance_rect(icon_x, icon_y + icon_size, icon_size, 38);
-  p.drawText(distance_rect, Qt::AlignCenter, navigationDistance);
-
-  const int then_section_width = 180;
-  const int text_x = icon_x + icon_size + 53;
-  const int text_area_width = container_width - (text_x - container_x) - icon_padding - then_section_width;
-
-  // Street name
-  p.setFont(InterFont(75, QFont::Bold));
-  p.setPen(Qt::white);
-  QFontMetrics fm(p.font());
-
-  QString street_line1, street_line2;
-  QStringList words = navigationStreet.split(' ');
-  QString currentLine;
-
-  for (int i = 0; i < words.size(); ++i) {
-    QString testLine = currentLine.isEmpty() ? words[i] : currentLine + " " + words[i];
-    if (fm.horizontalAdvance(testLine) <= text_area_width) {
-      currentLine = testLine;
-    } else {
-      if (street_line1.isEmpty()) {
-        street_line1 = currentLine;
-        currentLine = words[i];
-      } else {
-        break;
-      }
-    }
-  }
-
-  if (street_line1.isEmpty()) {
-    street_line1 = currentLine;
-  } else if (!currentLine.isEmpty()) {
-    street_line2 = currentLine;
-    if (words.size() > words.indexOf(currentLine.split(' ').last()) + 1) {
-      street_line2 = fm.elidedText(street_line2, Qt::ElideRight, text_area_width);
-    }
-  }
-
-  if (street_line2.isEmpty()) {
-    QRect street_rect(text_x, container_y + (container_height - fm.height()) / 2, text_area_width, fm.height());
-    p.drawText(street_rect, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
-  } else {
-    QRect street_rect1(text_x, container_y + 23, text_area_width, fm.height());
-    p.drawText(street_rect1, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
-
-    QRect street_rect2(text_x, container_y + 23 + fm.height(), text_area_width, fm.height());
-    p.drawText(street_rect2, Qt::AlignLeft | Qt::AlignVCenter, street_line2);
-  }
-
-  // Next Maneuver
-  if (navigationHasNext) {
-    const int divider_x = container_x + container_width - then_section_width - 8;
-    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
-    p.drawLine(divider_x, container_y + 23, divider_x, container_y + container_height - 23);
-
-    const int then_x = divider_x + 15;
-    const int then_icon_size = 105;
-
-    QRect then_label_rect(then_x, container_y + 30, then_section_width - 23, 38);
-    p.setFont(InterFont(53, QFont::Medium));
-    p.setPen(Qt::white);
-    p.drawText(then_label_rect, Qt::AlignCenter, tr("Then"));
-
-    // Next maneuver icon
-    const int then_icon_x = then_x + (then_section_width - 23 - then_icon_size) / 2;
-    const int then_icon_y = container_y + 75;
-
-    QString next_icon_name = getNavigationIconName(navigationNextManeuverType, navigationNextModifier);
-    QPixmap next_nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + next_icon_name, {then_icon_size, then_icon_size});
-
-    if (!next_nav_icon.isNull()) {
-      p.drawPixmap(then_icon_x, then_icon_y, next_nav_icon);
-    }
-  }
-
-  p.restore();
-}

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

@@ -39,8 +39,6 @@ private:
   void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
   void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
   void drawBlinker(QPainter &p, const QRect &surface_rect);
-  void drawNavigationHUD(QPainter &p, const QRect &surface_rect);
-  QString getNavigationIconName(const QString &type, const QString &mod);
 
   bool lead_status;
   float lead_d_rel;
@@ -85,7 +83,7 @@ private:
   bool speedLimitValid;
   bool speedLimitLastValid;
   float speedLimitFinalLast;
-  int speedLimitSource;  // 0=NONE, 1=MAP
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
   bool speedLimitAheadValid;
   float speedLimitAhead;
   float speedLimitAheadDistance;
@@ -94,7 +92,7 @@ private:
   SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
   bool roadName;
   QString roadNameStr;
-  int speedLimitAssistState;  // 0=NONE, 1=PRE_ACTIVE, etc.
+  cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState;
   bool speedLimitAssistActive;
   int speedLimitAssistFrame;
   QPixmap plus_arrow_up_img;
@@ -122,24 +120,4 @@ private:
   float speedCluster = 0;
   int icbm_active_counter = 0;
   bool pcmCruiseSpeed = true;
-
-  bool navigationValid;
-  QString navigationStreet;
-  QString navigationDistance;
-  QString navigationModifier;
-  QString navigationManeuverType;
-  QString navigationNextModifier;
-  QString navigationNextManeuverType;
-  bool navigationHasNext;
-
-  QString wayName;
-  QString wayRef;
-  float mapdSpeedLimit;
-  float advisorySpeed;
-  float nextAdvisorySpeed;
-  float nextAdvisorySpeedDistance;
-  float suggestedSpeed;
-  float visionCurveSpeed;
-  float curveSpeed;
-  bool tileLoaded;
 };

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

@@ -48,7 +48,7 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
   if (s->scene.rainbow_mode) {
     drawRainbowPath(painter, surface_rect);
   } else {
-    ModelRenderer::drawPath(painter, model, surface_rect.height(), surface_rect.width());
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
 
   if (longitudinal_control && sm.alive("radarState")) {

selfdrive/ui/sunnypilot/ui.cc

@@ -29,8 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "navigationd",
-    "mapdOut"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
   });
 
   // update timer

selfdrive/ui/ui.h

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

sunnypilot/modeld/modeld.py

@@ -28,7 +28,6 @@ from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -210,7 +209,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -316,10 +314,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/modeld_v2/modeld.py

@@ -26,7 +26,6 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
@@ -240,9 +239,6 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
-
-
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -344,10 +340,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/helpers.py

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 11
-REQUIRED_MIN_SELECTOR_VERSION = 11
+CURRENT_SELECTOR_VERSION = 10
+REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

sunnypilot/models/runners/model_runner.py

@@ -14,10 +14,13 @@ CUSTOM_MODEL_PATH = Paths.model_root()
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['DEV'] = 'AMD'
+  os.environ['AMD'] = '1'
   os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
+  os.environ['QCOM'] = '1'
 else:
-  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'  # TODO: This may cause issues
 
 
 class ModelData:

sunnypilot/navd/README.md

@@ -1,6 +0,0 @@
-# Navigation
-
-Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
-
-- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
-- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).

sunnypilot/navd/constants.py

@@ -1,16 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-
-class NAV_CV:
-  """ These distances are expected in meters format and convert to desired format """
-  SHORT_DISTANCE_METERS = 200.0
-  QUARTER_MILE = 402.336
-  POINT_ONE_MILE = 160.9344
-  METERS_TO_KILO = 1000  # divide n by this
-  METERS_TO_MILE = 1609.344  # divide n by this
-  METERS_TO_FEET = 3.280839895  # multiply n by this

sunnypilot/navd/helpers.py

@@ -126,8 +126,6 @@ def string_to_direction(direction: str) -> str:
     if d in direction:
       if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
         return 'slight' + d.capitalize()
-      elif 'sharp' in direction and d in MODIFIABLE_DIRECTIONS:
-        return 'sharp' + d.capitalize()
       return d
   return 'none'
 

sunnypilot/navd/navigation_desires/navigation_desires.py

@@ -1,44 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import cereal.messaging as messaging
-from cereal import car, log
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-
-
-class NavigationDesires:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['navigationd'])
-    self.desire = log.Desire.none
-    self._turn_speed_limit = 20 * CV.MPH_TO_MS
-    self._params = Params()
-    self.param_counter = -1
-    self.nav_allowed: bool = False
-
-  def update_params(self):
-    self.param_counter += 1
-    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
-      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
-
-  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
-    self.update_params()
-    self.sm.update(0)
-    nav_msg = self.sm['navigationd']
-    self.desire = log.Desire.none
-    if self.nav_allowed and nav_msg.valid and lateral_active:
-      upcoming = nav_msg.upcomingTurn
-      if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.keepLeft
-      elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.keepRight
-      elif (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
-            and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.turnLeft
-      elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker
-            and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.turnRight
-    return self.desire

sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py

@@ -1,96 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pytest
-import types
-
-from cereal import log
-from openpilot.common.params import Params
-
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
-
-
-def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
-  return types.SimpleNamespace(
-    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
-    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
-    steeringPressed=steeringPressed, steeringTorque=steeringTorque
-  )
-
-NAVIGATION_PARAMS: list[tuple] = [
-  ('slightLeft', make_car(), log.Desire.keepLeft),
-  ('slightRight', make_car(), log.Desire.keepRight),
-  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
-  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
-  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, steeringPressed=True, steeringTorque=1), log.Desire.turnLeft),
-  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
-  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False, steeringPressed=True, steeringTorque=-1), log.Desire.turnRight),
-  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
-  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
-]
-
-INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
-  (make_car(vEgo=9, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
-  (make_car(vEgo=9, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
-  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
-  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
-  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
-]
-
-def make_nav_msg(valid=False, upcoming='none'):
-  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
-
-def params_setter(allowed: bool):
-  params = Params()
-  params.put("NavDesiresAllowed", allowed)
-
-@pytest.fixture
-def mock_submaster(mocker):
-  mock_sm = mocker.patch('cereal.messaging.SubMaster')
-  mock_sm_instance = mocker.Mock()
-  mock_sm.return_value = mock_sm_instance
-  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
-  params_setter(True)
-  return mock_sm_instance
-
-@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
-def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
-  nav_desires = NavigationDesires()
-  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
-  nav_desires.update(carstate, True)
-  assert nav_desires.desire == expected
-
-@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
-def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
-  nav_desires = NavigationDesires()
-  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
-  nav_desires.update(make_car(), lateral_active)
-  assert nav_desires.desire == log.Desire.none
-
-def test_update(mock_submaster, mocker):
-  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
-  nav_desires = NavigationDesires()
-
-  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
-
-  params_setter(False)
-  nav_desires.param_counter = 59
-  nav_desires.update(make_car(leftBlinker=True), True)
-  assert nav_desires.desire == log.Desire.none
-
-@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
-def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
-  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
-  dh = DesireHelper()
-  dh.desire = current_desire
-
-  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
-    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
-    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
-
-  dh.update(carstate, True, 1.0)
-  assert dh.desire == expected

sunnypilot/navd/navigation_helpers/mapbox_integration.py

@@ -1,113 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import requests
-from urllib.parse import quote
-
-from openpilot.common.params import Params
-
-
-class MapboxIntegration:
-  def __init__(self):
-    self.params = Params()
-
-  def get_public_token(self) -> str:
-    token: str = self.params.get('MapboxToken', return_default=True)
-    return token
-
-  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
-    if 'latitude' in postvars and 'longitude' in postvars:
-      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
-      return postvars, True
-
-    addr = postvars['place_name']
-    if not addr:
-      return postvars, False
-
-    token = self.get_public_token()
-    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
-    try:
-      response = requests.get(url, timeout=5)
-      if response.status_code == 200:
-        features = response.json()['features']
-        if features:
-          longitude, latitude = features[0]['geometry']['coordinates']
-          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
-          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
-          return postvars, True
-    except requests.RequestException:
-      pass  # Broad exception to handle network errors like no internet without crashing navd process.
-    return postvars, False
-
-  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
-    if not postvars:
-      return
-
-    latitude = float(postvars['latitude'])
-    longitude = float(postvars['longitude'])
-
-    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
-
-    token = self.get_public_token()
-    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
-    if route_data:
-      data['navData']['route'] = route_data
-    self.params.put('MapboxSettings', data)
-
-  @staticmethod
-  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
-    if not token:
-      return None
-
-    params = {
-      'access_token': token,
-      'geometries': 'geojson',
-      'steps': 'true',
-      'overview': 'full',
-      'annotations': 'maxspeed',
-      'alternatives': 'false',
-      'banner_instructions': 'true',
-    }
-    if bearing is not None:
-      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
-
-    try:
-      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
-      data = response.json() if response.status_code == 200 else {}
-    except requests.RequestException:
-      return None
-
-    routes = data['routes'] if data else None
-    legs = routes[0]['legs'] if routes else None
-
-    if data.get('code') != 'Ok' or not routes or not legs:
-      return None
-
-    route = routes[0]
-    leg = legs[0]
-
-    steps = [
-      {
-        'maneuver': step['maneuver']['type'],
-        'instruction': step['maneuver']['instruction'],
-        'distance': step['distance'],
-        'duration': step['duration'],
-        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
-        'modifier': step['maneuver'].get('modifier', 'none'),
-        'bannerInstructions': step['bannerInstructions'],
-      }
-      for step in leg['steps']
-    ]
-
-    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
-
-    return {
-      'steps': steps,
-      'totalDistance': route['distance'],
-      'totalDuration': route['duration'],
-      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
-      'maxspeed': maxspeed,
-    }

sunnypilot/navd/navigation_helpers/nav_instructions.py

@@ -1,138 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-
-from openpilot.sunnypilot.navd.helpers import Coordinate, string_to_direction
-
-
-class NavigationInstructions:
-  def __init__(self):
-    self.coord = Coordinate(0, 0)
-    self.params = Params()
-    self._cached_route = None
-    self._route_loaded = False
-    self._no_route = False
-
-  def get_route_progress(self, current_lat, current_lon) -> dict | None:
-    route = self.get_current_route()
-    if not route or not route['geometry'] or not route['steps']:
-      return None
-
-    self.coord.latitude = current_lat
-    self.coord.longitude = current_lon
-
-    # Find the closest point on the route relative to self
-    closest_idx, min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
-    closest_cumulative = route['cumulative_distances'][closest_idx]
-
-    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
-    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
-    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
-
-    # The next turn is the next step relative to our cumulative index
-    next_turn_idx = current_step_idx + 1
-    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
-
-    current_maxspeed = current_step['maxspeed']
-
-    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
-
-    all_maneuvers: list = []
-    max_maneuvers = 3
-    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
-      step = route['steps'][idx]
-      if idx == current_step_idx:
-        distance = distance_to_end_of_step
-      else:
-        distance = step['cumulative_distance'] - closest_cumulative
-      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
-
-    return {
-      'distance_from_route': min_distance,
-      'current_step': current_step,
-      'next_turn': next_turn,
-      'current_maxspeed': current_maxspeed,
-      'all_maneuvers': all_maneuvers,
-      'current_step_idx': current_step_idx,
-      'distance_to_end_of_step': distance_to_end_of_step,
-    }
-
-  def get_current_route(self):
-    if self._route_loaded and self._cached_route is not None:
-      return self._cached_route
-    if self._no_route:
-      return None
-
-    param_value = self.params.get('MapboxSettings')
-    route = param_value['navData']['route'] if param_value else None
-    if not route:
-      self._no_route = True
-      return None
-
-    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
-    cumulative_distances = [0.0]
-    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
-    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
-    steps = []
-    for step in route['steps']:
-      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
-      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
-      steps.append({
-        'bannerInstructions': step['bannerInstructions'],
-        'distance': step['distance'],
-        'duration': step['duration'],
-        'maneuver': step['maneuver'],
-        'location': location,
-        'cumulative_distance': cumulative_distances[closest_idx],
-        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
-        'modifier': string_to_direction(step['modifier']),
-        'instruction': step['instruction'],
-      })
-    self._cached_route = {
-      'steps': steps,
-      'total_distance': route['totalDistance'],
-      'total_duration': route['totalDuration'],
-      'geometry': geometry,
-      'cumulative_distances': cumulative_distances,
-      'maxspeed': maxspeed,
-    }
-    self._route_loaded = True
-    return self._cached_route
-
-  def clear_route_cache(self):
-    self._cached_route = None
-    self._route_loaded = False
-    self._no_route = False
-
-  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon) -> str:
-    if progress and progress['next_turn']:
-      self.coord.latitude = current_lat
-      self.coord.longitude = current_lon
-      distance = self.coord.distance_to(progress['next_turn']['location'])
-      if distance <= 30.0:
-        modifier = progress['next_turn']['modifier']
-        return str(modifier)
-    return 'none'
-
-  @staticmethod
-  def get_current_speed_limit_from_progress(progress, is_metric: bool) -> int:
-    if progress and progress['current_maxspeed']:
-      speed, _ = progress['current_maxspeed']
-      if is_metric:
-        return int(speed)
-      else:
-        return int(round(speed * CV.KPH_TO_MPH))
-    return 0
-
-  @staticmethod
-  def arrived_at_destination(progress) -> bool:
-    if progress['all_maneuvers'][0]['type'] == 'arrive':
-      return True
-    elif progress['all_maneuvers'][0]['instruction'].startswith('Your destination'):
-      return True
-    return False

sunnypilot/navd/navigation_helpers/tests/test_mapbox.py

@@ -1,94 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-
-from openpilot.common.constants import CV
-
-from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
-from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
-
-
-class TestMapbox:
-  @classmethod
-  def setup_class(cls):
-    cls.mapbox = MapboxIntegration()
-    cls.nav = NavigationInstructions()
-
-    token = os.environ.get('MAPBOX_TOKEN_CI')
-    if token:
-      cls.mapbox.params.put('MapboxToken', token)
-
-    # route setup
-    cls.current_lon, cls.current_lat = -119.17557, 34.23305
-    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
-    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
-    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
-    cls.route = cls.nav.get_current_route()
-    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
-
-  def test_set_destination(self):
-    assert self.valid_addr
-    settings = self.mapbox.params.get('MapboxSettings')
-    assert settings is not None
-    dest_lat = settings['navData']['current']['latitude']
-    dest_lon = settings['navData']['current']['longitude']
-    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
-
-  def test_get_route(self):
-    assert self.route is not None
-    assert 'steps' in self.route
-    assert 'geometry' in self.route
-    assert 'maxspeed' in self.route
-    assert 'total_distance' in self.route
-    assert 'total_duration' in self.route
-    assert len(self.route['steps']) > 0
-    assert len(self.route['geometry']) > 0
-    assert len(self.route['maxspeed']) > 0
-
-    if self.route and 'steps' in self.route:
-      for step in self.route['steps']:
-        assert 'modifier' in step
-
-  def test_upcoming_turn_detection(self):
-    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon)
-    assert isinstance(upcoming, str)
-    assert upcoming == 'none'
-
-    if self.route['steps']:
-      turn_lat = self.route['steps'][1]['location'].latitude
-      turn_lon = self.route['steps'][1]['location'].longitude
-      close_lat = turn_lat - 0.00025  # slightly before the turn
-      if self.progress and self.progress.get('next_turn'):
-        expected_turn = self.progress['next_turn']['modifier']
-        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon)
-        if expected_turn:
-          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
-
-  def test_route_progress_tracking(self):
-    assert self.progress is not None
-    assert 'distance_from_route' in self.progress
-    assert 'next_turn' in self.progress
-    assert 'current_maxspeed' in self.progress
-    assert 'all_maneuvers' in self.progress
-    assert 'distance_to_end_of_step' in self.progress
-    assert self.progress['distance_from_route'] >= 0
-    assert isinstance(self.progress['all_maneuvers'], list)
-
-  def test_speed_limit_handling(self):
-    speed_limit_metric = self.nav.get_current_speed_limit_from_progress(self.progress, True)
-    speed_limit_imperial = self.nav.get_current_speed_limit_from_progress(self.progress, False)
-    assert isinstance(speed_limit_metric, int)
-    assert isinstance(speed_limit_imperial, int)
-    expected_metric = int(self.progress['current_maxspeed'][0])
-    expected_imperial = int(round(self.progress['current_maxspeed'][0] * CV.KPH_TO_MPH))
-    assert speed_limit_metric == expected_metric
-    assert speed_limit_imperial == expected_imperial
-
-  def test_arrival_detection(self):
-    is_arrived = self.nav.arrived_at_destination(self.progress)
-    assert isinstance(is_arrived, bool)
-    assert not is_arrived

sunnypilot/navd/navigationd.py

@@ -1,160 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import math
-
-import cereal.messaging as messaging
-from cereal import custom
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.swaglog import cloudlog
-
-from openpilot.sunnypilot.navd.constants import NAV_CV
-from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
-from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
-from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
-
-
-class Navigationd:
-  def __init__(self):
-    self.params = Params()
-    self.mapbox = MapboxIntegration()
-    self.nav_instructions = NavigationInstructions()
-
-    self.sm = messaging.SubMaster(['liveLocationKalman'])
-    self.pm = messaging.PubMaster(['navigationd'])
-    self.rk = Ratekeeper(3) # 3 Hz
-
-    self.route = None
-    self.destination: str | None = None
-    self.new_destination: str = ''
-
-    self.allow_navigation: bool = False
-    self.recompute_allowed: bool = False
-    self.allow_recompute: bool = False
-    self.reroute_counter: int = 0
-    self.cancel_route_counter: int = 0
-
-    self.frame: int = -1
-    self.last_position: Coordinate | None = None
-    self.last_bearing: float | None = None
-    self.is_metric: bool = False
-    self.valid: bool = False
-
-  def _update_params(self):
-    if self.last_position is not None:
-      self.frame += 1
-      if self.frame % 9 == 0:
-        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
-        self.is_metric = self.params.get('IsMetric', return_default=True)
-        self.new_destination = self.params.get('MapboxRoute')
-        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
-
-      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
-        self.recompute_allowed and self.reroute_counter > 9 and self.route
-      )
-
-      if self.allow_recompute:
-        postvars = {'place_name': self.new_destination}
-        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
-        cloudlog.debug(f'Set new destination to: {self.new_destination}, valid: {valid_addr}')
-        if valid_addr:
-          self.destination = self.new_destination
-          self.nav_instructions.clear_route_cache()
-          self.route = self.nav_instructions.get_current_route()
-          self.cancel_route_counter = 0
-          self.reroute_counter = 0
-
-      if self.cancel_route_counter == 30:
-        self.cancel_route_counter = 0
-        self.destination = None
-        self.nav_instructions.clear_route_cache()
-        self.route = None
-
-      self.valid = self.route is not None
-
-  def _update_navigation(self) -> tuple[str, dict | None, dict]:
-    banner_instructions: str = ''
-    nav_data: dict = {}
-    if self.allow_navigation and self.last_position is not None:
-      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
-        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude, self.last_position.longitude)
-        nav_data['current_speed_limit'] = self.nav_instructions.get_current_speed_limit_from_progress(progress, self.is_metric)
-        arrived = self.nav_instructions.arrived_at_destination(progress)
-
-        if progress['current_step']:
-          parsed = parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step'])
-          if parsed:
-            banner_instructions = parsed['maneuverPrimaryText']
-
-        nav_data['distance_from_route'] = progress['distance_from_route']
-        large_distance = progress['distance_from_route'] > 100
-
-        if large_distance:
-          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
-          if self.recompute_allowed:
-            self.reroute_counter += 1
-        elif arrived:
-          self.cancel_route_counter += 1
-        else:
-          self.cancel_route_counter = 0
-          self.reroute_counter = 0
-
-        # Don't recompute in last segment to prevent reroute loops
-        if self.route:
-          if progress['current_step_idx'] == len(self.route['steps']) - 1:
-            self.allow_recompute = False
-    else:
-      banner_instructions = ''
-      progress = None
-      nav_data = {}
-      self.valid = False
-
-    return banner_instructions, progress, nav_data
-
-  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
-    msg = messaging.new_message('navigationd')
-    msg.valid = valid
-    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
-    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
-    msg.navigationd.bannerInstructions = banner_instructions
-    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
-    msg.navigationd.valid = self.valid
-
-    all_maneuvers = (
-      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
-                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
-      if progress
-      else []
-    )
-    msg.navigationd.allManeuvers = all_maneuvers
-
-    return msg
-
-  def run(self):
-    cloudlog.warning('navigationd init')
-
-    while True:
-      self.sm.update()
-      location = self.sm['liveLocationKalman']
-      localizer_valid = location.positionGeodetic.valid if location else False
-
-      if localizer_valid:
-        self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-
-      self._update_params()
-      banner_instructions, progress, nav_data = self._update_navigation()
-
-      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
-
-      self.pm.send('navigationd', msg)
-      self.rk.keep_time()
-
-
-def main():
-  nav = Navigationd()
-  nav.run()

sunnypilot/navd/tests/test_navigationd.py

@@ -1,76 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import platform
-import pytest
-
-import cereal.messaging as messaging
-
-from openpilot.sunnypilot.navd.navigationd import Navigationd
-from openpilot.sunnypilot.navd.helpers import Coordinate
-
-
-class TestNavigationd:
-  is_darwin = platform.system() == "Darwin"
-
-  @pytest.fixture(autouse=True)
-  def setup_method(self, mocker):
-    if self.is_darwin:
-      mocker.patch('cereal.messaging.SubMaster')
-      mocker.patch('cereal.messaging.PubMaster')
-
-  def test_update_params(self):
-    nav = Navigationd()
-    nav.last_position = None
-    nav._update_params()
-    assert nav.frame == -1
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav._update_params()
-    assert nav.frame == 0  # frame only updates when last position is set
-
-  def test_update_navigation_no_position(self):
-    nav = Navigationd()
-    nav.last_position = None
-    banner, progress, nav_data = nav._update_navigation()
-    assert banner == ''
-    assert progress is None
-    assert nav_data == {}
-
-  def test_update_navigation(self):
-    nav = Navigationd()
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav.route = {'580 Winchester dr, oxnard, CA': True}
-    banner, progress, nav_data = nav._update_navigation()
-    assert isinstance(banner, str)
-    assert not progress  # no route was actually set
-    assert isinstance(nav_data, dict)
-
-  def test_build_navigation_message(self):
-    if self.is_darwin:
-      nav = Navigationd()
-      msg = nav._build_navigation_message('', None, {}, True)
-      assert msg.navigationd.bannerInstructions == ''
-      assert msg.navigationd.valid is False
-    else:
-      sm = messaging.SubMaster(['navigationd'])
-      nav = Navigationd()
-      msg = nav._build_navigation_message('', None, {}, True)
-
-      nav.pm.send('navigationd', msg)
-      sm.update()
-      received_msg = sm['navigationd']
-
-      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
-      assert received_msg.valid == msg.navigationd.valid
-
-  def test_cancel_route(self):
-    nav = Navigationd()
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav.route = {'580 Winchester dr, oxnard, CA': True}
-    nav.cancel_route_counter = 30
-    nav._update_params()
-    assert nav.route is None
-    assert nav.destination is None