sunnypilot v2026.09.04-4849

version: sunnypilot v2026.003.000 (feature-branch)
date: 2026-09-04T22:56:57
master commit: b70920a8c0

.github/CODEOWNERS

@@ -0,0 +1,11 @@
+*       @sunnypilot/dev-internal
+/.github/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve

.github/release-drafter.yml

@@ -0,0 +1,43 @@
+exclude-labels:
+  - 'no-changelog'
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'feature'
+      - 'enhancement'
+  - title: '🐛 Bug Fixes'
+    collapse-after: 5
+    labels:
+      - 'fix'
+      - 'bugfix'
+      - 'bug'
+  - title: '🧰 Maintenance'
+    collapse-after: 5
+    label: 'chore'
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+change-title-escapes: '\<*_&'
+replacers:
+  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
+    replace: 'sunnypilot'
+  - search: '/\b[Ss][Pp]\b/g'
+    replace: 'SP'
+version-resolver:
+  major:
+    labels:
+      - 'major'
+  minor:
+    labels:
+      - 'minor'
+  patch:
+    labels:
+      - 'patch'
+  default: patch
+name-template: 'v$RESOLVED_VERSION 🚀'
+tag-template: 'v$RESOLVED_VERSION'
+version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this
+prerelease-identifier: "staging"
+template: |
+  ## Changes
+
+  $CHANGES

opendbc_repo/opendbc/car/structs.py

@@ -166,5 +166,3 @@ class CarControlSP:
 @auto_dataclass
 class CarStateSP:
   speedLimit: float = auto_field()
-  engineOff: bool = auto_field()
-  engineRpm: float = auto_field()

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -11,17 +11,14 @@ from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         CarControllerParams, ToyotaFlags
 from opendbc.can import CANPacker
-from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController
-from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarController
+
 from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
-from opendbc.sunnypilot.car.toyota.brake_onset import BrakeOnsetShaper, BrakeCommandCorrections, EngageOnsetShaper
 
 Ecu = structs.CarParams.Ecu
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 SteerControlType = structs.CarParams.SteerControlType
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
-GearShifter = structs.CarState.GearShifter
 
 # The up limit allows the brakes/gas to unwind quickly leaving a stop,
 # the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
@@ -39,20 +36,11 @@ MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
 
-CRUISE_CANCEL_DELAY_FRAMES = 10
 
-def get_long_tune(CP, CP_SP, params):
+def get_long_tune(CP, params):
   if CP.flags & ToyotaFlags.TSS2:
-    if CP_SP.flags & ToyotaFlagsSP.TSS2_LONG_TUNING:
-      #kiBP = [0.,   2.0,  9.0,  14.,  20.,  27.]
-      #kiV =  [0.25, 0.25, 0.15, 0.12, 0.12, 0.12]
-      #kiBP= [0.,  1.0,  2.0,   3.0,   4.0,   5.0,   7.,  20.,  27.,  36.]
-      #kiV  = [0.31, 0.32, 0.301, 0.280,  0.259,  0.226, 0.15, 0.15, 0.101, 0.10]
-      kiBP= [0.,   0.3,   5.0,   12.,  27.,  36.]
-      kiV  = [0.50, 0.52, 0.25,  0.23, 0.10, 0.09]
-    else:
-      kiBP = [2., 5.]
-      kiV = [0.5, 0.25]
+    kiBP = [2., 5.]
+    kiV = [0.5, 0.25]
   else:
     kiBP = [0., 5., 35.]
     kiV = [3.6, 2.4, 1.5]
@@ -75,21 +63,15 @@ class CarController(CarControllerBase, GasInterceptorCarController):
     self.permit_braking = True
     self.steer_rate_counter = 0
     self.distance_button = 0
-    self.cancel_counter = 0
 
     # *** start long control state ***
-    self.long_pid = get_long_tune(self.CP, self.CP_SP, self.params)
-    self.aego = FirstOrderFilter(0.0, 0.45, DT_CTRL * 3)
+    self.long_pid = get_long_tune(self.CP, self.params)
+    self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
     self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
     self.pitch_hp = HighPassFilter(0.0, 0.25, 1.5, DT_CTRL)
 
     self.accel = 0
     self.prev_accel = 0
-    # sunnypilot: ToyotaBrakeOnset gates the whole brake_onset module (onset + engage onset + command corrections)
-    self.brake_onset_enabled = bool(CP_SP.flags & ToyotaFlagsSP.SP_BRAKE_ONSET.value)
-    self.brake_onset = BrakeOnsetShaper(DT_CTRL * 3, -ACCEL_WINDDOWN_LIMIT / (DT_CTRL * 3))
-    self.engage_onset = EngageOnsetShaper(DT_CTRL * 3, ACCEL_WINDUP_LIMIT / (DT_CTRL * 3))
-    self.brake_corrections = BrakeCommandCorrections(DT_CTRL * 3)  # sunnypilot: see brake_onset.py
     # *** end long control state ***
 
     self.packer = CANPacker(dbc_names[Bus.pt])
@@ -99,20 +81,11 @@ class CarController(CarControllerBase, GasInterceptorCarController):
     self.secoc_acc_message_counter = 0
     self.secoc_prev_reset_counter = 0
 
-    self.enhanced_bsm = EnhancedBsmCarController(CP, CP_SP)
-    self.auto_brake_hold = AutoBrakeHoldCarController(CP, CP_SP)
-
-    self._auto_lock_speed = 0.0
-
-    self._auto_lock_once = False
-    self._gear_prev = GearShifter.park
-
   def update(self, CC, CC_SP, CS, now_nanos):
     actuators = CC.actuators
     stopping = actuators.longControlState == LongCtrlState.stopping
     hud_control = CC.hudControl
-    self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
-    pcm_cancel_cmd = self.cancel_counter > CRUISE_CANCEL_DELAY_FRAMES
+    pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
     if len(CC.orientationNED) == 3:
@@ -223,9 +196,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
 
     self.last_standstill = CS.out.standstill
 
-    if self.auto_brake_hold.enabled:
-      can_sends.extend(self.auto_brake_hold.update(CS, self.frame, self.packer))
-
     # handle UI messages
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -243,22 +213,8 @@ class CarController(CarControllerBase, GasInterceptorCarController):
 
         # internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
         pcm_accel_cmd = actuators.accel
-        if self.brake_onset_enabled:
-          self.engage_onset.cruise_state(CS.out.cruiseState.enabled)  # sunnypilot hook
-        if CC.longActive and self.brake_onset_enabled:
-          self.prev_accel = self.engage_onset.start_accel(self.prev_accel, CS.out.aEgo, CS.out.vEgo)  # sunnypilot hook
-          # a hard request bypasses the soft brake onset, except in the first 0.6 s after engaging (FCW always does)
-          urgent = self.brake_onset.is_urgent(pcm_accel_cmd, False) and not self.engage_onset.in_engage_window
-          winddown_step = self.brake_onset.down_step(pcm_accel_cmd, self.prev_accel, bypass=fcw_alert, v_ego=CS.out.vEgo,
-                                                     urgent=urgent, t_engaged=self.engage_onset.t_since_engage,
-                                                     a_ego=CS.out.aEgo, brake_force=CS.brake_force)
-          windup_step = self.engage_onset.up_step(True)
-          pcm_accel_cmd = rate_limit(pcm_accel_cmd, self.prev_accel, winddown_step, windup_step)
-        elif CC.longActive:
-          pcm_accel_cmd = rate_limit(pcm_accel_cmd, self.prev_accel, ACCEL_WINDDOWN_LIMIT, ACCEL_WINDUP_LIMIT)  # sunnypilot: stock path
-        else:
-          self.brake_onset.reset()
-          self.engage_onset.reset()
+        if CC.longActive:
+          pcm_accel_cmd = rate_limit(pcm_accel_cmd, self.prev_accel, ACCEL_WINDDOWN_LIMIT, ACCEL_WINDUP_LIMIT)
         self.prev_accel = pcm_accel_cmd
 
         # calculate amount of acceleration PCM should apply to reach target, given pitch.
@@ -294,19 +250,12 @@ class CarController(CarControllerBase, GasInterceptorCarController):
                                                -MAX_PITCH_COMPENSATION, MAX_PITCH_COMPENSATION))
             pcm_accel_cmd += pitch_compensation
 
-          # sunnypilot: bleed and freeze the PID integrator at the end of the stop
-          freeze_i = self.brake_onset_enabled and self.brake_corrections.condition_pid(self.long_pid, self.prev_accel, CS.out.vEgo)
           pcm_accel_cmd = self.long_pid.update(error_future,
                                                speed=CS.out.vEgo,
                                                feedforward=pcm_accel_cmd,
-                                               freeze_integrator=actuators.longControlState != LongCtrlState.pid or freeze_i)
-          if self.brake_onset_enabled:
-            pcm_accel_cmd = self.brake_corrections.apply(pcm_accel_cmd, self.prev_accel, a_ego_future, CS.out.vEgo, stopping,
-                                                        fcw_alert, a_ego=a_ego_blended,
-                                                        relaxed=hud_control.leadDistanceBars == 3)  # sunnypilot hook
+                                               freeze_integrator=actuators.longControlState != LongCtrlState.pid)
         else:
           self.long_pid.reset()
-          self.brake_corrections.reset()  # sunnypilot hook
 
         # Along with rate limiting positive jerk above, this greatly improves gas response time
         # Consider the net acceleration request that the PCM should be applying (pitch included)
@@ -370,9 +319,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
-    if self.enhanced_bsm.enabled:
-      can_sends.extend(self.enhanced_bsm.update(CS, self.frame))
-
     new_actuators = actuators.as_builder()
     new_actuators.torque = apply_torque / self.params.STEER_MAX
     new_actuators.torqueOutputCan = apply_torque

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -1,9 +1,6 @@
 import copy
-from enum import IntEnum
-import importlib
 
 from opendbc.can import CANDefine, CANParser
-from opendbc.can.dbc import DBC as DBCParser
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.filter_simple import FirstOrderFilter
@@ -11,34 +8,11 @@ from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, EPS_SCALE
 from opendbc.sunnypilot.car.toyota.carstate_ext import CarStateExt
-from opendbc.sunnypilot.car.toyota.enhanced_bsm import EnhancedBsmCarState
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
 
-
-class AccelPersonality(IntEnum):
-  eco = 0
-  normal = 1
-  sport = 2
-
-
-def get_accel_personality(sport_mode: int, eco_mode: int) -> AccelPersonality:
-  if sport_mode == 1:
-    return AccelPersonality.sport
-  if eco_mode == 1:
-    return AccelPersonality.eco
-  return AccelPersonality.normal
-
-
-def get_host_params():
-  """Return sunnypilot's Params store when opendbc is embedded in openpilot."""
-  try:
-    return importlib.import_module("openpilot.common.params").Params()
-  except ModuleNotFoundError:
-    return None
-
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
 # - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
@@ -81,21 +55,6 @@ class CarState(CarStateBase, CarStateExt):
     self.gvc = 0.0
     self.secoc_synchronization = None
 
-    self.enhanced_bsm = EnhancedBsmCarState(CP, CP_SP)
-
-    if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = {}
-    self.brake_force = float('nan')
-    self._host_params = get_host_params()
-    self.toyota_drive_mode = self._host_params is not None and self._host_params.get_bool('ToyotaDriveMode')
-    self._drive_mode_signals_checked = False
-    self._sport_signal_available = False
-    self._eco_signal_available = False
-    self._prev_accel_profile = None
-    self._accel_profile_init = False
-
-    self.frame = 0
-
   def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -113,47 +72,18 @@ class CarState(CarStateBase, CarStateExt):
     ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
-    #ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
+    ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
 
     if self.CP.flags & ToyotaFlags.SECOC.value:
       self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
       ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
       can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
     else:
-      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
+      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
       can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
       if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
         ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
-    if self.toyota_drive_mode: # and not self.CP.flags & ToyotaFlags.SECOC.value:
-      sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2,
-                                                                CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
-
-      if not self._drive_mode_signals_checked:
-        self._drive_mode_signals_checked = True
-        try:
-          sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
-          self._sport_signal_available = True
-        except KeyError:
-          sport_mode = 0
-          self._sport_signal_available = False
-        try:
-          eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
-          self._eco_signal_available = True
-        except KeyError:
-          eco_mode = 0
-          self._eco_signal_available = False
-      else:
-        sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self._sport_signal_available else 0
-        eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self._eco_signal_available else 0
-
-      accel_profile = get_accel_personality(sport_mode, eco_mode)
-
-      if not self._accel_profile_init or accel_profile != self._prev_accel_profile:
-        self._host_params.put('AccelPersonality', int(accel_profile))
-        self._accel_profile_init = True
-        self._prev_accel_profile = accel_profile
-
     self.parse_wheel_speeds(ret,
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
@@ -282,16 +212,6 @@ class CarState(CarStateBase, CarStateExt):
 
     ret.buttonEvents = buttonEvents
 
-    if self.enhanced_bsm.enabled and self.frame > 199:
-      ret.leftBlindspot, ret.rightBlindspot = self.enhanced_bsm.update(cp, self.frame)
-
-    if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
-      if "BRAKE" in cp.vl:
-        self.brake_force = float(cp.vl["BRAKE"]["BRAKE_FORCE"])
-
-    self.frame += 1
-
     CarStateExt.update(self, ret, ret_sp, can_parsers)
 
     return ret, ret_sp
@@ -301,11 +221,6 @@ class CarState(CarStateBase, CarStateExt):
     pt_messages = [
       ("BLINKERS_STATE", float('nan')),
     ]
-    if CP.flags & ToyotaFlags.HYBRID:
-      pt_messages.append(("ENGINE_RPM", float('nan')))
-
-    if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD and "BRAKE" in DBCParser(DBC[CP.carFingerprint][Bus.pt]).name_to_msg:
-      pt_messages.append(("BRAKE", float('nan')))
 
     cam_messages = [
       ("RSA1", 0),

opendbc_repo/opendbc/car/toyota/interface.py

@@ -3,7 +3,7 @@ from opendbc.car.toyota.carstate import CarState
 from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR, SECOC_CAR
+                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, ToyotaSafetyFlagsSP
@@ -117,7 +117,6 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & ToyotaFlags.TSS2:
       ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
-      #ret.stopAccel = -0.02
 
       # Hybrids have much quicker longitudinal actuator response
       if ret.flags & ToyotaFlags.HYBRID.value:
@@ -131,9 +130,6 @@ class CarInterface(CarInterfaceBase):
     if candidate in UNSUPPORTED_DSU_CAR:
       ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU
 
-    if candidate == CAR.TOYOTA_PRIUS_TSS2:
-      ret.flags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
-
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
     # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
     if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):

opendbc_repo/opendbc/car/toyota/toyotacan.py

@@ -1,5 +1,4 @@
 from opendbc.car.structs import CarParams
-from opendbc.car.can_definitions import CanData
 
 SteerControlType = CarParams.SteerControlType
 
@@ -165,47 +164,3 @@ def toyota_checksum(address: int, sig, d: bytearray) -> int:
   for i in range(len(d) - 1):
     s += d[i]
   return s & 0xFF
-
-def create_set_bsm_debug_mode(lr_blindspot, enabled):
-  dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
-  dat = lr_blindspot + dat
-
-  return CanData(0x750, dat, 0)
-
-
-def create_bsm_polling_status(lr_blindspot):
-  return CanData(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
-
-
-# auto brake hold
-def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
-  # forward PRE_COLLISION_2 when auto brake hold is not active
-  values = {s: pre_collision_2[s] for s in [
-    "DSS1GDRV",
-    "DS1STAT2",
-    "DS1STBK2",
-    "PCSWAR",
-    "PCSALM",
-    "PCSOPR",
-    "PCSABK",
-    "PBATRGR",
-    "PPTRGR",
-    "IBTRGR",
-    "CLEXTRGR",
-    "IRLT_REQ",
-    "BRKHLD",
-    "AVSTRGR",
-    "VGRSTRGR",
-    "PREFILL",
-    "PBRTRGR",
-    "PCSDIS",
-    "PBPREPMP",
-  ]}
-
-  if brake_hold_active:
-    values = {
-      "DSS1GDRV": 0x3FF,
-      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
-    }
-
-  return packer.make_can_msg("PRE_COLLISION_2", 0, values)

opendbc_repo/opendbc/dbc/generator/toyota/_sp_debug_toyota.dbc

@@ -1,79 +0,0 @@
-BO_ 1880 DEBUG: 8 XXX
- SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
- SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
-BO_ 713 HYBRID_POWERTRAIN: 8 XXX
- SG_ COAST_FUEL_CUT : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ HYBRID_DRIVE_STATE : 11|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 814 BRAKE_HYDRAULIC: 8 XXX
- SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSURE_COPY1 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSURE_COPY2 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 971 MOTOR_SPEED_CLUSTER: 7 XXX
- SG_ CLUSTER_SPEED : 55|8@0+ (1,-21) [0|255] "km/h" XXX
-
-BO_ 896 HYBRID_BATTERY: 8 XXX
- SG_ HV_SOC_PCT : 55|8@0+ (1,0) [0|100] "%" XXX
-
-BO_ 1654 HV_POWER_INTEGRATOR: 8 XXX
- SG_ HV_POWER_ACCUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 975 HV_INVERTER: 5 XXX
- SG_ HV_VOLTAGE_LO : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ HV_CURRENT_LO : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 955 BRAKE_REDUNDANT: 8 XXX
- SG_ BRAKE_PRESSED_REDUNDANT : 0|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 918 VEHICLE_DRIVE_MODE: 8 XXX
- SG_ DRIVE_MODE_STATE : 7|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Sunnypilot Prius TSS2 reverse-engineered signals — route 550a71ee4c7a7fbe/0000038f--6b48497966, 2026-05-19. Confidence: high unless noted.";
-CM_ BO_ 713 "Hybrid powertrain status. 100Hz on bus 0.";
-CM_ SG_ 713 COAST_FUEL_CUT "byte0 bit5. 1 when accelerator lifted at speed -> ICE fuel cut / decel-fuel-cut active. P(=1|coast)=0.95, P(=1|accel)=0.008, P(=1|brake)=0.0. Use: lift detection for accel feedforward, EV-only mode hint.";
-CM_ SG_ 713 HYBRID_DRIVE_STATE "byte1 lower-nibble (bits 8-11). Enum (validated): 4=brake/regen-active, 5-8=coast/cruise levels, 10/12=ICE running active, 11=idle-stop. Not a scalar magnitude. Use: distinguish ICE-on vs EV for accel command shaping.";
-CM_ BO_ 814 "Brake hydraulic. 5Hz on bus 0. Bytes 0,2,4,6 are status/flag bytes (not yet decoded). Saturates 255 under hard brake.";
-CM_ SG_ 814 BRAKE_PRESSURE "byte1. Master cylinder pressure proxy. 0 during coast, 33-45 mean during brake, 254-255 max. NOT same as BRAKE_MODULE.BRAKE_PRESSURE.";
-CM_ SG_ 814 BRAKE_PRESSURE_COPY1 "byte3. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy (CRC/safety).";
-CM_ SG_ 814 BRAKE_PRESSURE_COPY2 "byte5. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy.";
-CM_ BO_ 971 "Cluster speedometer feed. 10Hz on bus 0.";
-CM_ SG_ 971 CLUSTER_SPEED "byte6. Encoded as raw_byte = v_kph + 21. After (1,-21) factor/offset: km/h matching dashboard speedometer. Corr 0.998 w/ WHEEL_SPEEDS. ~5km/h higher than wheel mean = cluster display bias.";
-CM_ BO_ 896 "HV battery status. 5Hz on bus 0.";
-CM_ SG_ 896 HV_SOC_PCT "byte6. HV battery state-of-charge percent. Validated range 53-62% on route 0000038f (Prius hybrid SoC normal band 40-80%). Use: energy-aware planner — reduce regen demand at high SoC (>70%), lift accel demand at low SoC (<50%).";
-CM_ BO_ 1654 "HV power integrator. 1Hz on bus 0. Slow drift signal, semantic not fully confirmed.";
-CM_ SG_ 1654 HV_POWER_ACCUM "byte4. Slow-drifting integer 0-59, independent of HV_SOC_PCT. Hypothesis: HV power flow accumulator or charging-cycle counter. Needs more routes.";
-CM_ BO_ 975 "HV inverter telemetry. 10Hz on bus 0. 5-byte message.";
-CM_ SG_ 975 HV_VOLTAGE_LO "byte2. Sequential integer 40-53 range. Hypothesis: HV bus voltage low-byte scaled. Moderate corr w/ brake (regen-loaded voltage).";
-CM_ SG_ 975 HV_CURRENT_LO "byte4. Sequential integer 17-36 range. JUMPS -16 at brake-release (regen current cutoff signature). Use: real-time regen current readback for brake-blend tuning.";
-CM_ BO_ 955 "Brake redundant signal. 10Hz on bus 0.";
-CM_ SG_ 955 BRAKE_PRESSED_REDUNDANT "byte0 bit0. 99.9% agreement with BRAKE_MODULE.BRAKE_PRESSED. Safety-redundant copy. Use: cross-check brake state for fault detection.";
-CM_ BO_ 918 "Vehicle drive mode state. 5Hz on bus 0.";
-CM_ SG_ 918 DRIVE_MODE_STATE "byte0. 3 states observed: 185=parked-with-brake, 189=ready-to-drive, 191=ready-no-brake. Transitions on GEAR shifts + brake. Use: more reliable drive-state machine than gear+brake combo.";
-VAL_ 713 HYBRID_DRIVE_STATE 4 "brake_regen_active" 5 "coast_5" 6 "coast_6" 7 "coast_7" 8 "coast_cruise" 10 "ice_active_10" 11 "idle_stop" 12 "ice_active_12";
-VAL_ 918 DRIVE_MODE_STATE 185 "parked_brake" 189 "ready" 191 "ready_no_brake";

opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc

@@ -234,7 +234,6 @@ BO_ 956 GEAR_PACKET: 8 XXX
  SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
  SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
  SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
  SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
 
@@ -546,7 +545,6 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
 VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
 VAL_ 956 ECON_ON 0 "off" 1 "on";
-VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";

opendbc_repo/opendbc/dbc/generator/toyota/_toyota_adas_standard.dbc

@@ -35,6 +35,14 @@ BO_ 740 STEERING_LKA: 5 XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";

opendbc_repo/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc

@@ -1,7 +1,6 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 548 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX

opendbc_repo/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc

@@ -1,7 +1,6 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc_repo/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc

@@ -1,7 +1,6 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
 CM_ "IMPORT _toyota_adas_standard.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -4,7 +4,7 @@
 
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
-  {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, {0x750, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */  \
+  {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false},  /* LKAS + LTA + PCM cancel cmd */  \
 
 #define TOYOTA_COMMON_TX_MSGS \
   TOYOTA_BASE_TX_MSGS \
@@ -69,7 +69,6 @@ static bool toyota_secoc = false;
 static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
 static bool toyota_lta = false;
-static bool toyota_cruise_engaged = false;  // SP: PCM_CRUISE.CRUISE_ACTIVE, narrows the auto brake hold AEB window below
 static int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
 static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
@@ -152,7 +151,6 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
       if (msg->addr == 0x176U) {
         bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
         pcm_cruise_check(cruise_engaged);
-        toyota_cruise_engaged = cruise_engaged;
       }
       if (msg->addr == 0x116U) {
         gas_pressed = msg->data[1] != 0U;  // GAS_PEDAL.GAS_PEDAL_USER
@@ -164,7 +162,6 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
       if (msg->addr == 0x1D2U) {
         bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
         pcm_cruise_check(cruise_engaged);
-        toyota_cruise_engaged = cruise_engaged;
 
         if (!enable_gas_interceptor) {
           gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
@@ -389,35 +386,13 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
         tx = false;
       }
     }
-
-    // SP: auto brake hold https://github.com/AlexandreSato
-    if ((msg->addr == 0x344U) && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
-      if (vehicle_moving || gas_pressed || !acc_main_on || toyota_cruise_engaged) {
-        tx = false;
-      }
-    }
   }
 
   // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (msg->addr == 0x750U) {
     // this address is sub-addressed. only allow tester present to radar (0xF)
     bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
-    // SP: Secret sauce from dp. (ask @rav4kumar prior to modifying)
-    // Enhanced BSM
-    bool sp_valid_uds_msgs = ((GET_BYTES(msg, 0, 4) == 0x01100241U) ||  // disable left BSM debug
-                              (GET_BYTES(msg, 0, 4) == 0x60100241U) ||  // enable left BSM debug
-                              (GET_BYTES(msg, 0, 4) == 0x69210241U) ||  // poll left BSM status
-                              (GET_BYTES(msg, 0, 4) == 0x01100242U) ||  // disable right BSM debug
-                              (GET_BYTES(msg, 0, 4) == 0x60100242U) ||  // enable right BSM debug
-                              (GET_BYTES(msg, 0, 4) == 0x69210242U))    // poll right BSM status
-                              && (GET_BYTES(msg, 4, 4) == 0x0U);
-
-    sp_valid_uds_msgs |= (GET_BYTES(msg, 0, 4) == 0x11300540U) &&       // automatic door locking and unlocking
-                         ((GET_BYTES(msg, 4, 4) == 0x00004000U) ||      // unlock
-                          (GET_BYTES(msg, 4, 4) == 0x00008000U));       // lock
-
-    bool valid_tester_present = !invalid_uds_msg && !toyota_stock_longitudinal && !toyota_secoc;
-    if (!valid_tester_present && !sp_valid_uds_msgs) {
+    if (invalid_uds_msg) {
       tx = false;
     }
   }
@@ -591,27 +566,10 @@ static safety_config toyota_init(uint16_t param) {
   return ret;
 }
 
-static bool toyota_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-  if (bus_num == 2) {
-    // SP: block AEB when auto brake hold is active, unblock AEB when auto brake hold is not active.
-    // Narrowed to match auto brake hold's own precondition (cruise must be off) - previously this
-    // blocked native AEB forwarding, forcing a slower software relay, any time the car was simply
-    // stopped with the gas released and ACC main on, even while cruise was actively engaged and
-    // auto brake hold couldn't be active at all.
-    bool is_aeb_msg = (addr == 0x344);
-    block_msg = (is_aeb_msg && (alternative_experience & ALT_EXP_ALLOW_AEB) && !vehicle_moving && !gas_pressed && acc_main_on &&
-                 !toyota_cruise_engaged);
-  }
-
-  return block_msg;
-}
-
 const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
-  .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -101,29 +101,6 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
       tester_present = libsafety_py.make_CANPacket(0x750, 0, msg)
       self.assertEqual(should_tx and ecu_disabled and not stock_longitudinal, self._tx(tester_present))
 
-  def test_enhanced_bsm(self):
-    # SP: enable/disable/poll left+right blind spot debug mode, sent to the radar diagnostic address
-    valid_msgs = [
-      b"\x41\x02\x10\x60\x00\x00\x00\x00",  # enable left
-      b"\x41\x02\x10\x01\x00\x00\x00\x00",  # disable left
-      b"\x41\x02\x21\x69\x00\x00\x00\x00",  # poll left
-      b"\x42\x02\x10\x60\x00\x00\x00\x00",  # enable right
-      b"\x42\x02\x10\x01\x00\x00\x00\x00",  # disable right
-      b"\x42\x02\x21\x69\x00\x00\x00\x00",  # poll right
-    ]
-    for msg in valid_msgs:
-      pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
-      self.assertTrue(self._tx(pkt), msg.hex())
-
-    invalid_msgs = [
-      b"\x41\x02\x10\x61\x00\x00\x00\x00",  # wrong subfunction
-      b"\x43\x02\x10\x60\x00\x00\x00\x00",  # wrong sub-address (not left/right)
-      b"\x41\x02\x10\x60\x01\x00\x00\x00",  # non-zero trailing bytes
-    ]
-    for msg in invalid_msgs:
-      pkt = libsafety_py.make_CANPacket(0x750, 0, msg)
-      self.assertFalse(self._tx(pkt), msg.hex())
-
   def test_block_aeb(self, stock_longitudinal: bool = False):
     for controls_allowed in (True, False):
       for bad in (True, False):

opendbc_repo/opendbc/sunnypilot/car/interfaces.py

@@ -14,7 +14,7 @@ from opendbc.car import structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.car.subaru.values import SubaruFlags
-from opendbc.car.toyota.values import RADAR_ACC_CAR, SECOC_CAR, TSS2_CAR, ToyotaSafetyFlags
+from opendbc.car.toyota.values import ToyotaSafetyFlags
 from opendbc.sunnypilot.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
 from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
@@ -157,10 +157,6 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
   if CP.brand == 'toyota':
     toyota_stock_long = int(params_dict.get("ToyotaEnforceStockLongitudinal", 0)) == 1
     toyota_stop_and_go_hack = int(params_dict.get("ToyotaStopAndGoHack", 0)) == 1
-    toyota_tss2_long_tuning = int(params_dict.get("ToyotaTSS2Long", 0)) == 1
-    toyota_enhanced_bsm = int(params_dict.get("ToyotaEnhancedBsm", 0)) == 1
-    toyota_auto_brake_hold = int(params_dict.get("ToyotaAutoHold", 0)) == 1
-    toyota_brake_onset = int(params_dict.get("ToyotaBrakeOnset", 0)) == 1
 
     if toyota_stock_long:
       CP_SP.flags |= ToyotaFlagsSP.STOCK_LONGITUDINAL.value
@@ -170,15 +166,3 @@ def _initialize_toyota(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params
 
     if toyota_stop_and_go_hack and CP.openpilotLongitudinalControl:
       CP_SP.flags |= ToyotaFlagsSP.STOP_AND_GO_HACK.value
-
-    if toyota_tss2_long_tuning:
-      CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
-
-    if toyota_enhanced_bsm and CP.carFingerprint in (TSS2_CAR - SECOC_CAR):
-      CP_SP.flags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
-
-    if toyota_auto_brake_hold and CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
-      CP_SP.flags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
-
-    if toyota_brake_onset:
-      CP_SP.flags |= ToyotaFlagsSP.SP_BRAKE_ONSET.value

opendbc_repo/opendbc/sunnypilot/car/toyota/auto_brake_hold.py

@@ -1,92 +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.
-"""
-
-import math
-from opendbc.car import structs
-from opendbc.car.toyota import toyotacan
-from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
-
-GearShifter = structs.CarState.GearShifter
-
-# frames of confirmed hold-eligible standstill required before engaging
-BRAKE_HOLD_ALLOWED_TIMER = 100
-BRAKE_HOLD_MIN_FORCE = 1400.0 #n
-BRAKE_HOLD_LIGHT_TIMER = 250
-
-DISALLOWED_GEARS = (GearShifter.park, GearShifter.reverse)
-
-# PRE_COLLISION_2 fields that go high when the camera's own PCS/AEB is genuinely intervening this
-# frame (PCSALM mirrors PRECOLLISION_ACTIVE; IBTRGR/PBATRGR/PREFILL/AVSTRGR/PBRTRGR/PPTRGR are its
-# actuation triggers - see create_pcs_commands for the same field set on the stock-DSU PCS path).
-# Deliberately over-inclusive: a false positive here just means we pass a quiescent frame through
-# instead of holding it, never the other way around, so err toward checking more fields, not fewer.
-PCS_TRIGGER_FIELDS = ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR")
-
-
-def pcs_is_active(pre_collision_2: dict) -> bool:
-  return any(pre_collision_2.get(field, 0) for field in PCS_TRIGGER_FIELDS) or pre_collision_2.get("DSS1GDRV", 0) != 0
-
-
-class AutoBrakeHold:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    self.CP = CP
-    self.CP_SP = CP_SP
-
-  @property
-  def enabled(self):
-    return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD)
-
-
-# Auto Brake Hold (@AlexandreSato, @rav4kumar): holds the car at a stop with cruise off by
-# overriding PRE_COLLISION_2 - the only channel on this platform that can command the brake
-# independent of ACC engagement, since PCS/AEB is an always-on active safety system by design.
-# Yields to any genuine PCS activation this frame - the real message is only ever overridden while
-# it's quiescent - and releases for the rest of the current standstill episode on a brake press,
-# rather than for a single frame.
-class AutoBrakeHoldCarController(AutoBrakeHold):
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    super().__init__(CP, CP_SP)
-
-    self.active = False
-    self._counter = 0
-    self._released = False
-    self._armed = False
-    self._firm_frame = 0
-    self._prev_brake_pressed = False
-
-  def update(self, CS: structs.CarState, frame: int, packer) -> list:
-    relay_blocked = (CS.out.standstill and CS.out.cruiseState.available and not CS.out.cruiseState.enabled and
-                      not CS.out.gasPressed)
-    hold_allowed = relay_blocked and CS.out.gearShifter not in DISALLOWED_GEARS
-
-    if hold_allowed:
-      # only a fresh press releases hold - the press that caused the stop is already reflected in
-      # _prev_brake_pressed by the time standstill is reached, so it doesn't count as a release
-      if CS.out.brakePressed and not self._prev_brake_pressed:
-        self._released = True
-      force = getattr(CS, "brake_force", float("nan"))
-      self._counter += 1
-      if not self._armed and (math.isnan(force) or force >= BRAKE_HOLD_MIN_FORCE):
-        self._armed = True
-        self._firm_frame = self._counter
-      firm_ready = self._armed and self._counter - self._firm_frame >= BRAKE_HOLD_ALLOWED_TIMER
-      held_long = self._counter > BRAKE_HOLD_LIGHT_TIMER
-      self.active = (firm_ready or held_long) and not self._released
-    else:
-      self._counter = 0
-      self.active = False
-      self._released = False
-      self._armed = False
-
-    self._prev_brake_pressed = CS.out.brakePressed
-
-    can_sends = []
-    if relay_blocked and frame % 2 == 0:
-      override = self.active and not pcs_is_active(CS.pre_collision_2)
-      can_sends.append(toyotacan.create_brake_hold_command(packer, frame, CS.pre_collision_2, override))
-
-    return can_sends

opendbc_repo/opendbc/sunnypilot/car/toyota/brake_onset.py

@@ -1,416 +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.
-"""
-import math
-import numpy as np
-
-ONSET_T_BP = [0.0, 0.15, 0.6]  # s
-# Speed schedule of the brake onset. Below 10 km/h (creep follow: the lead moves a little, the car catches up and
-# stops again) the Altis PCM bites hard on a modest request (route 000000ed 04:05:41: output -0.42 -> -1.25 m/s^2,
-# 1400 N; five ACC re-stops on 10-03/04 all -0.9..-1.25), so at creep speeds the onset uses the same numbers as the
-# engage schedule (driver 2026-10-04 "yes, apply it"): 0.5 m/s^3 for 0.2 s, stock by 0.7 s; from 20 km/h the normal
-# 1.0 m/s^3 for 0.1 s, stock by 0.4 s (driver 2026-10-03), interpolated between.
-# Driver 2026-10-04 after route 000000f2: "the brake after creeping forward again improved but is still not soft
-# enough, softer again" -> below 10 km/h 0.3 m/s^3 for 0.3 s (-0.09 m/s^2 at 0.3 s), stock by 0.9 s.
-# Driver 2026-10-05: "at 50 km/h the brake still feels heavy and there was plenty of distance; every brake should start
-# extremely light, and if that needs distance, start earlier" -> the creep-speed numbers (0.3 m/s^3 for 0.3 s, stock
-# by 0.9 s) now apply at every speed up to 60 km/h, fading to the highway onset (1.0 m/s^3, 0.1 s, stock by 0.4 s) at
-# 80 km/h, which stays as it was. The planner's light-onset margin (long_mpc) supplies the extra distance.
-# Driver 2026-10-05, same drive: "at 40-50 km/h the build from light to firm is still not smooth, a bit abrupt" -> the
-# jerk the onset ramps UP TO is also scheduled: 2.0 m/s^3 up to 60 km/h (was the stock 4.0 from 0.9 s on), stock at 80.
-ONSET_V_BP = [16.7, 22.2]  # m/s (60, 80 km/h)
-ONSET_T1_V = [0.3, 0.1]
-ONSET_T3_V = [0.9, 0.4]
-ONSET_J1_V = [0.3, 1.0]  # m/s^3 during the first phase
-ONSET_J3_V = [2.0, 4.0]  # m/s^3 the ramp ends at (the shaper never exceeds the stock limit)
-ONSET_J_DOWN = [1.0, 1.0, 4.0]  # m/s^3 (reference shape; the first two entries follow ONSET_J1_V)
-# Engaging ACC (SET-) while creeping up to a lead (driver 2026-10-04: "the car used to brake hard the moment I press
-# SET-; the first ~0.2 s must be a light touch, then blend into the decel the speed needs"). Route 000000ee 11:48:07:
-# engaged at 9 km/h 4 m behind a 4 km/h lead, the request went 0 -> -0.42 in 0.2 s and -1.6 by 0.8 s, the car hit
-# -2.7 m/s^2 (3280 N). While the engage window is open the down jerk is capped on time SINCE ENGAGING: 0.5 m/s^3 for
-# the first 0.2 s (-0.1 m/s^2 at 0.2 s), then rising to stock by 0.7 s; the planner's full request still arrives, just
-# later. The normal onset schedule applies on top (the stricter of the two wins).
-ENGAGE_BRAKE_T_BP = [0.0, 0.2, 0.7]  # s since engaging
-ENGAGE_BRAKE_J_DOWN = [0.5, 0.5, 4.0]  # m/s^3
-# Owner 2026-10-06: only a plan beyond -3.0 (a genuine emergency) bypasses the soft onset; -2.0 .. -3.0 keep it (at
-# 40 km/h -2.5 is reached slowly in ~1.8 s). History: -1.5 until 2026-10-03, -2.0, then -3.5 (= never) on 2026-10-05.
-HARD_BRAKE_ACCEL = -3.0
-URGENT_T = 0.1  # s
-URGENT_J = 1.0  # m/s^3
-URGENT_T_RAMP = 0.1  # s
-
-
-# Creep-follow gas release, with the creep-follow stop (see
-# stopping_controller.py). Route 0000010d 23:56:59: after a +0.5 launch the plan turned to braking within 0.2 s, but the
-# soft onset above treated the drop from +0.5 as the start of a brake (0.3 m/s^3) and the command stayed positive for
-# ~0.7 s while the car kept accelerating into a 2 m gap; then the brake bit 0 -> 1640 N. Taking away gas is not
-# braking: below CREEP_GAS_V the positive part of the command is now taken away at the stock rate; the soft onset
-# starts from zero, where the braking starts.
-CREEP_GAS_V = 8.0 / 3.6  # m/s
-
-
-# Friction entry (hybrid). Owner 2026-10-09: "no heavy-press jolt at the start of a brake - this is what I most want
-# gone; even -2.6 is fine if it is reached smoothly". On this hybrid the first ~-0.6 m/s^2 of a brake is regen; past it
-# the PCM brings in the friction brake (BRAKE 0xA6 BRAKE_FORCE), and how hard that bites depends on how fast the
-# command is moving at that moment. 27 engaged onsets with a friction entry, routes 00000109-00000119 (onset_bite.py):
-#   command rate at friction entry -1.91 / -1.05 / -0.44 m/s^3 -> delivered jerk -3.70 / -2.22 / -1.22 m/s^3,
-#   friction force rate 3067 / 1067 / 533 N/s (r = 0.78; gap command-delivered at entry r = 0.80).
-# The onset schedule above opens to 2.0 m/s^3 by 0.9 s - right when the friction usually enters (median 0.9 s), e.g.
-# route 00000119 09:23:02 (46 km/h, lead braking to a stop): command -0.9 -> -1.66 smoothly, the car sat at the regen
-# limit (-0.55), then the friction came in 680 -> 1520 N and the car went -0.76 -> -1.98 m/s^2 in 0.5 s.
-# So while the command is more than ENTRY_GAP beyond what the car delivers and the friction force is still below
-# ENTRY_FORCE_N, the command moves at most ENTRY_J: the friction enters slowly and the car catches up. After the entry
-# (force established or ENTRY_T_MAX) the command closes the remaining gap at CATCHUP_J, then the normal limits apply.
-# Not for FCW / urgent (< HARD_BRAKE_ACCEL) requests, below ENTRY_V_MIN (creep follow has its own onset), or without
-# measurements (a_ego None).
-ENTRY_GAP = 0.25        # m/s^2 the command may lead the delivered decel before the entry limit applies
-ENTRY_FORCE_N = 600.0   # N: friction established
-ENTRY_J = 0.5           # m/s^3 while the friction enters
-ENTRY_T_MAX = 1.0       # s per brake onset
-CATCHUP_J = 1.5         # m/s^3 after the entry until the command reaches the request
-ENTRY_V_MIN = 10.0 / 3.6  # m/s
-
-
-class BrakeOnsetShaper:
-  def __init__(self, dt: float, stock_down_jerk: float):
-    self.dt = dt
-    self.stock_down_jerk = stock_down_jerk
-    self.t_onset = 0.0
-    self.t_entry = 0.0      # time spent limited by the friction entry in this brake
-    self.catchup = False    # after an entry: close the gap gently
-    self.friction_in = False
-
-  def reset(self) -> None:
-    self.t_onset = 0.0
-    self.t_entry = 0.0
-    self.catchup = False
-    self.friction_in = False
-
-  def friction_entry_step(self, accel_request: float, prev_accel: float, v_ego: float, a_ego: float | None,
-                          brake_force: float) -> float | None:
-    """largest down step (> 0, m/s^2 per step) while the friction brake enters, None = no limit"""
-    if a_ego is None or v_ego < ENTRY_V_MIN or prev_accel > -0.1:
-      self.t_entry, self.catchup, self.friction_in = 0.0, False, False
-      return None
-    if math.isfinite(brake_force) and brake_force >= ENTRY_FORCE_N:
-      self.friction_in = True
-    if accel_request >= prev_accel:
-      self.catchup = False
-      return None
-    leading = prev_accel - a_ego < -ENTRY_GAP
-    if leading and not self.friction_in and self.t_entry < ENTRY_T_MAX:
-      self.t_entry += self.dt
-      self.catchup = True
-      return ENTRY_J * self.dt
-    if self.catchup:
-      return CATCHUP_J * self.dt
-    return None
-
-  @staticmethod
-  def schedule_t(v_ego: float) -> list[float]:
-    t1 = float(np.interp(v_ego, ONSET_V_BP, ONSET_T1_V))
-    t3 = float(np.interp(v_ego, ONSET_V_BP, ONSET_T3_V))
-    return [0.0, t1, t3]
-
-  @staticmethod
-  def schedule_j(v_ego: float) -> list[float]:
-    j1 = float(np.interp(v_ego, ONSET_V_BP, ONSET_J1_V))
-    j3 = float(np.interp(v_ego, ONSET_V_BP, ONSET_J3_V))
-    return [j1, j1, j3]
-
-  def down_step(self, accel_request: float, prev_accel: float, bypass: bool = False, v_ego: float = 30.0,
-                urgent: bool = False, t_engaged: float | None = None, a_ego: float | None = None,
-                brake_force: float = float('nan')) -> float:
-    if bypass:
-      self.t_onset = 0.0
-      self.t_entry, self.catchup = 0.0, False
-      return -self.stock_down_jerk * self.dt
-    entry = None if urgent else self.friction_entry_step(accel_request, prev_accel, v_ego, a_ego, brake_force)
-    step = self._down_step(accel_request, prev_accel, v_ego, urgent, t_engaged)
-    return step if entry is None else -min(-step, entry)
-
-  def _down_step(self, accel_request: float, prev_accel: float, v_ego: float, urgent: bool,
-                 t_engaged: float | None) -> float:
-    if prev_accel > 0.0 and v_ego < CREEP_GAS_V and accel_request < prev_accel:
-      self.t_onset = 0.0
-      return -min(self.stock_down_jerk * self.dt, prev_accel - max(accel_request, 0.0))
-
-    if urgent:
-      t_bp, j_bp = [0.0, URGENT_T, URGENT_T + max(URGENT_T_RAMP, self.dt)], [URGENT_J, URGENT_J, self.stock_down_jerk]
-    else:
-      t_bp, j_bp = self.schedule_t(v_ego), self.schedule_j(v_ego)
-    gentlest_step = -ONSET_J_DOWN[0] * self.dt
-    onset = (accel_request - prev_accel) < gentlest_step - 1e-9
-    if onset:
-      j_down = float(np.interp(self.t_onset, t_bp, j_bp))
-      self.t_onset = min(self.t_onset + self.dt, t_bp[-1])
-    else:
-      j_down = self.stock_down_jerk
-      self.t_onset = max(self.t_onset - self.dt, 0.0)
-    if t_engaged is not None and t_engaged < ENGAGE_BRAKE_T_BP[-1]:
-      j_down = min(j_down, float(np.interp(t_engaged, ENGAGE_BRAKE_T_BP, ENGAGE_BRAKE_J_DOWN)))
-    return -min(j_down, self.stock_down_jerk) * self.dt
-
-  def is_urgent(self, accel_request: float, fcw: bool) -> bool:
-    return fcw or accel_request < HARD_BRAKE_ACCEL
-
-ENGAGE_T_BP = [0.0, 0.1, 0.6]  # s; the window is still used to keep the soft BRAKE onset for a hard request after engaging
-# Driver 2026-10-04: "if Kumar's base added a soft start again, remove it - I want an immediate response, not a lurch,
-# following the eco/normal/sport profile". The gas-side engage ramp (0.25 -> 0.6 -> 4.0 m/s^3 over 0.6 s) is gone:
-# the up jerk after engaging is the stock windup limit; the accel profile sets how much.
-ENGAGE_J_UP = [4.0, 4.0, 4.0]  # m/s^3
-# Resume while moving. Owner 2026-10-08: "when resuming the
-# speed (RES), can the first 0.4 s accelerate more gently?". Routes 0000010e-00000112, eight RES engagements at 15-61
-# km/h: the car was coasting at -0.3..-0.5 m/s^2 (regen), the command started from 0 and reached +0.3..+0.5 within
-# 0.4-0.6 s, so in the first 0.4 s the regen vanished AND the gas came in (aEgo -0.43 -> +0.19 in 0.4 s at 23:09:07,
-# +0.12 -> +0.64 in 0.6 s at 17:43:01, ~1.5-2 m/s^3). Now, when engaging above RESUME_V_MIN, the command starts from
-# the coasting decel (aEgo, clipped to RESUME_START_MIN..0) instead of 0, and rises at RESUME_J_UP: 0.6 m/s^3 for the
-# first 0.4 s, opening to the stock limit by 0.8 s. Replays of the logged plans: the command meets the stock one by
-# 0.6-0.8 s, identical afterwards (the eco/normal/sport profile is untouched). Standstill launches are not affected.
-RESUME_V_MIN = 15.0 / 3.6  # m/s
-RESUME_T_BP = [0.0, 0.4, 0.8]  # s since engaging
-RESUME_J_UP = [0.6, 0.6, 4.0]  # m/s^3
-RESUME_START_MIN = -0.6  # m/s^2
-RESUME_EDGE_T = 0.5  # s: the engagement must follow the cruise switching on (not a gas-override release)
-
-
-class EngageOnsetShaper:
-  def __init__(self, dt: float, stock_up_jerk: float):
-    self.dt = dt
-    self.stock_up_jerk = stock_up_jerk
-    self.t_engaged: float | None = None
-    self.resume = False
-    self.cruise_on_t = 1e9  # s since the PCM cruise went from off to on (RES / SET)
-    self.prev_cruise = False
-
-  def reset(self) -> None:
-    self.t_engaged = None
-    self.resume = False
-
-  def cruise_state(self, cruise_enabled: bool) -> None:
-    """called every frame: tracks RES / SET (cruise off -> on), so a gas-override release is not a resume"""
-    self.cruise_on_t = 0.0 if (cruise_enabled and not self.prev_cruise) else self.cruise_on_t + self.dt
-    self.prev_cruise = cruise_enabled
-
-  def start_accel(self, prev_accel: float, a_ego: float, v_ego: float) -> float:
-    """on the first engaged frame of a resume while moving, the command starts from the coasting decel"""
-    if self.t_engaged is None and v_ego > RESUME_V_MIN and self.cruise_on_t < RESUME_EDGE_T:
-      self.resume = True
-      return float(np.clip(a_ego, RESUME_START_MIN, 0.0))
-    return prev_accel
-
-  @property
-  def in_engage_window(self) -> bool:
-    return self.t_engaged is None or self.t_engaged < ENGAGE_T_BP[-1]
-
-  @property
-  def t_since_engage(self) -> float | None:
-    """seconds since engaging while the engage brake schedule still applies, else None"""
-    t = 0.0 if self.t_engaged is None else self.t_engaged
-    return t if t < ENGAGE_BRAKE_T_BP[-1] else None
-
-  def up_step(self, active: bool) -> float:
-    if not active:
-      self.t_engaged = None
-      return self.stock_up_jerk * self.dt
-    if self.t_engaged is None:
-      self.t_engaged = 0.0
-    else:
-      self.t_engaged += self.dt
-    if self.resume:
-      if self.t_engaged < RESUME_T_BP[-1]:
-        return min(float(np.interp(self.t_engaged, RESUME_T_BP, RESUME_J_UP)), self.stock_up_jerk) * self.dt
-      self.resume = False
-    if self.t_engaged >= ENGAGE_T_BP[-1]:
-      return self.stock_up_jerk * self.dt
-    j_up = float(np.interp(self.t_engaged, ENGAGE_T_BP, ENGAGE_J_UP))
-    return min(j_up, self.stock_up_jerk) * self.dt
-
-# Hard-brake overshoot limit (owner 2026-10-06, route 00000100 19:41:42-45: the lead braked from 44 km/h at -3.3 m/s^2;
-# openpilot asked for -3.49 at most, but the PCM with the hybrid's regen delivered -4.3 m/s^2 for 0.8 s (BRAKE_FORCE
-# 4880 N), ~30% more than asked - the last, heaviest part of the "sudden brake" feel. The stock PID only lifted the
-# command ~0.3 above the request.) Once the request is a hard brake, the car's own deceleration is watched: when it
-# runs OVERSHOOT_DEADBAND past the request (predicted a moment ahead, as the PID does), the command is lifted by
-# OVERSHOOT_GAIN times the excess, at most OVERSHOOT_MAX, so the car settles near what openpilot asked for. The request
-# itself is never weakened: the limit only takes back braking the car delivered ON TOP of it (an MPC replay of 19:41
-# with the asked-for -3.5 ends 4.9 m behind the stopped lead). It never lifts the command above OVERSHOOT_CMD_CEIL.
-OVERSHOOT_ACTIVE_ACCEL = -2.5  # m/s^2: the limit works only while the request is harder than this
-OVERSHOOT_DEADBAND = 0.2  # m/s^2 of overshoot that is left alone
-OVERSHOOT_GAIN = 0.8
-OVERSHOOT_MAX = 1.0  # m/s^2 largest lift
-OVERSHOOT_RATE_UP = 3.0  # m/s^3 how fast the lift may grow
-OVERSHOOT_RATE_DOWN = 2.0  # m/s^3 how fast it is given back (also when the hard request ends)
-OVERSHOOT_CMD_CEIL = -1.5  # m/s^2: the lifted command always stays a firm brake
-# Moderate band - Corolla Altis Hybrid only (owner 2026-10-07, route 0000010e 17:38:41: "at 50 km/h the braking started
-# soft, but the speed dropped too fast, still a bit fierce"). A stopped queue appeared 74 m ahead after a lane change;
-# openpilot asked for at most -1.60 m/s^2, the car delivered -1.82..-1.95 (regen on top). Routes 00000100..0000010e:
-# above 20 km/h the Altis delivers 0.1-0.4 m/s^2 more than a -1.0..-2.0 request (e.g. 0000010d 15-25 km/h: asked
-# -1.68, got -2.05). So above OVERSHOOT_MOD_V the limit also works for requests harder than OVERSHOOT_MOD_ACCEL, with
-# a smaller deadband, and the lifted command never gets lighter than OVERSHOOT_MOD_KEEP of the command (the request
-# is never weakened by more than a quarter). The hard band above is unchanged for every car.
-OVERSHOOT_MOD_ACCEL = -1.0  # m/s^2
-OVERSHOOT_MOD_V = 12.0 / 3.6  # m/s (0000010d 23:54:58: asked -1.72 at 17-23 km/h, delivered -1.96..-2.19)
-OVERSHOOT_MOD_DEADBAND = 0.15  # m/s^2
-OVERSHOOT_MOD_KEEP = 0.75
-# The moderate band works as a slow trim, not a fast limiter: a replay of 17:38:36-38 with the hard band's logic
-# (predicted aEgo, 3.0 / 2.0 m/s^3) pulsed the command by 0.2-0.3 m/s^2 for 0.2 s at a time on the noisy aEgo (-1.2 ..
-# -1.8 at a steady request), and the stock PID was already lifting the command (-1.6 asked, ~-1.1 sent). So the band
-# uses the overshoot of the measured aEgo, low-passed over OVERSHOOT_MOD_TAU, and moves at OVERSHOOT_MOD_RATE.
-# Relaxed personality only (owner 2026-10-08). A process_replay of 14 Aggressive-mode segments (routes fe/100/101/104/
-# 107/109) found the band acting mostly in CLOSE following: 0000109 23:19:44, lead 16 m away and still braking, request
-# -1.99/-1.75 at 26-21 km/h, the car delivered -2.73/-2.27 and the band lifted the command by up to 0.35 - taking away a
-# margin the close gap needs (open loop, no planner reaction: +6 m travelled). Tonight's Relaxed drives (routes
-# 00000112-00000116) never triggered it. Owner: "keep D in Relaxed". The carcontroller passes
-# hud_control.leadDistanceBars == 3 (controlsd: personality + 1; relaxed = 2 -> 3 bars).
-# OFF since 2026-10-08 (owner: "so D never acted in Relaxed last night? then switch it off and try"): routes
-# 00000112-00000116 never triggered it, and in Aggressive close following it removes margin. Kept in the code; set True
-# to bring it back (Relaxed only).
-OVERSHOOT_MOD_ENABLED = False
-OVERSHOOT_MOD_TAU = 0.5  # s
-OVERSHOOT_MOD_RATE = 0.5  # m/s^3
-
-
-class BrakeOvershootLimiter:
-  def __init__(self, dt: float, moderate: bool = False):
-    self.dt = dt
-    self.moderate = moderate  # also the moderate band (OVERSHOOT_MOD_*)
-    self.lift = 0.0
-    self.in_moderate = False
-    self.mod_excess = 0.0
-
-  def reset(self) -> None:
-    self.lift = 0.0
-    self.in_moderate = False
-    self.mod_excess = 0.0
-
-  def update(self, accel_request: float, a_ego_future: float, active: bool = True, v_ego: float = 0.0,
-             a_ego: float | None = None, moderate_allowed: bool = True) -> float:
-    """returns the lift (>= 0, m/s^2) to add to the command"""
-    target = 0.0
-    hard = accel_request < OVERSHOOT_ACTIVE_ACCEL
-    self.in_moderate = (self.moderate and moderate_allowed and not hard and accel_request < OVERSHOOT_MOD_ACCEL and
-                        v_ego > OVERSHOOT_MOD_V)
-    if self.in_moderate:
-      measured = a_ego_future if a_ego is None else a_ego
-      alpha = self.dt / (OVERSHOOT_MOD_TAU + self.dt)
-      self.mod_excess += alpha * ((accel_request - measured) - self.mod_excess)
-    else:
-      self.mod_excess = 0.0
-    if active and hard:
-      excess = accel_request - a_ego_future - OVERSHOOT_DEADBAND  # > 0: decelerating harder than asked
-      target = float(np.clip(OVERSHOOT_GAIN * excess, 0.0, OVERSHOOT_MAX))
-    elif active and self.in_moderate:
-      target = float(np.clip(OVERSHOOT_GAIN * (self.mod_excess - OVERSHOOT_MOD_DEADBAND), 0.0, OVERSHOOT_MAX))
-    if self.in_moderate and not hard:
-      step = OVERSHOOT_MOD_RATE * self.dt
-      self.lift = float(np.clip(target, self.lift - step, self.lift + step))
-    else:
-      self.lift = float(np.clip(target, self.lift - OVERSHOOT_RATE_DOWN * self.dt, self.lift + OVERSHOOT_RATE_UP * self.dt))
-    return self.lift
-
-  def apply(self, accel_cmd: float) -> float:
-    if self.lift <= 0.0:
-      return accel_cmd
-    ceiling = OVERSHOOT_MOD_KEEP * accel_cmd if self.in_moderate else OVERSHOOT_CMD_CEIL
-    return min(accel_cmd + self.lift, max(accel_cmd, ceiling))
-
-
-# Low-speed regen hand-over feed-forward. History: route 0000010d 23:54:58-23:55:03 - between 20 and 9 km/h the car cut its own
-# friction brake (BRAKE 0xA6 BRAKE_FORCE 1640 -> 440 N) and delivered ~70% of the request, felt as "brakes, goes light,
-# brakes again". A feedback compensation (shortfall x 0.8 past a 0.2 deadband, 1.0 m/s^3) was the first fix; its
-# first drive, route 0000010e 2026-10-07, showed it acting only in 0.1-0.25 m/s^2 pulses that never filled the gap
-# (owner: "the stops are sometimes soft, sometimes still not smooth; several stops still braked twice").
-# Measured on routes 00000100..0000010e (engaged stops, request / delivered, m/s^2): the request eases smoothly, but the
-# delivered decel DIPS at 15-9 km/h (10e: -0.84 asked, -0.61 delivered; 109: -0.87 / -0.69; 107: -1.04 / -0.81) and
-# comes back ON TOP of the request at 7-1 km/h (10e: -0.47 / -0.60; 109: -0.54 / -0.80), the second part pushed by the
-# PID integrator that wound up during the dip (command - request -0.10..-0.17 there). So, instead of feedback:
-#  - a FEED-FORWARD extra brake by speed, the measured dip: HANDOVER_EXTRA_MAX (or HANDOVER_EXTRA_FRAC of a lighter
-#    request) at 10-14 km/h, fading to 0 at 6 and 17 km/h, changing at HANDOVER_RATE, only while braking harder than
-#    HANDOVER_MIN_REQUEST;
-#  - below PID_HOLD_V, while the request brakes, the PID integrator is frozen and bled toward zero (a positive
-#    integral, left over from a launch, faster), so the catch-up no longer adds braking at the end of the stop.
-# Expected delivered decel on 10e (by speed band 15-12/12-9/9-7/7-5/5-3/3-1 km/h): -0.86/-0.81/-0.75/-0.75/-0.63/-0.48,
-# continuous easing, instead of -0.66/-0.61/-0.75/-0.75/-0.71/-0.60.
-HANDOVER_V_BP = [6.0 / 3.6, 8.0 / 3.6, 10.0 / 3.6, 14.0 / 3.6, 17.0 / 3.6]  # m/s
-HANDOVER_V_W = [0.0, 0.5, 1.0, 1.0, 0.0]
-HANDOVER_MIN_REQUEST = -0.3  # m/s^2
-HANDOVER_EXTRA_MAX = 0.2  # m/s^2
-HANDOVER_EXTRA_FRAC = 0.25  # of the request, for lighter requests
-HANDOVER_RATE = 1.0  # m/s^3
-# The dip is a moderate-brake effect: at a firm request the regen gives MORE, not less (0000010d 15-12 km/h: asked
-# -1.46, delivered -1.72), so the extra fades out between these requests (full at -1.0 and lighter, none at -1.5).
-HANDOVER_REQ_BP = [-1.5, -1.0]  # m/s^2
-HANDOVER_REQ_W = [0.0, 1.0]
-# Owner 2026-10-10 (route 0000011c 00:19:10, Aggressive stop 1.6 m behind the lead): "the end of the stop slides too
-# much, the last two metres feel too light". With the PID held below PID_HOLD_V nothing makes up the under-delivery
-# below the hand-over band; asked / delivered by band (m/s^2), three stops of 11c (00:18:07 / 00:19:10 / 00:20:58):
-#   8-7 km/h -0.75/-0.62  -0.89/-0.58  -0.77/-0.54     6-5 km/h -0.63/-0.45  -0.75/-0.50  -0.66/-0.49
-#   5-4 km/h -0.60/-0.40  -0.67/-0.28  -0.64/-0.35     4-3 km/h -0.58/-0.62  -0.62/-0.45  -0.61/-0.57
-#   3-2 km/h on target or above. Brake force 650-850 N at 6-4 km/h, below what beats the hybrid creep torque.
-# So a second, low-speed feed-forward: LOW_EXTRA at LOW_EXTRA_V_BP (0.25 at 5-6.5 km/h, gone by 3 km/h, led by about
-# 0.5 km/h for the ~0.3 s actuator lag), added to the hand-over extra, same request gate and rate.
-LOW_EXTRA_V_BP = [3.0 / 3.6, 4.0 / 3.6, 5.0 / 3.6, 6.5 / 3.6, 8.5 / 3.6]  # m/s
-LOW_EXTRA = [0.0, 0.15, 0.25, 0.25, 0.0]  # m/s^2
-PID_HOLD_V = 9.0 / 3.6  # m/s
-PID_BLEED_NEG = 0.5  # m/s^2 per s: a braking integral fades this fast
-PID_BLEED_POS = 2.0  # m/s^2 per s: a gas integral (left from the launch) fades this fast
-
-class BrakeHandoverFeedforward:
-  def __init__(self, dt: float):
-    self.dt = dt
-    self.extra = 0.0
-
-  def reset(self) -> None:
-    self.extra = 0.0
-
-  def update(self, accel_request: float, v_ego: float, active: bool = True) -> float:
-    """returns the extra braking (>= 0, m/s^2) to subtract from the command"""
-    target = 0.0
-    if active and accel_request < HANDOVER_MIN_REQUEST:
-      w = float(np.interp(v_ego, HANDOVER_V_BP, HANDOVER_V_W)) * float(np.interp(accel_request, HANDOVER_REQ_BP, HANDOVER_REQ_W))
-      target = w * min(HANDOVER_EXTRA_MAX, HANDOVER_EXTRA_FRAC * -accel_request)
-      target += float(np.interp(v_ego, LOW_EXTRA_V_BP, LOW_EXTRA)) * float(np.interp(accel_request, HANDOVER_REQ_BP, HANDOVER_REQ_W))
-    step = HANDOVER_RATE * self.dt
-    self.extra = float(np.clip(target, self.extra - step, self.extra + step))
-    return self.extra
-
-  def apply(self, accel_cmd: float) -> float:
-    return accel_cmd - self.extra
-
-  def condition_pid(self, pid, accel_request: float, v_ego: float) -> bool:
-    """below PID_HOLD_V while braking: bleed the integrator toward zero; returns True = freeze it this step"""
-    if v_ego >= PID_HOLD_V or accel_request >= 0.0:
-      return False
-    if pid.i > 0.0:
-      pid.i = max(0.0, pid.i - PID_BLEED_POS * self.dt)
-    else:
-      pid.i = min(0.0, pid.i + PID_BLEED_NEG * self.dt)
-    return True
-
-
-class BrakeCommandCorrections:
-  """tnpb2 corrections to the final braking command."""
-  def __init__(self, dt: float):
-    self.overshoot = BrakeOvershootLimiter(dt, moderate=OVERSHOOT_MOD_ENABLED)
-    self.handover = BrakeHandoverFeedforward(dt)
-
-  def reset(self) -> None:
-    self.overshoot.reset()
-    self.handover.reset()
-
-  def apply(self, accel_cmd: float, accel_request: float, a_ego_future: float, v_ego: float, stopping: bool, fcw: bool,
-            a_ego: float | None = None, relaxed: bool = True) -> float:
-    # take back braking the car delivers beyond a hard request (never under FCW); the moderate band only in Relaxed
-    self.overshoot.update(accel_request, a_ego_future, active=not stopping and not fcw, v_ego=v_ego, a_ego=a_ego,
-                          moderate_allowed=relaxed)
-    accel_cmd = self.overshoot.apply(accel_cmd)
-    # feed-forward the braking the car does not deliver in the low-speed regen hand-over
-    self.handover.update(accel_request, v_ego, active=not fcw)
-    return self.handover.apply(accel_cmd)
-
-  def condition_pid(self, pid, accel_request: float, v_ego: float) -> bool:
-    """called before the stock PID update; True = freeze the integrator this step"""
-    return self.handover.condition_pid(pid, accel_request, v_ego)

opendbc_repo/opendbc/sunnypilot/car/toyota/carstate_ext.py

@@ -11,11 +11,8 @@ from opendbc.car import Bus, structs
 from opendbc.car.carlog import carlog
 from opendbc.can.parser import CANParser
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.toyota.values import ToyotaFlags
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
 
-ENGINE_RUNNING_RPM = 300.0
-
 TRAFFIC_SIGNAL_MAP = {
   1: "kph",
   36: "mph",
@@ -171,7 +168,3 @@ class CarStateExt:
     # Update traffic signals and speed limit
     self.update_traffic_signals(cp_cam)
     ret_sp.speedLimit = self.calculate_speed_limit()
-
-    if self.CP.flags & ToyotaFlags.HYBRID and "ENGINE_RPM" in cp.vl:
-      ret_sp.engineRpm = float(cp.vl["ENGINE_RPM"]["RPM"])
-      ret_sp.engineOff = ret_sp.engineRpm < ENGINE_RUNNING_RPM and not bool(cp.vl["ENGINE_RPM"]["ENGINE_RUNNING"])

opendbc_repo/opendbc/sunnypilot/car/toyota/enhanced_bsm.py

@@ -1,126 +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.
-"""
-
-from opendbc.car import structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.toyota import toyotacan
-from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
-
-LEFT_BLINDSPOT = b"\x41"
-RIGHT_BLINDSPOT = b"\x42"
-LEFT_SIDE = LEFT_BLINDSPOT[0]
-RIGHT_SIDE = RIGHT_BLINDSPOT[0]
-
-# BLINDSPOTD1/D2 aren't real distances despite the DBC name: verified against 3 real routes, values
-# fall into 3 clean bands - idle (0), a small transitional-noise band (seen 1-31, rare: single-digit
-# occurrence counts, present during side/state transitions), and two real zone codes (~46-47 and
-# ~50-53, consistent across routes and cars - likely mirroring stock BSM's own ADJACENT/APPROACHING
-# split). A plain nonzero check lets the noise band through as false "occupied" hits; gate on the
-# real-zone floor instead - comfortably above every noise value seen, comfortably below neither zone code.
-BLINDSPOT_NOISE_FLOOR = 35
-
-# DEBUG also carries a 1-bit BLINDSPOT flag (byte 4) that isn't read here. Checked against the same
-# route: stayed 0 across all frames, including every confirmed real detection - not a usable signal.
-
-
-class EnhancedBsm:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    self.CP = CP
-    self.CP_SP = CP_SP
-
-  @property
-  def enabled(self):
-    return bool(self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM)
-
-
-class _BsmSideState:
-  def __init__(self):
-    self.blindspot = False
-    self.counter = 0
-
-  def update(self, distance_1, distance_2):
-    # every fresh matching-side reading directly reflects the current occupancy check - this is not
-    # a latch. A drop to an idle/noise reading on this exact side clears it immediately, same as the
-    # original. The counter is purely a silence timeout for when this side stops responding entirely,
-    # not a "hold the last detection for a while" mechanism.
-    self.blindspot = distance_1 > BLINDSPOT_NOISE_FLOOR or distance_2 > BLINDSPOT_NOISE_FLOOR
-    self.counter = 100
-
-  def decay(self):
-    self.counter = max(0, self.counter - 1)
-    if self.counter == 0:
-      self.blindspot = False
-
-
-# Enhanced BSM (@arne182, @rav4kumar)
-class EnhancedBsmCarState(EnhancedBsm):
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    super().__init__(CP, CP_SP)
-
-    self._sides = {LEFT_SIDE: _BsmSideState(), RIGHT_SIDE: _BsmSideState()}
-
-  def update(self, cp, frame: int) -> tuple[bool, bool]:
-    # Let's keep all the commented out code for easy debug purposes in the future.
-    distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
-    distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
-    side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
-
-    if all(val is not None for val in [distance_1, distance_2, side]) and side in self._sides:
-      self._sides[side].update(distance_1, distance_2)
-
-    for side_state in self._sides.values():
-      side_state.decay()
-
-    return self._sides[LEFT_SIDE].blindspot, self._sides[RIGHT_SIDE].blindspot
-
-
-class _BsmSideController:
-  def __init__(self, addr_byte: bytes):
-    self.addr_byte = addr_byte
-    self.debug_enabled = False
-    self.last_poll_frame = 0
-
-  def update(self, frame: int, poll_phase: int, e_bsm_rate: int, always_on: bool, vego_ok: bool) -> list[CanData]:
-    can_sends = []
-
-    if not self.debug_enabled:
-      if always_on or vego_ok:  # eagle eye camera will stop working if bsm is switched on under 6m/s
-        can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, True))
-        self.debug_enabled = True
-        self.last_poll_frame = frame  # give the poll loop a fresh baseline so the stale-poll disable check below can't fire before the first real poll
-    else:
-      # no periodic re-assert: re-sending DiagnosticSessionControl(extendedSession) while already in that
-      # session appears to make the ECU intermittently drop its own detection state (confirmed against a
-      # real route - two reasserts landed inside an 8s window where the ECU went silent on that side).
-      # send it once and leave it alone, matching the original, proven-stable behavior.
-      if not always_on and frame - self.last_poll_frame > 50:
-        can_sends.append(toyotacan.create_set_bsm_debug_mode(self.addr_byte, False))
-        self.debug_enabled = False
-
-      if frame % e_bsm_rate == poll_phase:
-        can_sends.append(toyotacan.create_bsm_polling_status(self.addr_byte))
-        self.last_poll_frame = frame
-
-    return can_sends
-
-
-# Enhanced BSM (@arne182, @rav4kumar)
-class EnhancedBsmCarController(EnhancedBsm):
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
-    super().__init__(CP, CP_SP)
-
-    self._left = _BsmSideController(LEFT_BLINDSPOT)
-    self._right = _BsmSideController(RIGHT_BLINDSPOT)
-
-  def update(self, CS: structs.CarState, frame: int, e_bsm_rate: int = 20, always_on: bool = True) -> list[CanData]:
-    if frame <= 200:
-      return []
-
-    vego_ok = CS.out.vEgo > 6
-    can_sends = self._left.update(frame, 0, e_bsm_rate, always_on, vego_ok)
-    can_sends += self._right.update(frame, e_bsm_rate // 2, e_bsm_rate, always_on, vego_ok)
-    return can_sends

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_auto_brake_hold.py

@@ -1,231 +0,0 @@
-import unittest
-from unittest.mock import patch
-
-from opendbc.car import structs
-from opendbc.sunnypilot.car.toyota.auto_brake_hold import AutoBrakeHoldCarController, BRAKE_HOLD_ALLOWED_TIMER, pcs_is_active
-from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
-
-GearShifter = structs.CarState.GearShifter
-
-
-def make_car_params_sp(enabled: bool = True) -> structs.CarParamsSP:
-  cp_sp = structs.CarParamsSP()
-  cp_sp.flags = ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD if enabled else 0
-  return cp_sp
-
-
-class FakeCarState:
-  def __init__(self, standstill=True, cruise_enabled=False, cruise_available=True, gas_pressed=False,
-               gear=GearShifter.drive, brake_pressed=False, pre_collision_2=None):
-    self.out = structs.CarState()
-    self.out.standstill = standstill
-    self.out.cruiseState.enabled = cruise_enabled
-    self.out.cruiseState.available = cruise_available
-    self.out.gasPressed = gas_pressed
-    self.out.gearShifter = gear
-    self.out.brakePressed = brake_pressed
-    self.pre_collision_2 = pre_collision_2 if pre_collision_2 is not None else {}
-
-
-@patch("opendbc.sunnypilot.car.toyota.auto_brake_hold.toyotacan.create_brake_hold_command")
-class TestAutoBrakeHoldCarController(unittest.TestCase):
-  def _make(self):
-    return AutoBrakeHoldCarController(structs.CarParams(), make_car_params_sp())
-
-  def test_enabled_reflects_flag(self, mock_create):
-    for value in range(256):
-      with self.subTest(flags=value):
-        cp_sp = structs.CarParamsSP()
-        cp_sp.flags = value
-        ctrl = AutoBrakeHoldCarController(structs.CarParams(), cp_sp)
-        self.assertEqual(ctrl.enabled, bool(value & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD))
-
-  def test_does_not_engage_before_timer(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    for i in range(BRAKE_HOLD_ALLOWED_TIMER):
-      ctrl.update(cs, i, None)
-      self.assertFalse(ctrl.active)
-
-  def test_engages_after_timer_once_brake_released(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, i, None)
-    self.assertTrue(ctrl.active)
-
-  def test_brake_still_down_from_the_stop_does_not_block_engagement(self, mock_create):
-    # the driver's foot is normally still on the brake on the very frame standstill is reached -
-    # that must not count as a "fresh press" release, or the feature could never engage
-    ctrl = self._make()
-    # decelerating into the stop with the brake held continuously
-    cs = FakeCarState(standstill=False, brake_pressed=True)
-    for i in range(30):
-      ctrl.update(cs, i, None)
-    # reaches standstill, foot stays down for a while, then lifts
-    cs.out.standstill = True
-    for i in range(30, 50):
-      ctrl.update(cs, i, None)
-      self.assertFalse(ctrl.active, "must not engage while the original stopping press is still held")
-    cs.out.brakePressed = False
-    for i in range(50, 50 + BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, i, None)
-    self.assertTrue(ctrl.active, "should engage once the stopping press is released and the timer elapses")
-
-  def test_fresh_brake_press_mid_hold_releases_and_stays_released(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    frame = 0
-    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, frame, None)
-      frame += 1
-    self.assertTrue(ctrl.active)
-
-    cs.out.brakePressed = True
-    ctrl.update(cs, frame, None)
-    frame += 1
-    self.assertFalse(ctrl.active, "a fresh press should release immediately")
-
-    for _ in range(20):
-      ctrl.update(cs, frame, None)
-      frame += 1
-      self.assertFalse(ctrl.active, "must stay released for the rest of the episode while continuously held")
-
-    cs.out.brakePressed = False
-    for _ in range(20):
-      ctrl.update(cs, frame, None)
-      frame += 1
-      self.assertFalse(ctrl.active, "must stay released for the rest of the episode even after lifting off again")
-
-  def test_drive_off_and_restop_rearms(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    frame = 0
-    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, frame, None)
-      frame += 1
-    cs.out.brakePressed = True
-    ctrl.update(cs, frame, None)
-    frame += 1
-    self.assertFalse(ctrl.active)
-
-    # drives off - leaves the standstill episode entirely
-    cs.out.standstill = False
-    ctrl.update(cs, frame, None)
-    frame += 1
-
-    # stops again
-    cs.out.standstill = True
-    cs.out.brakePressed = False
-    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, frame, None)
-      frame += 1
-    self.assertTrue(ctrl.active, "should re-arm and engage again at the next stop")
-
-  def test_cruise_engaged_blocks_hold(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(cruise_enabled=True, brake_pressed=False)
-    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, i, None)
-    self.assertFalse(ctrl.active, "must not hold while ACC is engaged - that's the point of the constraint")
-
-  def test_gas_pressed_blocks_hold(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(gas_pressed=True, brake_pressed=False)
-    for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, i, None)
-    self.assertFalse(ctrl.active)
-
-  def test_park_and_reverse_block_hold(self, mock_create):
-    for gear in (GearShifter.park, GearShifter.reverse):
-      with self.subTest(gear=gear):
-        ctrl = self._make()
-        cs = FakeCarState(gear=gear, brake_pressed=False)
-        for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-          ctrl.update(cs, i, None)
-        self.assertFalse(ctrl.active)
-
-  def test_yields_to_live_pcs_without_dropping_active_state(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    frame = 0
-    for _ in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-      ctrl.update(cs, frame, None)
-      frame += 1
-    self.assertTrue(ctrl.active)
-    mock_create.reset_mock()
-
-    # a real PCS event shows up on the live signal
-    cs.pre_collision_2 = {"PCSALM": 1}
-    # advance to the next even frame the message is actually built on
-    while frame % 2 != 0:
-      frame += 1
-    ctrl.update(cs, frame, None)
-    override_arg = mock_create.call_args.args[-1]
-    self.assertTrue(ctrl.active, "internal hold state should not be cleared by a live PCS event")
-    self.assertFalse(override_arg, "must not override PRE_COLLISION_2 while PCS is genuinely active")
-
-    # once PCS goes quiet again, override resumes on our own signal, not stale PCS state
-    frame += 2
-    cs.pre_collision_2 = {}
-    ctrl.update(cs, frame, None)
-    override_arg = mock_create.call_args.args[-1]
-    self.assertTrue(override_arg)
-
-  def test_message_only_built_every_other_frame(self, mock_create):
-    ctrl = self._make()
-    cs = FakeCarState(brake_pressed=False)
-    for i in range(10):
-      ctrl.update(cs, i, None)
-    self.assertEqual(mock_create.call_count, 5)
-
-  def test_no_message_sent_outside_relay_blocked_window(self, mock_create):
-    # outside relay_blocked, toyota_fwd_hook lets the real PRE_COLLISION_2 relay through on its own -
-    # our passthrough copy would just be redundant traffic panda rejects, so it must not be sent at all
-    cases = [
-      dict(cruise_enabled=True),
-      dict(gas_pressed=True),
-      dict(cruise_available=False),
-    ]
-    for kwargs in cases:
-      with self.subTest(kwargs=kwargs):
-        ctrl = self._make()
-        cs = FakeCarState(brake_pressed=False, **kwargs)
-        for i in range(10):
-          ctrl.update(cs, i, None)
-        mock_create.assert_not_called()
-
-  def test_message_still_sent_in_park_or_reverse(self, mock_create):
-    # relay_blocked has no gear check, matching toyota_fwd_hook - park/reverse must not open a gap
-    # in the PRE_COLLISION_2 relay even though hold can never engage there (this was a real
-    # regression: gating the send on hold_allowed's gear check left bus 0 with nothing at this
-    # address while parked, which is what tripped a genuine PCS dash fault on-road)
-    for gear in (GearShifter.park, GearShifter.reverse):
-      with self.subTest(gear=gear):
-        ctrl = self._make()
-        cs = FakeCarState(gear=gear, brake_pressed=False)
-        for i in range(BRAKE_HOLD_ALLOWED_TIMER + 1):
-          ctrl.update(cs, i, None)
-        self.assertFalse(ctrl.active, "must never actually hold in park/reverse")
-        self.assertGreater(mock_create.call_count, 0, "must still relay PRE_COLLISION_2 in park/reverse")
-        override_arg = mock_create.call_args.args[-1]
-        self.assertFalse(override_arg, "never override while gear disallows an actual hold")
-
-
-class TestPcsIsActive(unittest.TestCase):
-  def test_all_zero_is_not_active(self):
-    self.assertFalse(pcs_is_active({}))
-    self.assertFalse(pcs_is_active({"PCSALM": 0, "DSS1GDRV": 0}))
-
-  def test_any_trigger_field_is_active(self):
-    for field in ("PCSALM", "IBTRGR", "PBATRGR", "PREFILL", "AVSTRGR", "PBRTRGR", "PPTRGR"):
-      with self.subTest(field=field):
-        self.assertTrue(pcs_is_active({field: 1}))
-
-  def test_nonzero_force_signal_is_active(self):
-    self.assertTrue(pcs_is_active({"DSS1GDRV": -5}))
-    self.assertFalse(pcs_is_active({"DSS1GDRV": 0}))
-
-
-if __name__ == "__main__":
-  unittest.main()

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_brake_onset.py

@@ -1,171 +0,0 @@
-import numpy as np
-
-from opendbc.car import rate_limit, DT_CTRL
-from opendbc.sunnypilot.car.toyota.brake_onset import BrakeOnsetShaper, ONSET_J_DOWN, HARD_BRAKE_ACCEL
-
-DT = DT_CTRL * 3
-STOCK_J = 4.0
-UP_STEP = 4.0 * DT
-
-
-def run(requests, a0=0.0, fcw=False):
-  shaper = BrakeOnsetShaper(DT, STOCK_J)
-  a = a0
-  out = []
-  for req in requests:
-    step = shaper.down_step(req, a, bypass=shaper.is_urgent(req, fcw))
-    a = rate_limit(req, a, step, UP_STEP)
-    out.append(a)
-  return np.array(out)
-
-
-def at(out, t):
-  return out[int(round(t / DT)) - 1]
-
-
-class TestBrakeOnset:
-  def test_step_brake_eases_in_over_the_first_second(self):
-    out = run([-1.5] * 60)
-    assert at(out, 0.09) > -0.06  # first 0.15 s: barely anything
-    assert at(out, 0.21) > -0.12  # 0.2 s: still very light
-    assert -0.45 < at(out, 0.36) < -0.10  # ~0.35 s: building slowly
-    assert -0.60 < at(out, 0.60) < -0.15  # 0.6 s: still gentle, about a fifth of the way
-    assert -1.10 < at(out, 1.00) < -0.55  # 1.0 s: about half way, the ramp is now running up
-    assert np.isclose(at(out, 1.5), -1.5, atol=1e-6)  # settled once the ramp reaches the stock limit
-
-  def test_jerk_follows_the_schedule_and_never_exceeds_stock(self):
-    out = run([-1.9] * 60, a0=1.0)  # large step, still above the hard-brake bypass
-    jerks = np.diff(np.concatenate([[1.0], out])) / DT
-    assert jerks.min() >= -STOCK_J - 1e-6
-    assert jerks[0] >= -ONSET_J_DOWN[0] - 1e-6
-    assert jerks[int(0.09 / DT)] >= -ONSET_J_DOWN[1] - 1e-6
-    # the blend is one straight ramp: jerk keeps growing monotonically until the stock limit
-    ramp = -jerks[int(0.1 / DT):int(0.6 / DT)]
-    assert np.all(np.diff(ramp) >= -1e-6)
-
-  def test_lead_switch_during_a_settled_brake_gets_the_same_soft_onset(self):
-    reqs = [-0.6] * 70 + [-1.8] * 60  # long enough for the schedule to wind fully back before the switch
-    out = run(reqs)
-    t_switch = 70 * DT
-    assert np.isclose(at(out, t_switch), -0.6, atol=1e-6)
-    assert at(out, t_switch + 0.09) > -0.6 - 0.05
-    assert at(out, t_switch + 0.21) > -0.6 - 0.25
-    assert np.isclose(out[-1], -1.8, atol=1e-6)
-
-  def test_hard_brake_request_bypasses_the_schedule(self):
-    out = run([HARD_BRAKE_ACCEL - 0.5] * 20)
-    assert np.isclose(out[0], -STOCK_J * DT, atol=1e-6)
-    assert at(out, 0.3) <= -1.1
-
-  def test_fcw_bypasses_the_schedule(self):
-    out = run([-1.5] * 20, fcw=True)
-    assert np.isclose(out[0], -STOCK_J * DT, atol=1e-6)
-
-  def test_release_is_untouched(self):
-    out = run([1.0] * 20, a0=-1.5)
-    assert np.isclose(out[0], -1.5 + UP_STEP, atol=1e-6)
-
-  def test_gentle_request_passes_straight_through(self):
-    reqs = list(np.linspace(0.0, -0.2, 40))  # ~0.17 m/s^3, below the gentlest onset limit (0.25)
-    out = run(reqs)
-    assert np.allclose(out, reqs, atol=1e-9)
-
-  def test_short_pause_does_not_fully_rearm(self):
-    shaper = BrakeOnsetShaper(DT, STOCK_J)
-    a = 0.0
-    for _ in range(int(0.3 / DT)):
-      a = rate_limit(-1.5, a, shaper.down_step(-1.5, a), UP_STEP)
-    t_after_ramp = shaper.t_onset
-    for _ in range(2):  # hold for two frames, request steady
-      shaper.down_step(a, a)
-    assert 0.0 < shaper.t_onset < t_after_ramp
-    for _ in range(int(1.0 / DT)):  # a full second of settled brake winds it back completely
-      shaper.down_step(a, a)
-    assert shaper.t_onset == 0.0
-
-
-class TestEngageBrake:
-  """2026-10-04: SET- while creeping up to a lead: the first 0.2 s after engaging is a light touch."""
-  def test_first_0_2_s_after_engaging_is_light_then_blends_to_stock(self):
-    from opendbc.sunnypilot.car.toyota.brake_onset import BrakeOnsetShaper, EngageOnsetShaper, ENGAGE_BRAKE_T_BP
-    dt = 0.03
-    shaper, engage = BrakeOnsetShaper(dt, 4.0), EngageOnsetShaper(dt, 4.0)
-    a, t, trace = 0.0, 0.0, {}
-    while t < 1.6:
-      engage.up_step(True)
-      step = shaper.down_step(-1.65, a, v_ego=2.5, t_engaged=engage.t_since_engage)
-      a = max(-1.65, a + step)
-      t += dt
-      for mark in (0.2, 0.5, 1.5):
-        if mark not in trace and t >= mark:
-          trace[mark] = a
-    assert trace[0.2] > -0.12          # light first touch (at creep speed the creep onset schedule is the stricter one)
-    assert -1.0 < trace[0.5] < -0.15   # blending in
-    assert trace[1.5] < -1.4           # the planner's request has arrived (end jerk 2.0 m/s^3 below 60 km/h)
-    assert ENGAGE_BRAKE_T_BP[-1] <= 1.0
-
-
-class TestCreepOnset:
-  """2026-10-04: a brake onset at creep speed (re-stop behind a lead) is as light as the engage schedule."""
-  def test_below_10kph_first_0_2_s_is_light(self):
-    from opendbc.sunnypilot.car.toyota.brake_onset import BrakeOnsetShaper
-    dt = 0.03
-    for v, light_limit in ((1.0, -0.15), (30.0, -0.45)):   # creep: barely anything by 0.2 s; highway: the normal onset
-      shaper = BrakeOnsetShaper(dt, 4.0)
-      a, t, at_02 = 0.0, 0.0, None
-      while t < 1.2:
-        a = max(-1.0, a + shaper.down_step(-1.0, a, v_ego=v))
-        t += dt
-        if at_02 is None and t >= 0.2:
-          at_02 = a
-      assert at_02 > light_limit, (v, at_02)
-      assert a < -0.9, (v, a)   # the full request arrives within the window at both speeds
-
-
-class TestCreepGasRelease:
-  """route 0000010d 23:56:59: the drop from a +0.5 launch request was shaped like a brake onset"""
-  def _shaper(self):
-    from opendbc.sunnypilot.car.toyota.brake_onset import BrakeOnsetShaper
-    return BrakeOnsetShaper(DT_CTRL * 3, 4.0)
-
-  def test_positive_part_goes_at_the_stock_rate_below_8kph(self):
-    sh = self._shaper()
-    step = sh.down_step(-0.24, 0.5, v_ego=2.0 / 3.6)
-    assert abs(step - (-4.0 * DT_CTRL * 3)) < 1e-9
-    step = sh.down_step(-0.24, 0.05, v_ego=2.0 / 3.6)
-    assert abs(step - (-0.05)) < 1e-9            # stops at zero; the braking starts from there
-
-  def test_faster_keeps_the_soft_onset(self):
-    step = self._shaper().down_step(-0.24, 0.5, v_ego=20.0 / 3.6)
-    assert step > -4.0 * DT_CTRL * 3 + 1e-9
-
-
-class TestResumeSoftStart:
-  """RES while coasting at 46 km/h: start from the coasting decel, 0.6 m/s^3 for 0.4 s, stock by 0.8 s"""
-  def _run(self, a_ego=-0.45, v=46.0, req=0.4, edge=True, n=40):
-    from opendbc.sunnypilot.car.toyota.brake_onset import EngageOnsetShaper
-    sh = EngageOnsetShaper(DT, 4.0)
-    sh.cruise_state(False)
-    sh.cruise_state(True if edge else False)
-    if not edge:
-      for _ in range(30):
-        sh.cruise_state(True)
-    prev, out = 0.0, []
-    for _ in range(n):
-      prev = sh.start_accel(prev, a_ego, v / 3.6)
-      prev = rate_limit(req, prev, -4.0 * DT, sh.up_step(True))
-      out.append(prev)
-    return np.array(out)
-
-  def test_gentle_first_0_4s_then_stock(self):
-    out = self._run()
-    assert abs(out[0] - (-0.45 + 0.6 * DT)) < 1e-9          # starts from the coasting decel
-    assert at(out, 0.39) < -0.45 + 0.6 * 0.4 + 0.02         # 0.6 m/s^3 for the first 0.4 s
-    assert np.isclose(out[-1], 0.4)                          # reaches the plan
-
-  def test_not_at_low_speed_or_a_gas_override_release(self):
-    assert self._run(v=10.0)[0] == 4.0 * DT
-    assert self._run(edge=False)[0] == 4.0 * DT
-
-  def test_a_positive_a_ego_starts_from_zero(self):
-    assert abs(self._run(a_ego=0.3)[0] - 0.6 * DT) < 1e-9

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_brake_overshoot.py

@@ -1,105 +0,0 @@
-import unittest
-
-from opendbc.sunnypilot.car.toyota.brake_onset import (BrakeOvershootLimiter, OVERSHOOT_CMD_CEIL, OVERSHOOT_DEADBAND,
-                                                       OVERSHOOT_MAX, OVERSHOOT_MOD_DEADBAND, OVERSHOOT_MOD_KEEP,
-                                                       OVERSHOOT_MOD_RATE)
-
-DT = 0.03
-
-
-class TestBrakeOvershootLimiter(unittest.TestCase):
-  def run_steady(self, req, a_ego, n=200, active=True):
-    lim = BrakeOvershootLimiter(DT)
-    for _ in range(n):
-      lim.update(req, a_ego, active)
-    return lim
-
-  def test_moderate_braking_is_untouched(self):
-    self.assertEqual(self.run_steady(-2.0, -3.0).lift, 0.0)
-
-  def test_overshoot_inside_the_deadband_is_untouched(self):
-    self.assertEqual(self.run_steady(-3.4, -3.4 - OVERSHOOT_DEADBAND + 0.01).lift, 0.0)
-
-  def test_19_41_overshoot_is_taken_back(self):
-    lim = self.run_steady(-3.4, -4.3)
-    self.assertAlmostEqual(lim.lift, 0.8 * (0.9 - OVERSHOOT_DEADBAND), places=6)
-    self.assertAlmostEqual(lim.apply(-3.4), -3.4 + lim.lift, places=6)
-
-  def test_under_braking_never_lifts(self):
-    self.assertEqual(self.run_steady(-3.4, -2.5).lift, 0.0)
-
-  def test_lift_is_capped_and_command_stays_a_firm_brake(self):
-    lim = self.run_steady(-2.6, -6.0)
-    self.assertEqual(lim.lift, OVERSHOOT_MAX)
-    self.assertAlmostEqual(lim.apply(-2.6), -2.6 + OVERSHOOT_MAX)
-    self.assertEqual(lim.apply(-2.2), OVERSHOOT_CMD_CEIL)   # a PID-lightened command is not lifted past a firm brake
-
-  def test_lift_grows_and_fades_gradually(self):
-    lim = BrakeOvershootLimiter(DT)
-    prev = 0.0
-    for _ in range(10):
-      lift = lim.update(-3.4, -5.0)
-      self.assertLessEqual(lift - prev, 3.0 * DT + 1e-9)
-      prev = lift
-    for _ in range(10):
-      lift = lim.update(-1.0, -1.0)   # the hard request ends
-      self.assertLessEqual(prev - lift, 2.0 * DT + 1e-9)
-      prev = lift
-
-  def test_inactive_gives_it_back(self):
-    lim = self.run_steady(-3.4, -4.3)
-    for _ in range(100):
-      lim.update(-3.4, -4.3, active=False)
-    self.assertEqual(lim.lift, 0.0)
-
-
-class TestModerateBand(unittest.TestCase):
-  """Altis Hybrid only: route 0000010e 17:38:41, asked -1.60 at 40-50 km/h, the car delivered -1.95."""
-  def run_steady(self, req, a_ego, v_kph, moderate=True, n=200):
-    lim = BrakeOvershootLimiter(DT, moderate=moderate)
-    for _ in range(n):
-      lim.update(req, a_ego, True, v_ego=v_kph / 3.6)
-    return lim
-
-  def test_17_38_41_overshoot_is_taken_back(self):
-    lim = self.run_steady(-1.60, -1.95, 45.0)
-    self.assertAlmostEqual(lim.lift, 0.8 * (0.35 - OVERSHOOT_MOD_DEADBAND), places=4)  # low-pass converged
-    self.assertAlmostEqual(lim.apply(-1.60), -1.60 + lim.lift, places=6)
-
-  def test_never_lighter_than_three_quarters_of_the_command(self):
-    lim = self.run_steady(-1.2, -3.0, 45.0)
-    self.assertAlmostEqual(lim.apply(-1.2), OVERSHOOT_MOD_KEEP * -1.2, places=6)
-
-  def test_off_for_other_cars_low_speed_and_light_requests(self):
-    self.assertEqual(self.run_steady(-1.60, -1.95, 45.0, moderate=False).lift, 0.0)
-    self.assertEqual(self.run_steady(-1.60, -1.95, 10.0).lift, 0.0)
-    self.assertEqual(self.run_steady(-0.9, -1.4, 45.0).lift, 0.0)
-    self.assertEqual(self.run_steady(-1.60, -1.70, 45.0).lift, 0.0)  # inside the deadband
-
-  def test_hard_band_unchanged_with_moderate_on(self):
-    lim = self.run_steady(-3.4, -4.3, 45.0)
-    self.assertAlmostEqual(lim.lift, 0.8 * (0.9 - OVERSHOOT_DEADBAND), places=6)
-    self.assertAlmostEqual(lim.apply(-3.4), -3.4 + lim.lift, places=6)
-
-  def test_moderate_band_is_a_slow_smooth_trim(self):
-    lim = BrakeOvershootLimiter(DT, moderate=True)
-    prev = 0.0
-    for k in range(100):
-      a = -1.95 if k % 2 else -1.45   # noisy aEgo around -1.70 at a steady -1.60 request
-      lift = lim.update(-1.60, a, True, v_ego=45 / 3.6, a_ego=a)
-      self.assertLessEqual(abs(lift - prev), OVERSHOOT_MOD_RATE * DT + 1e-9)
-      prev = lift
-    self.assertEqual(lift, 0.0)   # averaged overshoot 0.10 is inside the deadband
-
-  def test_moderate_band_only_in_relaxed(self):
-    lim = BrakeOvershootLimiter(DT, moderate=True)
-    for _ in range(200):
-      lim.update(-1.60, -1.95, True, v_ego=45 / 3.6, moderate_allowed=False)
-    self.assertEqual(lim.lift, 0.0)
-    for _ in range(200):
-      lim.update(-3.4, -4.3, True, v_ego=45 / 3.6, moderate_allowed=False)   # the hard band in every personality
-    self.assertGreater(lim.lift, 0.5)
-
-
-if __name__ == "__main__":
-  unittest.main()

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_brake_underdelivery.py

@@ -1,66 +0,0 @@
-import unittest
-from types import SimpleNamespace
-
-from opendbc.sunnypilot.car.toyota.brake_onset import (BrakeHandoverFeedforward, HANDOVER_EXTRA_MAX,
-                                                       HANDOVER_EXTRA_FRAC, HANDOVER_RATE, PID_BLEED_NEG, PID_BLEED_POS)
-
-DT = 0.03
-class TestHandoverFeedforward(unittest.TestCase):
-  def run_steady(self, req, v_kph, n=200):
-    c = BrakeHandoverFeedforward(DT)
-    for _ in range(n):
-      c.update(req, v_kph / 3.6)
-    return c
-
-  def test_full_extra_in_the_dip(self):
-    c = self.run_steady(-0.84, 12.0)   # route 0000010e: asked -0.84 at 12-9 km/h, the car gave -0.61
-    self.assertAlmostEqual(c.extra, HANDOVER_EXTRA_MAX, places=9)
-    self.assertAlmostEqual(c.apply(-0.84), -0.84 - HANDOVER_EXTRA_MAX, places=9)
-
-  def test_lighter_request_gets_a_quarter(self):
-    self.assertAlmostEqual(self.run_steady(-0.5, 12.0).extra, HANDOVER_EXTRA_FRAC * 0.5, places=9)
-
-  def test_fades_at_the_edges(self):
-    self.assertAlmostEqual(self.run_steady(-1.0, 8.0).extra, 0.5 * HANDOVER_EXTRA_MAX, places=6)
-    self.assertEqual(self.run_steady(-1.0, 5.0).extra, 0.0)
-    self.assertEqual(self.run_steady(-1.0, 20.0).extra, 0.0)
-    self.assertEqual(self.run_steady(-0.25, 12.0).extra, 0.0)
-
-  def test_fades_out_for_a_firm_request(self):
-    self.assertEqual(self.run_steady(-1.5, 12.0).extra, 0.0)   # 0000010d: at -1.46 the car delivered -1.72
-    self.assertAlmostEqual(self.run_steady(-1.25, 12.0).extra, 0.5 * HANDOVER_EXTRA_MAX, places=6)
-
-  def test_gradual(self):
-    c = BrakeHandoverFeedforward(DT)
-    prev = 0.0
-    for _ in range(50):
-      e = c.update(-1.0, 12 / 3.6)
-      self.assertLessEqual(e - prev, HANDOVER_RATE * DT + 1e-9)
-      prev = e
-
-class TestPidHold(unittest.TestCase):
-  def test_braking_integral_bleeds_and_freezes_below_9kph(self):
-    c = BrakeHandoverFeedforward(DT)
-    pid = SimpleNamespace(i=-0.15)
-    self.assertTrue(c.condition_pid(pid, -0.6, 5 / 3.6))
-    self.assertAlmostEqual(pid.i, -0.15 + PID_BLEED_NEG * DT, places=9)
-    for _ in range(100):
-      c.condition_pid(pid, -0.6, 5 / 3.6)
-    self.assertEqual(pid.i, 0.0)
-
-  def test_gas_integral_left_from_a_launch_bleeds_fast(self):
-    c = BrakeHandoverFeedforward(DT)
-    pid = SimpleNamespace(i=0.3)
-    c.condition_pid(pid, -0.2, 3 / 3.6)
-    self.assertAlmostEqual(pid.i, 0.3 - PID_BLEED_POS * DT, places=9)
-
-  def test_untouched_above_9kph_or_when_not_braking(self):
-    c = BrakeHandoverFeedforward(DT)
-    pid = SimpleNamespace(i=-0.15)
-    self.assertFalse(c.condition_pid(pid, -0.6, 12 / 3.6))
-    self.assertFalse(c.condition_pid(pid, 0.3, 3 / 3.6))
-    self.assertEqual(pid.i, -0.15)
-
-
-if __name__ == "__main__":
-  unittest.main()

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_drive_mode.py

@@ -1,15 +0,0 @@
-import unittest
-
-from opendbc.car.toyota.carstate import AccelPersonality, get_accel_personality
-
-
-class TestDriveMode(unittest.TestCase):
-  def test_acceleration_profile_mapping(self):
-    self.assertEqual(get_accel_personality(0, 0), AccelPersonality.normal)
-    self.assertEqual(get_accel_personality(0, 1), AccelPersonality.eco)
-    self.assertEqual(get_accel_personality(1, 0), AccelPersonality.sport)
-    self.assertEqual(get_accel_personality(1, 1), AccelPersonality.sport)
-
-
-if __name__ == "__main__":
-  unittest.main()

opendbc_repo/opendbc/sunnypilot/car/toyota/tests/test_tss2_long_tuning.py

@@ -1,57 +0,0 @@
-import unittest
-from types import SimpleNamespace
-
-from opendbc.car import structs
-from opendbc.car.toyota.carcontroller import get_long_tune
-from opendbc.car.toyota.values import CAR, ToyotaFlags
-from opendbc.sunnypilot.car.interfaces import _initialize_toyota
-from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
-
-
-def build_params(*, tss2=True):
-  flags = ToyotaFlags.TSS2.value if tss2 else 0
-  CP = structs.CarParams(
-    brand="toyota",
-    carFingerprint=str(CAR.TOYOTA_COROLLA_TSS2),
-    flags=flags,
-  )
-  return CP, structs.CarParamsSP()
-
-
-class TestTss2LongTuning(unittest.TestCase):
-  def test_param_handoff(self):
-    for enabled in (False, True):
-      with self.subTest(enabled=enabled):
-        CP, CP_SP = build_params()
-        _initialize_toyota(CP, CP_SP, {"ToyotaTSS2Long": int(enabled)})
-        self.assertEqual(bool(CP_SP.flags & ToyotaFlagsSP.TSS2_LONG_TUNING), enabled)
-
-  def test_tss2_tune_selection(self):
-    controller_params = SimpleNamespace(ACCEL_MAX=2.0, ACCEL_MIN=-3.5)
-    CP, CP_SP = build_params()
-
-    stock_tune = get_long_tune(CP, CP_SP, controller_params)
-    stock_tune.speed = 2.0
-    self.assertEqual(stock_tune.k_i, 0.5)
-    stock_tune.speed = 5.0
-    self.assertEqual(stock_tune.k_i, 0.25)
-
-    CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
-    custom_tune = get_long_tune(CP, CP_SP, controller_params)
-    custom_tune.speed = 0.0
-    self.assertEqual(custom_tune.k_i, 0.30)
-    custom_tune.speed = 5.0
-    self.assertEqual(custom_tune.k_i, 0.28)
-
-  def test_non_tss2_ignores_custom_tune_flag(self):
-    controller_params = SimpleNamespace(ACCEL_MAX=2.0, ACCEL_MIN=-3.5)
-    CP, CP_SP = build_params(tss2=False)
-    CP_SP.flags |= ToyotaFlagsSP.TSS2_LONG_TUNING.value
-
-    standard_tune = get_long_tune(CP, CP_SP, controller_params)
-    standard_tune.speed = 0.0
-    self.assertEqual(standard_tune.k_i, 3.6)
-
-
-if __name__ == "__main__":
-  unittest.main()

opendbc_repo/opendbc/sunnypilot/car/toyota/values.py

@@ -14,11 +14,6 @@ class ToyotaFlagsSP(IntFlag):
   ZSS = 4
   STOCK_LONGITUDINAL = 8
   STOP_AND_GO_HACK = 16
-  SP_ENHANCED_BSM = 32
-  SP_NEED_DEBUG_BSM = 64
-  SP_AUTO_BRAKE_HOLD = 128
-  SP_BRAKE_ONSET = 256
-  TSS2_LONG_TUNING = 512
 
 
 class ToyotaSafetyFlagsSP:

openpilot/cereal/custom.capnp

@@ -204,16 +204,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelController @8 :AccelController;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;
     active @2 :Bool;
-    decelIntent @3 :Float32;
-    curveDetected @4 :Bool;
-    wantBlended @5 :Bool;
-    leadVeto @6 :Bool;
 
     enum DynamicExperimentalControlState {
       acc @0;
@@ -311,17 +306,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
-
-  struct AccelController {
-    enabled @0 :Bool;
-    active @1 :Bool;
-    profile @2 :Profile;
-    enum Profile {
-      eco @0;
-      normal @1;
-      sport @2;
-    }
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -463,8 +447,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 
 struct CarStateSP @0xb86e6369214c01c8 {
   speedLimit @0 :Float32;
-  engineOff @1 :Bool;
-  engineRpm @2 :Float32;
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {

openpilot/cereal/gen/cpp/custom.capnp.c++

@@ -1897,36 +1897,34 @@ const ::capnp::_::RawSchema s_e60821c0505ad473 = {
   4, 12, i_e60821c0505ad473, nullptr, nullptr, { &s_e60821c0505ad473, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<192> b_f35cc4560bbf6ec2 = {
+static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     194, 110, 191,  11,  86, 196,  92, 243,
      13,   0,   0,   0,   1,   0,   2,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
-      6,   0,   7,   0,   0,   0,   0,   0,
+      5,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0,   2,   1,   0,   0,
-     33,   0,   0,   0, 103,   0,   0,   0,
+     33,   0,   0,   0,  87,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    141,   0,   0,   0, 255,   1,   0,   0,
+    125,   0,   0,   0, 199,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
      97, 112, 110, 112,  58,  76, 111, 110,
     103, 105, 116, 117, 100, 105, 110,  97,
     108,  80, 108,  97, 110,  83,  80,   0,
-     24,   0,   0,   0,   1,   0,   1,   0,
+     20,   0,   0,   0,   1,   0,   1,   0,
     119, 191,  14,  16, 174,  91, 106, 188,
-     41,   0,   0,   0, 218,   0,   0,   0,
+     33,   0,   0,   0, 218,   0,   0,   0,
     163,  23,  92,  92,  71, 153, 141, 193,
-     49,   0,   0,   0, 154,   0,   0,   0,
+     41,   0,   0,   0, 154,   0,   0,   0,
     187,  34, 168, 255,  81, 184, 158, 154,
-     53,   0,   0,   0,  90,   0,   0,   0,
+     45,   0,   0,   0,  90,   0,   0,   0,
     196, 110, 217,  86,   5,  68,  71, 173,
-     53,   0,   0,   0, 186,   0,   0,   0,
+     45,   0,   0,   0, 186,   0,   0,   0,
     254,  40, 174,  34, 232, 188, 103, 165,
-     57,   0,   0,   0,  82,   0,   0,   0,
-    161, 196, 243,   6, 208, 214, 220, 136,
-     57,   0,   0,   0, 130,   0,   0,   0,
+     49,   0,   0,   0,  82,   0,   0,   0,
      68, 121, 110,  97, 109, 105,  99,  69,
     120, 112, 101, 114, 105, 109, 101, 110,
     116,  97, 108,  67, 111, 110, 116, 114,
@@ -1941,72 +1939,63 @@ static const ::capnp::_::AlignedData<192> b_f35cc4560bbf6ec2 = {
      83, 111, 117, 114,  99, 101,   0,   0,
      69,  50, 101,  65, 108, 101, 114, 116,
     115,   0,   0,   0,   0,   0,   0,   0,
-     65,  99,  99, 101, 108,  67, 111, 110,
-    116, 114, 111, 108, 108, 101, 114,   0,
-     36,   0,   0,   0,   3,   0,   4,   0,
+     32,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  34,   0,   0,   0,
+    209,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    232,   0,   0,   0,   3,   0,   1,   0,
-    244,   0,   0,   0,   2,   0,   1,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   0,   0,   0, 186,   0,   0,   0,
+    213,   0,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   0,   0,   0,   3,   0,   1,   0,
-      0,   1,   0,   0,   2,   0,   1,   0,
+    216,   0,   0,   0,   3,   0,   1,   0,
+    228,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   0,   0,   0, 154,   0,   0,   0,
+    225,   0,   0,   0, 154,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   1,   0,   0,   3,   0,   1,   0,
-     12,   1,   0,   0,   2,   0,   1,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      9,   1,   0,   0,  90,   0,   0,   0,
+    237,   0,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      8,   1,   0,   0,   3,   0,   1,   0,
-     20,   1,   0,   0,   2,   0,   1,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     17,   1,   0,   0,  66,   0,   0,   0,
+    245,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     12,   1,   0,   0,   3,   0,   1,   0,
-     24,   1,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   1,   0,   0,  66,   0,   0,   0,
+    249,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     16,   1,   0,   0,   3,   0,   1,   0,
-     28,   1,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   1,   0,   0,  58,   0,   0,   0,
+    253,   0,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     20,   1,   0,   0,   3,   0,   1,   0,
-     48,   1,   0,   0,   2,   0,   1,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   1,   0,   0,  82,   0,   0,   0,
+     17,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     44,   1,   0,   0,   3,   0,   1,   0,
-     56,   1,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     53,   1,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     52,   1,   0,   0,   3,   0,   1,   0,
-     64,   1,   0,   0,   2,   0,   1,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
     100, 101,  99,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
     119, 191,  14,  16, 174,  91, 106, 188,
@@ -2078,15 +2067,6 @@ static const ::capnp::_::AlignedData<192> b_f35cc4560bbf6ec2 = {
     254,  40, 174,  34, 232, 188, 103, 165,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     97,  99,  99, 101, 108,  67, 111, 110,
-    116, 114, 111, 108, 108, 101, 114,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-    161, 196, 243,   6, 208, 214, 220, 136,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
@@ -2094,7 +2074,6 @@ static const ::capnp::_::AlignedData<192> b_f35cc4560bbf6ec2 = {
 ::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
-  &s_88dcd6d006f3c4a1,
   &s_9a9eb851ffa822bb,
   &s_a567bce822ae28fe,
   &s_ad47440556d96ec4,
@@ -2102,14 +2081,14 @@ static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
   &s_c18d99475c5c17a3,
   &s_f6e831752fcdf793,
 };
-static const uint16_t m_f35cc4560bbf6ec2[] = {5, 8, 0, 7, 6, 1, 2, 3, 4};
-static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
+static const uint16_t m_f35cc4560bbf6ec2[] = {5, 0, 7, 6, 1, 2, 3, 4};
+static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 192, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
-  7, 9, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 172, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
+  6, 8, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
+static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     119, 191,  14,  16, 174,  91, 106, 188,
      32,   0,   0,   0,   1,   0,   1,   0,
@@ -2119,7 +2098,7 @@ static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
      21,   0,   0,   0, 218,   1,   0,   0,
      49,   0,   0,   0,  23,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   0,   0,   0, 143,   1,   0,   0,
+     69,   0,   0,   0, 175,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -2137,56 +2116,28 @@ static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
     120, 112, 101, 114, 105, 109, 101, 110,
     116,  97, 108,  67, 111, 110, 116, 114,
     111, 108,  83, 116,  97, 116, 101,   0,
-     28,   0,   0,   0,   3,   0,   4,   0,
+     12,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    181,   0,   0,   0,  50,   0,   0,   0,
+     69,   0,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    176,   0,   0,   0,   3,   0,   1,   0,
-    188,   0,   0,   0,   2,   0,   1,   0,
+     64,   0,   0,   0,   3,   0,   1,   0,
+     76,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,  16,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    185,   0,   0,   0,  66,   0,   0,   0,
+     73,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    180,   0,   0,   0,   3,   0,   1,   0,
-    192,   0,   0,   0,   2,   0,   1,   0,
+     68,   0,   0,   0,   3,   0,   1,   0,
+     80,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,  17,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   0,   0,   0,  58,   0,   0,   0,
+     77,   0,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   0,   0,   0,   3,   0,   1,   0,
-    196,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    193,   0,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    192,   0,   0,   0,   3,   0,   1,   0,
-    204,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,  18,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    201,   0,   0,   0, 114,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    200,   0,   0,   0,   3,   0,   1,   0,
-    212,   0,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,  19,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    208,   0,   0,   0,   3,   0,   1,   0,
-    220,   0,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,  20,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    217,   0,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    216,   0,   0,   0,   3,   0,   1,   0,
-    228,   0,   0,   0,   2,   0,   1,   0,
+     72,   0,   0,   0,   3,   0,   1,   0,
+     84,   0,   0,   0,   2,   0,   1,   0,
     115, 116,  97, 116, 101,   0,   0,   0,
      15,   0,   0,   0,   0,   0,   0,   0,
      55,  64, 112, 160, 167, 242, 246, 216,
@@ -2204,42 +2155,6 @@ static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      97,  99, 116, 105, 118, 101,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    100, 101,  99, 101, 108,  73, 110, 116,
-    101, 110, 116,   0,   0,   0,   0,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 114, 118, 101,  68, 101, 116,
-    101,  99, 116, 101, 100,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    119,  97, 110, 116,  66, 108, 101, 110,
-    100, 101, 100,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    108, 101,  97, 100,  86, 101, 116, 111,
-      0,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2253,11 +2168,11 @@ static const ::capnp::_::AlignedData<137> b_bc6a5bae100ebf77 = {
 static const ::capnp::_::RawSchema* const d_bc6a5bae100ebf77[] = {
   &s_d8f6f2a7a0704037,
 };
-static const uint16_t m_bc6a5bae100ebf77[] = {2, 4, 3, 1, 6, 0, 5};
-static const uint16_t i_bc6a5bae100ebf77[] = {0, 1, 2, 3, 4, 5, 6};
+static const uint16_t m_bc6a5bae100ebf77[] = {2, 1, 0};
+static const uint16_t i_bc6a5bae100ebf77[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_bc6a5bae100ebf77 = {
-  0xbc6a5bae100ebf77, b_bc6a5bae100ebf77.words, 137, d_bc6a5bae100ebf77, m_bc6a5bae100ebf77,
-  1, 7, i_bc6a5bae100ebf77, nullptr, nullptr, { &s_bc6a5bae100ebf77, nullptr, nullptr, 0, 0, nullptr }, false
+  0xbc6a5bae100ebf77, b_bc6a5bae100ebf77.words, 73, d_bc6a5bae100ebf77, m_bc6a5bae100ebf77,
+  1, 3, i_bc6a5bae100ebf77, nullptr, nullptr, { &s_bc6a5bae100ebf77, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<34> b_d8f6f2a7a0704037 = {
@@ -3342,132 +3257,6 @@ const ::capnp::_::RawSchema s_a567bce822ae28fe = {
   0, 2, i_a567bce822ae28fe, nullptr, nullptr, { &s_a567bce822ae28fe, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<68> b_88dcd6d006f3c4a1 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    161, 196, 243,   6, 208, 214, 220, 136,
-     32,   0,   0,   0,   1,   0,   1,   0,
-    194, 110, 191,  11,  86, 196,  92, 243,
-      0,   0,   7,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 130,   1,   0,   0,
-     41,   0,   0,   0,  23,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     49,   0,   0,   0, 175,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  76, 111, 110,
-    103, 105, 116, 117, 100, 105, 110,  97,
-    108,  80, 108,  97, 110,  83,  80,  46,
-     65,  99,  99, 101, 108,  67, 111, 110,
-    116, 114, 111, 108, 108, 101, 114,   0,
-      4,   0,   0,   0,   1,   0,   1,   0,
-    166,  80,  70, 176,  68, 149, 159, 140,
-      1,   0,   0,   0,  66,   0,   0,   0,
-     80, 114, 111, 102, 105, 108, 101,   0,
-     12,   0,   0,   0,   3,   0,   4,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   1,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     69,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     64,   0,   0,   0,   3,   0,   1,   0,
-     76,   0,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     73,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     68,   0,   0,   0,   3,   0,   1,   0,
-     80,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     77,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     72,   0,   0,   0,   3,   0,   1,   0,
-     84,   0,   0,   0,   2,   0,   1,   0,
-    101, 110,  97,  98, 108, 101, 100,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     97,  99, 116, 105, 118, 101,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    112, 114, 111, 102, 105, 108, 101,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-    166,  80,  70, 176,  68, 149, 159, 140,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_88dcd6d006f3c4a1 = b_88dcd6d006f3c4a1.words;
-#if !CAPNP_LITE
-static const ::capnp::_::RawSchema* const d_88dcd6d006f3c4a1[] = {
-  &s_8c9f9544b04650a6,
-};
-static const uint16_t m_88dcd6d006f3c4a1[] = {1, 0, 2};
-static const uint16_t i_88dcd6d006f3c4a1[] = {0, 1, 2};
-const ::capnp::_::RawSchema s_88dcd6d006f3c4a1 = {
-  0x88dcd6d006f3c4a1, b_88dcd6d006f3c4a1.words, 68, d_88dcd6d006f3c4a1, m_88dcd6d006f3c4a1,
-  1, 3, i_88dcd6d006f3c4a1, nullptr, nullptr, { &s_88dcd6d006f3c4a1, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<33> b_8c9f9544b04650a6 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    166,  80,  70, 176,  68, 149, 159, 140,
-     48,   0,   0,   0,   2,   0,   0,   0,
-    161, 196, 243,   6, 208, 214, 220, 136,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 194,   1,   0,   0,
-     45,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  79,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  76, 111, 110,
-    103, 105, 116, 117, 100, 105, 110,  97,
-    108,  80, 108,  97, 110,  83,  80,  46,
-     65,  99,  99, 101, 108,  67, 111, 110,
-    116, 114, 111, 108, 108, 101, 114,  46,
-     80, 114, 111, 102, 105, 108, 101,   0,
-      0,   0,   0,   0,   1,   0,   1,   0,
-     12,   0,   0,   0,   1,   0,   2,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      2,   0,   0,   0,   0,   0,   0,   0,
-     13,   0,   0,   0,  50,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    101,  99, 111,   0,   0,   0,   0,   0,
-    110, 111, 114, 109,  97, 108,   0,   0,
-    115, 112, 111, 114, 116,   0,   0,   0, }
-};
-::capnp::word const* const bp_8c9f9544b04650a6 = b_8c9f9544b04650a6.words;
-#if !CAPNP_LITE
-static const uint16_t m_8c9f9544b04650a6[] = {0, 1, 2};
-const ::capnp::_::RawSchema s_8c9f9544b04650a6 = {
-  0x8c9f9544b04650a6, b_8c9f9544b04650a6.words, 33, nullptr, m_8c9f9544b04650a6,
-  0, 3, nullptr, nullptr, nullptr, { &s_8c9f9544b04650a6, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-CAPNP_DEFINE_ENUM(Profile_8c9f9544b04650a6, 8c9f9544b04650a6);
 static const ::capnp::_::AlignedData<44> b_da96579883444c35 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      53,  76,  68, 131, 152,  87, 150, 218,
@@ -5023,65 +4812,33 @@ const ::capnp::_::RawSchema s_9e62278160b7df26 = {
   2, 8, i_9e62278160b7df26, nullptr, nullptr, { &s_9e62278160b7df26, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<65> b_b86e6369214c01c8 = {
+static const ::capnp::_::AlignedData<33> b_b86e6369214c01c8 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     200,   1,  76,  33, 105,  99, 110, 184,
-     13,   0,   0,   0,   1,   0,   2,   0,
+     13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 194,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 175,   0,   0,   0,
+     25,   0,   0,   0,  63,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
      97, 112, 110, 112,  58,  67,  97, 114,
      83, 116,  97, 116, 101,  83,  80,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     12,   0,   0,   0,   3,   0,   4,   0,
+      4,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   0,   0,   0,  90,   0,   0,   0,
+     13,   0,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   0,   0,   0,   3,   0,   1,   0,
-     80,   0,   0,   0,   2,   0,   1,   0,
-      1,   0,   0,   0,  32,   0,   0,   0,
-      0,   0,   1,   0,   1,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     77,   0,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   0,   0,   0,   3,   0,   1,   0,
-     88,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   0,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   0,   0,   0,   3,   0,   1,   0,
-     96,   0,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,   3,   0,   1,   0,
+     24,   0,   0,   0,   2,   0,   1,   0,
     115, 112, 101, 101, 100,  76, 105, 109,
     105, 116,   0,   0,   0,   0,   0,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    101, 110, 103, 105, 110, 101,  79, 102,
-    102,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    101, 110, 103, 105, 110, 101,  82, 112,
-    109,   0,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5092,11 +4849,11 @@ static const ::capnp::_::AlignedData<65> b_b86e6369214c01c8 = {
 };
 ::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
 #if !CAPNP_LITE
-static const uint16_t m_b86e6369214c01c8[] = {1, 2, 0};
-static const uint16_t i_b86e6369214c01c8[] = {0, 1, 2};
+static const uint16_t m_b86e6369214c01c8[] = {0};
+static const uint16_t i_b86e6369214c01c8[] = {0};
 const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
-  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 65, nullptr, m_b86e6369214c01c8,
-  0, 3, i_b86e6369214c01c8, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
+  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 33, nullptr, m_b86e6369214c01c8,
+  0, 1, i_b86e6369214c01c8, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<116> b_f416ec09499d9d19 = {
@@ -5878,18 +5635,6 @@ constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::E2eAlerts::_capnpPriv
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// LongitudinalPlanSP::AccelController
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::dataWordSize;
-constexpr uint16_t LongitudinalPlanSP::AccelController::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind LongitudinalPlanSP::AccelController::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::AccelController::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
 // OnroadEventSP
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OnroadEventSP::_capnpPrivate::dataWordSize;

openpilot/cereal/gen/cpp/custom.capnp.h

@@ -178,14 +178,6 @@ enum class LongitudinalPlanSource_ad47440556d96ec4: uint16_t {
 };
 CAPNP_DECLARE_ENUM(LongitudinalPlanSource, ad47440556d96ec4);
 CAPNP_DECLARE_SCHEMA(a567bce822ae28fe);
-CAPNP_DECLARE_SCHEMA(88dcd6d006f3c4a1);
-CAPNP_DECLARE_SCHEMA(8c9f9544b04650a6);
-enum class Profile_8c9f9544b04650a6: uint16_t {
-  ECO,
-  NORMAL,
-  SPORT,
-};
-CAPNP_DECLARE_ENUM(Profile, 8c9f9544b04650a6);
 CAPNP_DECLARE_SCHEMA(da96579883444c35);
 CAPNP_DECLARE_SCHEMA(f6e831752fcdf793);
 CAPNP_DECLARE_SCHEMA(b8007ed8a646b5e6);
@@ -485,10 +477,9 @@ struct LongitudinalPlanSP {
   typedef ::capnp::schemas::LongitudinalPlanSource_ad47440556d96ec4 LongitudinalPlanSource;
 
   struct E2eAlerts;
-  struct AccelController;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 6)
+    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 5)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -629,23 +620,6 @@ struct LongitudinalPlanSP::E2eAlerts {
   };
 };
 
-struct LongitudinalPlanSP::AccelController {
-  AccelController() = delete;
-
-  class Reader;
-  class Builder;
-  class Pipeline;
-  typedef ::capnp::schemas::Profile_8c9f9544b04650a6 Profile;
-
-
-  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(88dcd6d006f3c4a1, 1, 0)
-    #if !CAPNP_LITE
-    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
-    #endif  // !CAPNP_LITE
-  };
-};
-
 struct OnroadEventSP {
   OnroadEventSP() = delete;
 
@@ -832,7 +806,7 @@ struct CarStateSP {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(b86e6369214c01c8, 2, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(b86e6369214c01c8, 1, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -2326,9 +2300,6 @@ public:
   inline bool hasE2eAlerts() const;
   inline  ::cereal::LongitudinalPlanSP::E2eAlerts::Reader getE2eAlerts() const;
 
-  inline bool hasAccelController() const;
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Reader getAccelController() const;
-
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -2401,13 +2372,6 @@ public:
   inline void adoptE2eAlerts(::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts>&& value);
   inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> disownE2eAlerts();
 
-  inline bool hasAccelController();
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Builder getAccelController();
-  inline void setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value);
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Builder initAccelController();
-  inline void adoptAccelController(::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value);
-  inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> disownAccelController();
-
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -2430,7 +2394,6 @@ public:
   inline  ::cereal::LongitudinalPlanSP::SmartCruiseControl::Pipeline getSmartCruiseControl();
   inline  ::cereal::LongitudinalPlanSP::SpeedLimit::Pipeline getSpeedLimit();
   inline  ::cereal::LongitudinalPlanSP::E2eAlerts::Pipeline getE2eAlerts();
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Pipeline getAccelController();
 private:
   ::capnp::AnyPointer::Pipeline _typeless;
   friend class ::capnp::PipelineHook;
@@ -2462,14 +2425,6 @@ public:
 
   inline bool getActive() const;
 
-  inline float getDecelIntent() const;
-
-  inline bool getCurveDetected() const;
-
-  inline bool getWantBlended() const;
-
-  inline bool getLeadVeto() const;
-
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -2507,18 +2462,6 @@ public:
   inline bool getActive();
   inline void setActive(bool value);
 
-  inline float getDecelIntent();
-  inline void setDecelIntent(float value);
-
-  inline bool getCurveDetected();
-  inline void setCurveDetected(bool value);
-
-  inline bool getWantBlended();
-  inline void setWantBlended(bool value);
-
-  inline bool getLeadVeto();
-  inline void setLeadVeto(bool value);
-
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3226,92 +3169,6 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class LongitudinalPlanSP::AccelController::Reader {
-public:
-  typedef AccelController Reads;
-
-  Reader() = default;
-  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
-
-  inline ::capnp::MessageSize totalSize() const {
-    return _reader.totalSize().asPublic();
-  }
-
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const {
-    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
-  }
-#endif  // !CAPNP_LITE
-
-  inline bool getEnabled() const;
-
-  inline bool getActive() const;
-
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile() const;
-
-private:
-  ::capnp::_::StructReader _reader;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::List;
-  friend class ::capnp::MessageBuilder;
-  friend class ::capnp::Orphanage;
-};
-
-class LongitudinalPlanSP::AccelController::Builder {
-public:
-  typedef AccelController Builds;
-
-  Builder() = delete;  // Deleted to discourage incorrect usage.
-                       // You can explicitly initialize to nullptr instead.
-  inline Builder(decltype(nullptr)) {}
-  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
-  inline operator Reader() const { return Reader(_builder.asReader()); }
-  inline Reader asReader() const { return *this; }
-
-  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const { return asReader().toString(); }
-#endif  // !CAPNP_LITE
-
-  inline bool getEnabled();
-  inline void setEnabled(bool value);
-
-  inline bool getActive();
-  inline void setActive(bool value);
-
-  inline  ::cereal::LongitudinalPlanSP::AccelController::Profile getProfile();
-  inline void setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value);
-
-private:
-  ::capnp::_::StructBuilder _builder;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  friend class ::capnp::Orphanage;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-};
-
-#if !CAPNP_LITE
-class LongitudinalPlanSP::AccelController::Pipeline {
-public:
-  typedef AccelController Pipelines;
-
-  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
-  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
-      : _typeless(kj::mv(typeless)) {}
-
-private:
-  ::capnp::AnyPointer::Pipeline _typeless;
-  friend class ::capnp::PipelineHook;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-};
-#endif  // !CAPNP_LITE
-
 class OnroadEventSP::Reader {
 public:
   typedef OnroadEventSP Reads;
@@ -4521,10 +4378,6 @@ public:
 
   inline float getSpeedLimit() const;
 
-  inline bool getEngineOff() const;
-
-  inline float getEngineRpm() const;
-
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -4556,12 +4409,6 @@ public:
   inline float getSpeedLimit();
   inline void setSpeedLimit(float value);
 
-  inline bool getEngineOff();
-  inline void setEngineOff(bool value);
-
-  inline float getEngineRpm();
-  inline void setEngineRpm(float value);
-
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -7036,45 +6883,6 @@ inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> LongitudinalPla
       ::capnp::bounded<4>() * ::capnp::POINTERS));
 }
 
-inline bool LongitudinalPlanSP::Reader::hasAccelController() const {
-  return !_reader.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
-}
-inline bool LongitudinalPlanSP::Builder::hasAccelController() {
-  return !_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::LongitudinalPlanSP::AccelController::Reader LongitudinalPlanSP::Reader::getAccelController() const {
-  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_reader.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS));
-}
-inline  ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::getAccelController() {
-  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::get(_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS));
-}
-#if !CAPNP_LITE
-inline  ::cereal::LongitudinalPlanSP::AccelController::Pipeline LongitudinalPlanSP::Pipeline::getAccelController() {
-  return  ::cereal::LongitudinalPlanSP::AccelController::Pipeline(_typeless.getPointerField(5));
-}
-#endif  // !CAPNP_LITE
-inline void LongitudinalPlanSP::Builder::setAccelController( ::cereal::LongitudinalPlanSP::AccelController::Reader value) {
-  ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::set(_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::LongitudinalPlanSP::AccelController::Builder LongitudinalPlanSP::Builder::initAccelController() {
-  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::init(_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS));
-}
-inline void LongitudinalPlanSP::Builder::adoptAccelController(
-    ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController>&& value) {
-  ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::adopt(_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::AccelController> LongitudinalPlanSP::Builder::disownAccelController() {
-  return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::AccelController>::disown(_builder.getPointerField(
-      ::capnp::bounded<5>() * ::capnp::POINTERS));
-}
-
 inline  ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState LongitudinalPlanSP::DynamicExperimentalControl::Reader::getState() const {
   return _reader.getDataField< ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -7117,62 +6925,6 @@ inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setActive(b
       ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
 }
 
-inline float LongitudinalPlanSP::DynamicExperimentalControl::Reader::getDecelIntent() const {
-  return _reader.getDataField<float>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline float LongitudinalPlanSP::DynamicExperimentalControl::Builder::getDecelIntent() {
-  return _builder.getDataField<float>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setDecelIntent(float value) {
-  _builder.setDataField<float>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getCurveDetected() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<18>() * ::capnp::ELEMENTS);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getCurveDetected() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<18>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setCurveDetected(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<18>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getWantBlended() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<19>() * ::capnp::ELEMENTS);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getWantBlended() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<19>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setWantBlended(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<19>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Reader::getLeadVeto() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<20>() * ::capnp::ELEMENTS);
-}
-
-inline bool LongitudinalPlanSP::DynamicExperimentalControl::Builder::getLeadVeto() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<20>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::DynamicExperimentalControl::Builder::setLeadVeto(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<20>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool LongitudinalPlanSP::SmartCruiseControl::Reader::hasVision() const {
   return !_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -7721,48 +7473,6 @@ inline void LongitudinalPlanSP::E2eAlerts::Builder::setLeadDepartAlert(bool valu
       ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool LongitudinalPlanSP::AccelController::Reader::getEnabled() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
-}
-
-inline bool LongitudinalPlanSP::AccelController::Builder::getEnabled() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::AccelController::Builder::setEnabled(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool LongitudinalPlanSP::AccelController::Reader::getActive() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline bool LongitudinalPlanSP::AccelController::Builder::getActive() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::AccelController::Builder::setActive(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
-inline  ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Reader::getProfile() const {
-  return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline  ::cereal::LongitudinalPlanSP::AccelController::Profile LongitudinalPlanSP::AccelController::Builder::getProfile() {
-  return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void LongitudinalPlanSP::AccelController::Builder::setProfile( ::cereal::LongitudinalPlanSP::AccelController::Profile value) {
-  _builder.setDataField< ::cereal::LongitudinalPlanSP::AccelController::Profile>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool OnroadEventSP::Reader::hasEvents() const {
   return !_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -9097,34 +8807,6 @@ inline void CarStateSP::Builder::setSpeedLimit(float value) {
       ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool CarStateSP::Reader::getEngineOff() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS);
-}
-
-inline bool CarStateSP::Builder::getEngineOff() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS);
-}
-inline void CarStateSP::Builder::setEngineOff(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS, value);
-}
-
-inline float CarStateSP::Reader::getEngineRpm() const {
-  return _reader.getDataField<float>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
-}
-
-inline float CarStateSP::Builder::getEngineRpm() {
-  return _builder.getDataField<float>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
-}
-inline void CarStateSP::Builder::setEngineRpm(float value) {
-  _builder.setDataField<float>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool LiveMapDataSP::Reader::getSpeedLimitValid() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);

openpilot/common/params_keys.h

@@ -192,16 +192,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SunnypilotStoppingController", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // toyota specific params
-    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaBrakeOnset", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -251,10 +243,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // Accel Controller profiles (Eco / Normal / Sport)
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
-
     // sunnypilot model params
     {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},

openpilot/common/tests/test_params.py

@@ -117,16 +117,12 @@ class TestParams(OpenpilotTestCase):
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
-    self.params.remove("AccelPersonalityEnabled")
-    self.params.remove("AccelPersonality")
     self.params.remove("LiveParametersV2")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
-    assert self.params.get("AccelPersonality", return_default=True) == 1
     assert self.params.get("LiveParametersV2") is None
     assert self.params.get("LiveParametersV2", return_default=True) is None
 

openpilot/selfdrive/car/card.py

@@ -11,13 +11,13 @@ from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
+
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
@@ -123,9 +123,6 @@ class Car:
       self.RI = RI
 
     self.CP.alternativeExperience = 0
-    if self.params.get_bool("ToyotaAutoHold"):
-      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)

openpilot/selfdrive/car/cruise.py

@@ -19,7 +19,6 @@ IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding err
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
-TOYOTA_VIRTUAL_CRUISE_LONG_PRESS = 65
 CRUISE_NEAREST_FUNC = {
   ButtonType.accelCruise: math.ceil,
   ButtonType.decelCruise: math.floor,
@@ -44,30 +43,6 @@ class VCruiseHelper(VCruiseHelperSP):
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  @property
-  def software_pcm_cruise_speed(self) -> bool:
-    return self.CP.brand == "toyota" and self.CP.pcmCruise and self.CP.openpilotLongitudinalControl and not self.CP_SP.pcmCruiseSpeed
-
-  @property
-  def cruise_long_press_frames(self) -> int:
-    return TOYOTA_VIRTUAL_CRUISE_LONG_PRESS if self.software_pcm_cruise_speed else CRUISE_LONG_PRESS
-
-  @property
-  def software_pcm_cruise_initialized(self) -> bool:
-    return 0 < self.v_cruise_kph < V_CRUISE_UNSET and 0 < self.v_cruise_cluster_kph < V_CRUISE_UNSET
-
-  def _apply_software_pcm_cruise_delta(self, delta_kph: float, is_metric: bool) -> None:
-    """Move Toyota's planner/display targets together while respecting both targets' bounds."""
-    cluster_min_kph = self.v_cruise_min if is_metric else self.v_cruise_min * CV.MPH_TO_KPH
-    min_delta = max(V_CRUISE_MIN - self.v_cruise_kph, cluster_min_kph - self.v_cruise_cluster_kph)
-    max_delta = min(V_CRUISE_MAX - self.v_cruise_kph, V_CRUISE_MAX - self.v_cruise_cluster_kph)
-    if delta_kph > 0:
-      applied_delta = min(delta_kph, max(0., max_delta))
-    else:
-      applied_delta = max(delta_kph, min(0., min_delta))
-    self.v_cruise_kph = round(self.v_cruise_kph + applied_delta, 1)
-    self.v_cruise_cluster_kph = round(self.v_cruise_cluster_kph + applied_delta, 1)
-
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
@@ -76,21 +51,11 @@ class VCruiseHelper(VCruiseHelperSP):
     _enabled = self.update_enabled_state(CS, enabled)
 
     if CS.cruiseState.available:
-      software_pcm_enabled = not self.CP_SP.pcmCruiseSpeed and _enabled
-      if self.software_pcm_cruise_speed:
-        software_pcm_enabled = software_pcm_enabled and self.software_pcm_cruise_initialized
-
-      if not self.CP.pcmCruise or software_pcm_enabled:
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
-        v_cruise_kph_before_sla = self.v_cruise_kph
         self.update_speed_limit_assist_v_cruise_non_pcm()
-        if self.software_pcm_cruise_speed:
-          sla_delta_kph = self.v_cruise_kph - v_cruise_kph_before_sla
-          self.v_cruise_kph = v_cruise_kph_before_sla
-          self._apply_software_pcm_cruise_delta(sla_delta_kph, is_metric)
-        else:
-          self.v_cruise_cluster_kph = self.v_cruise_kph
+        self.v_cruise_cluster_kph = self.v_cruise_kph
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -120,13 +85,13 @@ class VCruiseHelper(VCruiseHelperSP):
 
     for b in CS.buttonEvents:
       if b.type.raw in self.button_timers and not b.pressed:
-        if self.button_timers[b.type.raw] > self.cruise_long_press_frames:
+        if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
           return  # end long press
         button_type = b.type.raw
         break
     else:
       for k, timer in self.button_timers.items():
-        if timer and timer % self.cruise_long_press_frames == 0:
+        if timer and timer % CRUISE_LONG_PRESS == 0:
           button_type = k
           long_press = True
           break
@@ -150,26 +115,10 @@ class VCruiseHelper(VCruiseHelperSP):
       return
 
     long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
-    # Toyota's canonical PCM set speed and displayed cluster set speed can differ. In
-    # software-owned PCM mode, round the value the driver sees and apply the same delta
-    # to both targets so the planner/cluster calibration offset remains intact.
-    v_cruise_reference = self.v_cruise_cluster_kph if self.software_pcm_cruise_speed else self.v_cruise_kph
-    if long_press and v_cruise_reference % v_cruise_delta != 0:  # partial interval
-      v_cruise_reference_new = CRUISE_NEAREST_FUNC[button_type](v_cruise_reference / v_cruise_delta) * v_cruise_delta
+    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
-      v_cruise_reference_new = v_cruise_reference + v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
-
-    if self.software_pcm_cruise_speed:
-      delta_kph = v_cruise_reference_new - v_cruise_reference
-
-      # If SET is pressed while overriding, do not lower the target below the current speed.
-      if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
-        delta_kph = max(delta_kph, CS.vEgo * CV.MS_TO_KPH - self.v_cruise_kph)
-
-      self._apply_software_pcm_cruise_delta(delta_kph, is_metric)
-      return
-
-    self.v_cruise_kph += v_cruise_reference_new - v_cruise_reference
+      self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
 
     # If set is pressed while overriding, clip cruise speed to minimum of vEgo
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
@@ -178,12 +127,6 @@ class VCruiseHelper(VCruiseHelperSP):
     self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
-    if self.software_pcm_cruise_speed and (not enabled or not CS.cruiseState.available or not self.software_pcm_cruise_initialized):
-      for k in self.button_timers:
-        self.button_timers[k] = 0
-        self.button_change_states[k] = {"standstill": False, "enabled": False}
-      return
-
     # increment timer for buttons still pressed
     for k in self.button_timers:
       if self.button_timers[k] > 0:

openpilot/selfdrive/controls/controlsd.py

@@ -136,7 +136,6 @@ class Controls(ControlsExt):
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
-    self.long_accel_sp(actuators, CS, long_plan, pid_accel_limits)  # sunnypilot hook
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -35,12 +35,9 @@ def get_max_accel(v_ego):
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
 
-def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle,
-                      max_accel_override=None):
-  if max_accel_override is not None:
-    max_accel = max_accel_override
-  else:
-    max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
+def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
+  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
+
   if not e2e:
     a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
     a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
@@ -87,8 +84,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
-    force_decel = sm['controlsState'].forceDecel
-    if force_decel:
+    if sm['controlsState'].forceDecel:
       v_cruise = 0.0
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
@@ -122,7 +118,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
     self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
-    self.update_dec(sm)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -145,17 +140,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     is_e2e = self.is_e2e(sm)
 
-    max_accel_override = self.get_max_accel_override(v_ego, sm['carStateSP'].engineOff)
-    v_cruise = self.get_cruise_target_override(v_ego, v_cruise, force_decel, accel_coast if accel_coast < 0.0 else None)
-    a_cruise_prev = self.a_cruise
-    gated_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, a_cruise_prev, steer_angle_without_offset,
-                                    self.CP, self.dt, accel_coast, self.allow_throttle, max_accel_override)
-    ungated_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, a_cruise_prev, steer_angle_without_offset,
-                                      self.CP, self.dt, accel_coast, True, max_accel_override)
-    self.a_cruise = self.arbitrate_cruise_candidate(
-      sm, gated_cruise, ungated_cruise, output_a_target_mpc, self.mpc.source,
-      allow_throttle=self.allow_throttle, e2e=is_e2e, force_decel=force_decel,
-    )
+    self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,
+                                     self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
+                                     accel_coast, self.allow_throttle)
     cruise_should_stop = should_stop(v_ego, self.a_cruise)
 
     candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
@@ -166,7 +153,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
     self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
     self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
-    self.accel_controller_active = self.is_accel_controller_active(force_decel)
 
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
 

openpilot/selfdrive/locationd/models/generated/car.cpp

@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758) {
-   out_5070392900769873758[0] = delta_x[0] + nom_x[0];
-   out_5070392900769873758[1] = delta_x[1] + nom_x[1];
-   out_5070392900769873758[2] = delta_x[2] + nom_x[2];
-   out_5070392900769873758[3] = delta_x[3] + nom_x[3];
-   out_5070392900769873758[4] = delta_x[4] + nom_x[4];
-   out_5070392900769873758[5] = delta_x[5] + nom_x[5];
-   out_5070392900769873758[6] = delta_x[6] + nom_x[6];
-   out_5070392900769873758[7] = delta_x[7] + nom_x[7];
-   out_5070392900769873758[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
+   out_5744499419236567507[0] = delta_x[0] + nom_x[0];
+   out_5744499419236567507[1] = delta_x[1] + nom_x[1];
+   out_5744499419236567507[2] = delta_x[2] + nom_x[2];
+   out_5744499419236567507[3] = delta_x[3] + nom_x[3];
+   out_5744499419236567507[4] = delta_x[4] + nom_x[4];
+   out_5744499419236567507[5] = delta_x[5] + nom_x[5];
+   out_5744499419236567507[6] = delta_x[6] + nom_x[6];
+   out_5744499419236567507[7] = delta_x[7] + nom_x[7];
+   out_5744499419236567507[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
-   out_3742760733154016051[0] = -nom_x[0] + true_x[0];
-   out_3742760733154016051[1] = -nom_x[1] + true_x[1];
-   out_3742760733154016051[2] = -nom_x[2] + true_x[2];
-   out_3742760733154016051[3] = -nom_x[3] + true_x[3];
-   out_3742760733154016051[4] = -nom_x[4] + true_x[4];
-   out_3742760733154016051[5] = -nom_x[5] + true_x[5];
-   out_3742760733154016051[6] = -nom_x[6] + true_x[6];
-   out_3742760733154016051[7] = -nom_x[7] + true_x[7];
-   out_3742760733154016051[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
+   out_1184805137205037163[0] = -nom_x[0] + true_x[0];
+   out_1184805137205037163[1] = -nom_x[1] + true_x[1];
+   out_1184805137205037163[2] = -nom_x[2] + true_x[2];
+   out_1184805137205037163[3] = -nom_x[3] + true_x[3];
+   out_1184805137205037163[4] = -nom_x[4] + true_x[4];
+   out_1184805137205037163[5] = -nom_x[5] + true_x[5];
+   out_1184805137205037163[6] = -nom_x[6] + true_x[6];
+   out_1184805137205037163[7] = -nom_x[7] + true_x[7];
+   out_1184805137205037163[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_5758456641177717920) {
-   out_5758456641177717920[0] = 1.0;
-   out_5758456641177717920[1] = 0.0;
-   out_5758456641177717920[2] = 0.0;
-   out_5758456641177717920[3] = 0.0;
-   out_5758456641177717920[4] = 0.0;
-   out_5758456641177717920[5] = 0.0;
-   out_5758456641177717920[6] = 0.0;
-   out_5758456641177717920[7] = 0.0;
-   out_5758456641177717920[8] = 0.0;
-   out_5758456641177717920[9] = 0.0;
-   out_5758456641177717920[10] = 1.0;
-   out_5758456641177717920[11] = 0.0;
-   out_5758456641177717920[12] = 0.0;
-   out_5758456641177717920[13] = 0.0;
-   out_5758456641177717920[14] = 0.0;
-   out_5758456641177717920[15] = 0.0;
-   out_5758456641177717920[16] = 0.0;
-   out_5758456641177717920[17] = 0.0;
-   out_5758456641177717920[18] = 0.0;
-   out_5758456641177717920[19] = 0.0;
-   out_5758456641177717920[20] = 1.0;
-   out_5758456641177717920[21] = 0.0;
-   out_5758456641177717920[22] = 0.0;
-   out_5758456641177717920[23] = 0.0;
-   out_5758456641177717920[24] = 0.0;
-   out_5758456641177717920[25] = 0.0;
-   out_5758456641177717920[26] = 0.0;
-   out_5758456641177717920[27] = 0.0;
-   out_5758456641177717920[28] = 0.0;
-   out_5758456641177717920[29] = 0.0;
-   out_5758456641177717920[30] = 1.0;
-   out_5758456641177717920[31] = 0.0;
-   out_5758456641177717920[32] = 0.0;
-   out_5758456641177717920[33] = 0.0;
-   out_5758456641177717920[34] = 0.0;
-   out_5758456641177717920[35] = 0.0;
-   out_5758456641177717920[36] = 0.0;
-   out_5758456641177717920[37] = 0.0;
-   out_5758456641177717920[38] = 0.0;
-   out_5758456641177717920[39] = 0.0;
-   out_5758456641177717920[40] = 1.0;
-   out_5758456641177717920[41] = 0.0;
-   out_5758456641177717920[42] = 0.0;
-   out_5758456641177717920[43] = 0.0;
-   out_5758456641177717920[44] = 0.0;
-   out_5758456641177717920[45] = 0.0;
-   out_5758456641177717920[46] = 0.0;
-   out_5758456641177717920[47] = 0.0;
-   out_5758456641177717920[48] = 0.0;
-   out_5758456641177717920[49] = 0.0;
-   out_5758456641177717920[50] = 1.0;
-   out_5758456641177717920[51] = 0.0;
-   out_5758456641177717920[52] = 0.0;
-   out_5758456641177717920[53] = 0.0;
-   out_5758456641177717920[54] = 0.0;
-   out_5758456641177717920[55] = 0.0;
-   out_5758456641177717920[56] = 0.0;
-   out_5758456641177717920[57] = 0.0;
-   out_5758456641177717920[58] = 0.0;
-   out_5758456641177717920[59] = 0.0;
-   out_5758456641177717920[60] = 1.0;
-   out_5758456641177717920[61] = 0.0;
-   out_5758456641177717920[62] = 0.0;
-   out_5758456641177717920[63] = 0.0;
-   out_5758456641177717920[64] = 0.0;
-   out_5758456641177717920[65] = 0.0;
-   out_5758456641177717920[66] = 0.0;
-   out_5758456641177717920[67] = 0.0;
-   out_5758456641177717920[68] = 0.0;
-   out_5758456641177717920[69] = 0.0;
-   out_5758456641177717920[70] = 1.0;
-   out_5758456641177717920[71] = 0.0;
-   out_5758456641177717920[72] = 0.0;
-   out_5758456641177717920[73] = 0.0;
-   out_5758456641177717920[74] = 0.0;
-   out_5758456641177717920[75] = 0.0;
-   out_5758456641177717920[76] = 0.0;
-   out_5758456641177717920[77] = 0.0;
-   out_5758456641177717920[78] = 0.0;
-   out_5758456641177717920[79] = 0.0;
-   out_5758456641177717920[80] = 1.0;
+void H_mod_fun(double *state, double *out_2752971634021862652) {
+   out_2752971634021862652[0] = 1.0;
+   out_2752971634021862652[1] = 0.0;
+   out_2752971634021862652[2] = 0.0;
+   out_2752971634021862652[3] = 0.0;
+   out_2752971634021862652[4] = 0.0;
+   out_2752971634021862652[5] = 0.0;
+   out_2752971634021862652[6] = 0.0;
+   out_2752971634021862652[7] = 0.0;
+   out_2752971634021862652[8] = 0.0;
+   out_2752971634021862652[9] = 0.0;
+   out_2752971634021862652[10] = 1.0;
+   out_2752971634021862652[11] = 0.0;
+   out_2752971634021862652[12] = 0.0;
+   out_2752971634021862652[13] = 0.0;
+   out_2752971634021862652[14] = 0.0;
+   out_2752971634021862652[15] = 0.0;
+   out_2752971634021862652[16] = 0.0;
+   out_2752971634021862652[17] = 0.0;
+   out_2752971634021862652[18] = 0.0;
+   out_2752971634021862652[19] = 0.0;
+   out_2752971634021862652[20] = 1.0;
+   out_2752971634021862652[21] = 0.0;
+   out_2752971634021862652[22] = 0.0;
+   out_2752971634021862652[23] = 0.0;
+   out_2752971634021862652[24] = 0.0;
+   out_2752971634021862652[25] = 0.0;
+   out_2752971634021862652[26] = 0.0;
+   out_2752971634021862652[27] = 0.0;
+   out_2752971634021862652[28] = 0.0;
+   out_2752971634021862652[29] = 0.0;
+   out_2752971634021862652[30] = 1.0;
+   out_2752971634021862652[31] = 0.0;
+   out_2752971634021862652[32] = 0.0;
+   out_2752971634021862652[33] = 0.0;
+   out_2752971634021862652[34] = 0.0;
+   out_2752971634021862652[35] = 0.0;
+   out_2752971634021862652[36] = 0.0;
+   out_2752971634021862652[37] = 0.0;
+   out_2752971634021862652[38] = 0.0;
+   out_2752971634021862652[39] = 0.0;
+   out_2752971634021862652[40] = 1.0;
+   out_2752971634021862652[41] = 0.0;
+   out_2752971634021862652[42] = 0.0;
+   out_2752971634021862652[43] = 0.0;
+   out_2752971634021862652[44] = 0.0;
+   out_2752971634021862652[45] = 0.0;
+   out_2752971634021862652[46] = 0.0;
+   out_2752971634021862652[47] = 0.0;
+   out_2752971634021862652[48] = 0.0;
+   out_2752971634021862652[49] = 0.0;
+   out_2752971634021862652[50] = 1.0;
+   out_2752971634021862652[51] = 0.0;
+   out_2752971634021862652[52] = 0.0;
+   out_2752971634021862652[53] = 0.0;
+   out_2752971634021862652[54] = 0.0;
+   out_2752971634021862652[55] = 0.0;
+   out_2752971634021862652[56] = 0.0;
+   out_2752971634021862652[57] = 0.0;
+   out_2752971634021862652[58] = 0.0;
+   out_2752971634021862652[59] = 0.0;
+   out_2752971634021862652[60] = 1.0;
+   out_2752971634021862652[61] = 0.0;
+   out_2752971634021862652[62] = 0.0;
+   out_2752971634021862652[63] = 0.0;
+   out_2752971634021862652[64] = 0.0;
+   out_2752971634021862652[65] = 0.0;
+   out_2752971634021862652[66] = 0.0;
+   out_2752971634021862652[67] = 0.0;
+   out_2752971634021862652[68] = 0.0;
+   out_2752971634021862652[69] = 0.0;
+   out_2752971634021862652[70] = 1.0;
+   out_2752971634021862652[71] = 0.0;
+   out_2752971634021862652[72] = 0.0;
+   out_2752971634021862652[73] = 0.0;
+   out_2752971634021862652[74] = 0.0;
+   out_2752971634021862652[75] = 0.0;
+   out_2752971634021862652[76] = 0.0;
+   out_2752971634021862652[77] = 0.0;
+   out_2752971634021862652[78] = 0.0;
+   out_2752971634021862652[79] = 0.0;
+   out_2752971634021862652[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_730595102125265078) {
-   out_730595102125265078[0] = state[0];
-   out_730595102125265078[1] = state[1];
-   out_730595102125265078[2] = state[2];
-   out_730595102125265078[3] = state[3];
-   out_730595102125265078[4] = state[4];
-   out_730595102125265078[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_730595102125265078[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_730595102125265078[7] = state[7];
-   out_730595102125265078[8] = state[8];
+void f_fun(double *state, double dt, double *out_7658700760911629364) {
+   out_7658700760911629364[0] = state[0];
+   out_7658700760911629364[1] = state[1];
+   out_7658700760911629364[2] = state[2];
+   out_7658700760911629364[3] = state[3];
+   out_7658700760911629364[4] = state[4];
+   out_7658700760911629364[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_7658700760911629364[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_7658700760911629364[7] = state[7];
+   out_7658700760911629364[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_7198115545780111359) {
-   out_7198115545780111359[0] = 1;
-   out_7198115545780111359[1] = 0;
-   out_7198115545780111359[2] = 0;
-   out_7198115545780111359[3] = 0;
-   out_7198115545780111359[4] = 0;
-   out_7198115545780111359[5] = 0;
-   out_7198115545780111359[6] = 0;
-   out_7198115545780111359[7] = 0;
-   out_7198115545780111359[8] = 0;
-   out_7198115545780111359[9] = 0;
-   out_7198115545780111359[10] = 1;
-   out_7198115545780111359[11] = 0;
-   out_7198115545780111359[12] = 0;
-   out_7198115545780111359[13] = 0;
-   out_7198115545780111359[14] = 0;
-   out_7198115545780111359[15] = 0;
-   out_7198115545780111359[16] = 0;
-   out_7198115545780111359[17] = 0;
-   out_7198115545780111359[18] = 0;
-   out_7198115545780111359[19] = 0;
-   out_7198115545780111359[20] = 1;
-   out_7198115545780111359[21] = 0;
-   out_7198115545780111359[22] = 0;
-   out_7198115545780111359[23] = 0;
-   out_7198115545780111359[24] = 0;
-   out_7198115545780111359[25] = 0;
-   out_7198115545780111359[26] = 0;
-   out_7198115545780111359[27] = 0;
-   out_7198115545780111359[28] = 0;
-   out_7198115545780111359[29] = 0;
-   out_7198115545780111359[30] = 1;
-   out_7198115545780111359[31] = 0;
-   out_7198115545780111359[32] = 0;
-   out_7198115545780111359[33] = 0;
-   out_7198115545780111359[34] = 0;
-   out_7198115545780111359[35] = 0;
-   out_7198115545780111359[36] = 0;
-   out_7198115545780111359[37] = 0;
-   out_7198115545780111359[38] = 0;
-   out_7198115545780111359[39] = 0;
-   out_7198115545780111359[40] = 1;
-   out_7198115545780111359[41] = 0;
-   out_7198115545780111359[42] = 0;
-   out_7198115545780111359[43] = 0;
-   out_7198115545780111359[44] = 0;
-   out_7198115545780111359[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_7198115545780111359[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_7198115545780111359[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_7198115545780111359[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_7198115545780111359[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_7198115545780111359[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[53] = -9.8100000000000005*dt;
-   out_7198115545780111359[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_7198115545780111359[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_7198115545780111359[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_7198115545780111359[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_7198115545780111359[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_7198115545780111359[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[62] = 0;
-   out_7198115545780111359[63] = 0;
-   out_7198115545780111359[64] = 0;
-   out_7198115545780111359[65] = 0;
-   out_7198115545780111359[66] = 0;
-   out_7198115545780111359[67] = 0;
-   out_7198115545780111359[68] = 0;
-   out_7198115545780111359[69] = 0;
-   out_7198115545780111359[70] = 1;
-   out_7198115545780111359[71] = 0;
-   out_7198115545780111359[72] = 0;
-   out_7198115545780111359[73] = 0;
-   out_7198115545780111359[74] = 0;
-   out_7198115545780111359[75] = 0;
-   out_7198115545780111359[76] = 0;
-   out_7198115545780111359[77] = 0;
-   out_7198115545780111359[78] = 0;
-   out_7198115545780111359[79] = 0;
-   out_7198115545780111359[80] = 1;
+void F_fun(double *state, double dt, double *out_6351856658156694456) {
+   out_6351856658156694456[0] = 1;
+   out_6351856658156694456[1] = 0;
+   out_6351856658156694456[2] = 0;
+   out_6351856658156694456[3] = 0;
+   out_6351856658156694456[4] = 0;
+   out_6351856658156694456[5] = 0;
+   out_6351856658156694456[6] = 0;
+   out_6351856658156694456[7] = 0;
+   out_6351856658156694456[8] = 0;
+   out_6351856658156694456[9] = 0;
+   out_6351856658156694456[10] = 1;
+   out_6351856658156694456[11] = 0;
+   out_6351856658156694456[12] = 0;
+   out_6351856658156694456[13] = 0;
+   out_6351856658156694456[14] = 0;
+   out_6351856658156694456[15] = 0;
+   out_6351856658156694456[16] = 0;
+   out_6351856658156694456[17] = 0;
+   out_6351856658156694456[18] = 0;
+   out_6351856658156694456[19] = 0;
+   out_6351856658156694456[20] = 1;
+   out_6351856658156694456[21] = 0;
+   out_6351856658156694456[22] = 0;
+   out_6351856658156694456[23] = 0;
+   out_6351856658156694456[24] = 0;
+   out_6351856658156694456[25] = 0;
+   out_6351856658156694456[26] = 0;
+   out_6351856658156694456[27] = 0;
+   out_6351856658156694456[28] = 0;
+   out_6351856658156694456[29] = 0;
+   out_6351856658156694456[30] = 1;
+   out_6351856658156694456[31] = 0;
+   out_6351856658156694456[32] = 0;
+   out_6351856658156694456[33] = 0;
+   out_6351856658156694456[34] = 0;
+   out_6351856658156694456[35] = 0;
+   out_6351856658156694456[36] = 0;
+   out_6351856658156694456[37] = 0;
+   out_6351856658156694456[38] = 0;
+   out_6351856658156694456[39] = 0;
+   out_6351856658156694456[40] = 1;
+   out_6351856658156694456[41] = 0;
+   out_6351856658156694456[42] = 0;
+   out_6351856658156694456[43] = 0;
+   out_6351856658156694456[44] = 0;
+   out_6351856658156694456[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_6351856658156694456[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_6351856658156694456[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6351856658156694456[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6351856658156694456[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_6351856658156694456[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_6351856658156694456[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_6351856658156694456[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_6351856658156694456[53] = -9.8100000000000005*dt;
+   out_6351856658156694456[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_6351856658156694456[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_6351856658156694456[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6351856658156694456[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6351856658156694456[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_6351856658156694456[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_6351856658156694456[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_6351856658156694456[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_6351856658156694456[62] = 0;
+   out_6351856658156694456[63] = 0;
+   out_6351856658156694456[64] = 0;
+   out_6351856658156694456[65] = 0;
+   out_6351856658156694456[66] = 0;
+   out_6351856658156694456[67] = 0;
+   out_6351856658156694456[68] = 0;
+   out_6351856658156694456[69] = 0;
+   out_6351856658156694456[70] = 1;
+   out_6351856658156694456[71] = 0;
+   out_6351856658156694456[72] = 0;
+   out_6351856658156694456[73] = 0;
+   out_6351856658156694456[74] = 0;
+   out_6351856658156694456[75] = 0;
+   out_6351856658156694456[76] = 0;
+   out_6351856658156694456[77] = 0;
+   out_6351856658156694456[78] = 0;
+   out_6351856658156694456[79] = 0;
+   out_6351856658156694456[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_5441109048213736058) {
-   out_5441109048213736058[0] = state[6];
+void h_25(double *state, double *unused, double *out_2115125997200973707) {
+   out_2115125997200973707[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4766949399557973891) {
-   out_4766949399557973891[0] = 0;
-   out_4766949399557973891[1] = 0;
-   out_4766949399557973891[2] = 0;
-   out_4766949399557973891[3] = 0;
-   out_4766949399557973891[4] = 0;
-   out_4766949399557973891[5] = 0;
-   out_4766949399557973891[6] = 1;
-   out_4766949399557973891[7] = 0;
-   out_4766949399557973891[8] = 0;
+void H_25(double *state, double *unused, double *out_6275952284011354329) {
+   out_6275952284011354329[0] = 0;
+   out_6275952284011354329[1] = 0;
+   out_6275952284011354329[2] = 0;
+   out_6275952284011354329[3] = 0;
+   out_6275952284011354329[4] = 0;
+   out_6275952284011354329[5] = 0;
+   out_6275952284011354329[6] = 1;
+   out_6275952284011354329[7] = 0;
+   out_6275952284011354329[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_2797667639827089179) {
-   out_2797667639827089179[0] = state[4];
-   out_2797667639827089179[1] = state[5];
+void h_24(double *state, double *unused, double *out_7937179482135297626) {
+   out_7937179482135297626[0] = state[4];
+   out_7937179482135297626[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_4461115786511221334) {
-   out_4461115786511221334[0] = 0;
-   out_4461115786511221334[1] = 0;
-   out_4461115786511221334[2] = 0;
-   out_4461115786511221334[3] = 0;
-   out_4461115786511221334[4] = 1;
-   out_4461115786511221334[5] = 0;
-   out_4461115786511221334[6] = 0;
-   out_4461115786511221334[7] = 0;
-   out_4461115786511221334[8] = 0;
-   out_4461115786511221334[9] = 0;
-   out_4461115786511221334[10] = 0;
-   out_4461115786511221334[11] = 0;
-   out_4461115786511221334[12] = 0;
-   out_4461115786511221334[13] = 0;
-   out_4461115786511221334[14] = 1;
-   out_4461115786511221334[15] = 0;
-   out_4461115786511221334[16] = 0;
-   out_4461115786511221334[17] = 0;
+void H_24(double *state, double *unused, double *out_8612866190895874151) {
+   out_8612866190895874151[0] = 0;
+   out_8612866190895874151[1] = 0;
+   out_8612866190895874151[2] = 0;
+   out_8612866190895874151[3] = 0;
+   out_8612866190895874151[4] = 1;
+   out_8612866190895874151[5] = 0;
+   out_8612866190895874151[6] = 0;
+   out_8612866190895874151[7] = 0;
+   out_8612866190895874151[8] = 0;
+   out_8612866190895874151[9] = 0;
+   out_8612866190895874151[10] = 0;
+   out_8612866190895874151[11] = 0;
+   out_8612866190895874151[12] = 0;
+   out_8612866190895874151[13] = 0;
+   out_8612866190895874151[14] = 1;
+   out_8612866190895874151[15] = 0;
+   out_8612866190895874151[16] = 0;
+   out_8612866190895874151[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1188271489450022901) {
-   out_1188271489450022901[0] = state[4];
+void h_30(double *state, double *unused, double *out_8646825364085210282) {
+   out_8646825364085210282[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_9152098344023969527) {
-   out_9152098344023969527[0] = 0;
-   out_9152098344023969527[1] = 0;
-   out_9152098344023969527[2] = 0;
-   out_9152098344023969527[3] = 0;
-   out_9152098344023969527[4] = 1;
-   out_9152098344023969527[5] = 0;
-   out_9152098344023969527[6] = 0;
-   out_9152098344023969527[7] = 0;
-   out_9152098344023969527[8] = 0;
+void H_30(double *state, double *unused, double *out_6146613336868114259) {
+   out_6146613336868114259[0] = 0;
+   out_6146613336868114259[1] = 0;
+   out_6146613336868114259[2] = 0;
+   out_6146613336868114259[3] = 0;
+   out_6146613336868114259[4] = 1;
+   out_6146613336868114259[5] = 0;
+   out_6146613336868114259[6] = 0;
+   out_6146613336868114259[7] = 0;
+   out_6146613336868114259[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6530138725336053464) {
-   out_6530138725336053464[0] = state[7];
+void h_26(double *state, double *unused, double *out_7195513388815643683) {
+   out_7195513388815643683[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_8508452718432030115) {
-   out_8508452718432030115[0] = 0;
-   out_8508452718432030115[1] = 0;
-   out_8508452718432030115[2] = 0;
-   out_8508452718432030115[3] = 0;
-   out_8508452718432030115[4] = 0;
-   out_8508452718432030115[5] = 0;
-   out_8508452718432030115[6] = 0;
-   out_8508452718432030115[7] = 1;
-   out_8508452718432030115[8] = 0;
+void H_26(double *state, double *unused, double *out_2534448965137298105) {
+   out_2534448965137298105[0] = 0;
+   out_2534448965137298105[1] = 0;
+   out_2534448965137298105[2] = 0;
+   out_2534448965137298105[3] = 0;
+   out_2534448965137298105[4] = 0;
+   out_2534448965137298105[5] = 0;
+   out_2534448965137298105[6] = 0;
+   out_2534448965137298105[7] = 1;
+   out_2534448965137298105[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8003961757834969913) {
-   out_8003961757834969913[0] = state[3];
+void h_27(double *state, double *unused, double *out_3029764065914673830) {
+   out_3029764065914673830[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6977335032223544616) {
-   out_6977335032223544616[0] = 0;
-   out_6977335032223544616[1] = 0;
-   out_6977335032223544616[2] = 0;
-   out_6977335032223544616[3] = 1;
-   out_6977335032223544616[4] = 0;
-   out_6977335032223544616[5] = 0;
-   out_6977335032223544616[6] = 0;
-   out_6977335032223544616[7] = 0;
-   out_6977335032223544616[8] = 0;
+void H_27(double *state, double *unused, double *out_3971850025067689348) {
+   out_3971850025067689348[0] = 0;
+   out_3971850025067689348[1] = 0;
+   out_3971850025067689348[2] = 0;
+   out_3971850025067689348[3] = 1;
+   out_3971850025067689348[4] = 0;
+   out_3971850025067689348[5] = 0;
+   out_3971850025067689348[6] = 0;
+   out_3971850025067689348[7] = 0;
+   out_3971850025067689348[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1416133831358674750) {
-   out_1416133831358674750[0] = state[1];
+void h_29(double *state, double *unused, double *out_4733501190905998611) {
+   out_4733501190905998611[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_8784414385371189905) {
-   out_8784414385371189905[0] = 0;
-   out_8784414385371189905[1] = 1;
-   out_8784414385371189905[2] = 0;
-   out_8784414385371189905[3] = 0;
-   out_8784414385371189905[4] = 0;
-   out_8784414385371189905[5] = 0;
-   out_8784414385371189905[6] = 0;
-   out_8784414385371189905[7] = 0;
-   out_8784414385371189905[8] = 0;
+void H_29(double *state, double *unused, double *out_6656844681182506443) {
+   out_6656844681182506443[0] = 0;
+   out_6656844681182506443[1] = 1;
+   out_6656844681182506443[2] = 0;
+   out_6656844681182506443[3] = 0;
+   out_6656844681182506443[4] = 0;
+   out_6656844681182506443[5] = 0;
+   out_6656844681182506443[6] = 0;
+   out_6656844681182506443[7] = 0;
+   out_6656844681182506443[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7400645873158492396) {
-   out_7400645873158492396[0] = state[0];
+void h_28(double *state, double *unused, double *out_6095421901546968827) {
+   out_6095421901546968827[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_6820784113805863654) {
-   out_6820784113805863654[0] = 1;
-   out_6820784113805863654[1] = 0;
-   out_6820784113805863654[2] = 0;
-   out_6820784113805863654[3] = 0;
-   out_6820784113805863654[4] = 0;
-   out_6820784113805863654[5] = 0;
-   out_6820784113805863654[6] = 0;
-   out_6820784113805863654[7] = 0;
-   out_6820784113805863654[8] = 0;
+void H_28(double *state, double *unused, double *out_2823911718871392259) {
+   out_2823911718871392259[0] = 1;
+   out_2823911718871392259[1] = 0;
+   out_2823911718871392259[2] = 0;
+   out_2823911718871392259[3] = 0;
+   out_2823911718871392259[4] = 0;
+   out_2823911718871392259[5] = 0;
+   out_2823911718871392259[6] = 0;
+   out_2823911718871392259[7] = 0;
+   out_2823911718871392259[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_1803659519959713708) {
-   out_1803659519959713708[0] = state[8];
+void h_31(double *state, double *unused, double *out_6524751479517568177) {
+   out_6524751479517568177[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_9134660820665381591) {
-   out_9134660820665381591[0] = 0;
-   out_9134660820665381591[1] = 0;
-   out_9134660820665381591[2] = 0;
-   out_9134660820665381591[3] = 0;
-   out_9134660820665381591[4] = 0;
-   out_9134660820665381591[5] = 0;
-   out_9134660820665381591[6] = 0;
-   out_9134660820665381591[7] = 0;
-   out_9134660820665381591[8] = 1;
+void H_31(double *state, double *unused, double *out_6306598245888314757) {
+   out_6306598245888314757[0] = 0;
+   out_6306598245888314757[1] = 0;
+   out_6306598245888314757[2] = 0;
+   out_6306598245888314757[3] = 0;
+   out_6306598245888314757[4] = 0;
+   out_6306598245888314757[5] = 0;
+   out_6306598245888314757[6] = 0;
+   out_6306598245888314757[7] = 0;
+   out_6306598245888314757[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758) {
-  err_fun(nom_x, delta_x, out_5070392900769873758);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
+  err_fun(nom_x, delta_x, out_5744499419236567507);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
-  inv_err_fun(nom_x, true_x, out_3742760733154016051);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
+  inv_err_fun(nom_x, true_x, out_1184805137205037163);
 }
-void car_H_mod_fun(double *state, double *out_5758456641177717920) {
-  H_mod_fun(state, out_5758456641177717920);
+void car_H_mod_fun(double *state, double *out_2752971634021862652) {
+  H_mod_fun(state, out_2752971634021862652);
 }
-void car_f_fun(double *state, double dt, double *out_730595102125265078) {
-  f_fun(state,  dt, out_730595102125265078);
+void car_f_fun(double *state, double dt, double *out_7658700760911629364) {
+  f_fun(state,  dt, out_7658700760911629364);
 }
-void car_F_fun(double *state, double dt, double *out_7198115545780111359) {
-  F_fun(state,  dt, out_7198115545780111359);
+void car_F_fun(double *state, double dt, double *out_6351856658156694456) {
+  F_fun(state,  dt, out_6351856658156694456);
 }
-void car_h_25(double *state, double *unused, double *out_5441109048213736058) {
-  h_25(state, unused, out_5441109048213736058);
+void car_h_25(double *state, double *unused, double *out_2115125997200973707) {
+  h_25(state, unused, out_2115125997200973707);
 }
-void car_H_25(double *state, double *unused, double *out_4766949399557973891) {
-  H_25(state, unused, out_4766949399557973891);
+void car_H_25(double *state, double *unused, double *out_6275952284011354329) {
+  H_25(state, unused, out_6275952284011354329);
 }
-void car_h_24(double *state, double *unused, double *out_2797667639827089179) {
-  h_24(state, unused, out_2797667639827089179);
+void car_h_24(double *state, double *unused, double *out_7937179482135297626) {
+  h_24(state, unused, out_7937179482135297626);
 }
-void car_H_24(double *state, double *unused, double *out_4461115786511221334) {
-  H_24(state, unused, out_4461115786511221334);
+void car_H_24(double *state, double *unused, double *out_8612866190895874151) {
+  H_24(state, unused, out_8612866190895874151);
 }
-void car_h_30(double *state, double *unused, double *out_1188271489450022901) {
-  h_30(state, unused, out_1188271489450022901);
+void car_h_30(double *state, double *unused, double *out_8646825364085210282) {
+  h_30(state, unused, out_8646825364085210282);
 }
-void car_H_30(double *state, double *unused, double *out_9152098344023969527) {
-  H_30(state, unused, out_9152098344023969527);
+void car_H_30(double *state, double *unused, double *out_6146613336868114259) {
+  H_30(state, unused, out_6146613336868114259);
 }
-void car_h_26(double *state, double *unused, double *out_6530138725336053464) {
-  h_26(state, unused, out_6530138725336053464);
+void car_h_26(double *state, double *unused, double *out_7195513388815643683) {
+  h_26(state, unused, out_7195513388815643683);
 }
-void car_H_26(double *state, double *unused, double *out_8508452718432030115) {
-  H_26(state, unused, out_8508452718432030115);
+void car_H_26(double *state, double *unused, double *out_2534448965137298105) {
+  H_26(state, unused, out_2534448965137298105);
 }
-void car_h_27(double *state, double *unused, double *out_8003961757834969913) {
-  h_27(state, unused, out_8003961757834969913);
+void car_h_27(double *state, double *unused, double *out_3029764065914673830) {
+  h_27(state, unused, out_3029764065914673830);
 }
-void car_H_27(double *state, double *unused, double *out_6977335032223544616) {
-  H_27(state, unused, out_6977335032223544616);
+void car_H_27(double *state, double *unused, double *out_3971850025067689348) {
+  H_27(state, unused, out_3971850025067689348);
 }
-void car_h_29(double *state, double *unused, double *out_1416133831358674750) {
-  h_29(state, unused, out_1416133831358674750);
+void car_h_29(double *state, double *unused, double *out_4733501190905998611) {
+  h_29(state, unused, out_4733501190905998611);
 }
-void car_H_29(double *state, double *unused, double *out_8784414385371189905) {
-  H_29(state, unused, out_8784414385371189905);
+void car_H_29(double *state, double *unused, double *out_6656844681182506443) {
+  H_29(state, unused, out_6656844681182506443);
 }
-void car_h_28(double *state, double *unused, double *out_7400645873158492396) {
-  h_28(state, unused, out_7400645873158492396);
+void car_h_28(double *state, double *unused, double *out_6095421901546968827) {
+  h_28(state, unused, out_6095421901546968827);
 }
-void car_H_28(double *state, double *unused, double *out_6820784113805863654) {
-  H_28(state, unused, out_6820784113805863654);
+void car_H_28(double *state, double *unused, double *out_2823911718871392259) {
+  H_28(state, unused, out_2823911718871392259);
 }
-void car_h_31(double *state, double *unused, double *out_1803659519959713708) {
-  h_31(state, unused, out_1803659519959713708);
+void car_h_31(double *state, double *unused, double *out_6524751479517568177) {
+  h_31(state, unused, out_6524751479517568177);
 }
-void car_H_31(double *state, double *unused, double *out_9134660820665381591) {
-  H_31(state, unused, out_9134660820665381591);
+void car_H_31(double *state, double *unused, double *out_6306598245888314757) {
+  H_31(state, unused, out_6306598245888314757);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

openpilot/selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051);
-void car_H_mod_fun(double *state, double *out_5758456641177717920);
-void car_f_fun(double *state, double dt, double *out_730595102125265078);
-void car_F_fun(double *state, double dt, double *out_7198115545780111359);
-void car_h_25(double *state, double *unused, double *out_5441109048213736058);
-void car_H_25(double *state, double *unused, double *out_4766949399557973891);
-void car_h_24(double *state, double *unused, double *out_2797667639827089179);
-void car_H_24(double *state, double *unused, double *out_4461115786511221334);
-void car_h_30(double *state, double *unused, double *out_1188271489450022901);
-void car_H_30(double *state, double *unused, double *out_9152098344023969527);
-void car_h_26(double *state, double *unused, double *out_6530138725336053464);
-void car_H_26(double *state, double *unused, double *out_8508452718432030115);
-void car_h_27(double *state, double *unused, double *out_8003961757834969913);
-void car_H_27(double *state, double *unused, double *out_6977335032223544616);
-void car_h_29(double *state, double *unused, double *out_1416133831358674750);
-void car_H_29(double *state, double *unused, double *out_8784414385371189905);
-void car_h_28(double *state, double *unused, double *out_7400645873158492396);
-void car_H_28(double *state, double *unused, double *out_6820784113805863654);
-void car_h_31(double *state, double *unused, double *out_1803659519959713708);
-void car_H_31(double *state, double *unused, double *out_9134660820665381591);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163);
+void car_H_mod_fun(double *state, double *out_2752971634021862652);
+void car_f_fun(double *state, double dt, double *out_7658700760911629364);
+void car_F_fun(double *state, double dt, double *out_6351856658156694456);
+void car_h_25(double *state, double *unused, double *out_2115125997200973707);
+void car_H_25(double *state, double *unused, double *out_6275952284011354329);
+void car_h_24(double *state, double *unused, double *out_7937179482135297626);
+void car_H_24(double *state, double *unused, double *out_8612866190895874151);
+void car_h_30(double *state, double *unused, double *out_8646825364085210282);
+void car_H_30(double *state, double *unused, double *out_6146613336868114259);
+void car_h_26(double *state, double *unused, double *out_7195513388815643683);
+void car_H_26(double *state, double *unused, double *out_2534448965137298105);
+void car_h_27(double *state, double *unused, double *out_3029764065914673830);
+void car_H_27(double *state, double *unused, double *out_3971850025067689348);
+void car_h_29(double *state, double *unused, double *out_4733501190905998611);
+void car_H_29(double *state, double *unused, double *out_6656844681182506443);
+void car_h_28(double *state, double *unused, double *out_6095421901546968827);
+void car_H_28(double *state, double *unused, double *out_2823911718871392259);
+void car_h_31(double *state, double *unused, double *out_6524751479517568177);
+void car_H_31(double *state, double *unused, double *out_6306598245888314757);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

openpilot/selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_8299703332077589328);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4608058237383429265);
-void pose_H_mod_fun(double *state, double *out_7885453398379249088);
-void pose_f_fun(double *state, double dt, double *out_1688144950946873165);
-void pose_F_fun(double *state, double dt, double *out_4851283621730691038);
-void pose_h_4(double *state, double *unused, double *out_2329133011647763937);
-void pose_H_4(double *state, double *unused, double *out_8639614400433961695);
-void pose_h_10(double *state, double *unused, double *out_3294648635274985008);
-void pose_H_10(double *state, double *unused, double *out_3780608178453222524);
-void pose_h_13(double *state, double *unused, double *out_8905113933939181200);
-void pose_H_13(double *state, double *unused, double *out_6594855847943257120);
-void pose_h_14(double *state, double *unused, double *out_8324071568749841126);
-void pose_H_14(double *state, double *unused, double *out_5843888816936105392);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7899872685628621531);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1215289726053279423);
+void pose_H_mod_fun(double *state, double *out_420741753375595218);
+void pose_f_fun(double *state, double dt, double *out_5996963235034927992);
+void pose_F_fun(double *state, double dt, double *out_78320000076568703);
+void pose_h_4(double *state, double *unused, double *out_2403402202974529453);
+void pose_H_4(double *state, double *unused, double *out_5573260138414675953);
+void pose_h_10(double *state, double *unused, double *out_1415940429779603810);
+void pose_H_10(double *state, double *unused, double *out_5540918162512642087);
+void pose_h_13(double *state, double *unused, double *out_8116494657900557165);
+void pose_H_13(double *state, double *unused, double *out_8785533963747008754);
+void pose_h_14(double *state, double *unused, double *out_2556692697037776409);
+void pose_H_14(double *state, double *unused, double *out_8910243078955391134);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

openpilot/selfdrive/modeld/modeld.py

@@ -474,7 +474,6 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)

openpilot/selfdrive/pandad/spi.cc

@@ -29,6 +29,12 @@ enum SpiError {
 
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
+// TODO: fix SPI turnaround synchronization at the protocol level.
+static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
+
+static void wait_for_spi_turnaround(uint64_t start_ns) {
+  while ((nanos_since_boot() - start_ns) < 400000) {}
+}
 
 class LockEx {
 public:
@@ -319,6 +325,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
+  wait_for_spi_turnaround(spi_last_bus_activity_ns);
+
   xfer_count++;
   header = {
     .sync = SPI_SYNC,
@@ -347,6 +355,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   if (ret < 0) {
     goto fail;
   }
+  wait_for_spi_turnaround(nanos_since_boot());
 
   // Send data
   if (tx_data != NULL) {
@@ -389,6 +398,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     memcpy(rx_data, rx_buf + 3, rx_data_len);
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   return rx_data_len;
 
 fail:
@@ -403,6 +413,7 @@ fail:
     }
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   if (ret >= 0) ret = -1;
   return ret;
 }

openpilot/selfdrive/test/longitudinal_maneuvers/plant.py

@@ -11,15 +11,6 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 
-class PlannerSM(dict):
-  def __init__(self, radar_frame: int, services: dict):
-    super().__init__(services)
-    self.frame = radar_frame
-    self.logMonoTime = {"radarState": radar_frame}
-    self.valid = {"radarState": True}
-    self.alive = {"radarState": True}
-
-
 class Plant:
   messaging_initialized = False
 
@@ -141,7 +132,7 @@ class Plant:
     car_control.carControl.orientationNED = [0., float(pitch), 0.]
 
     # ******** get controlsState messages for plotting ***
-    sm = PlannerSM(self.rk.frame, {'radarState': radar.radarState,
+    sm = {'radarState': radar.radarState,
           'carState': car_state.carState,
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
@@ -150,7 +141,7 @@ class Plant:
           'modelV2': model.modelV2,
           'carStateSP': car_state_sp.carStateSP,
           'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation})
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     if self.planner.output_should_stop:

openpilot/selfdrive/ui/layouts/settings/toggles.py

@@ -27,12 +27,6 @@ DESCRIPTIONS = {
     "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
     "your steering wheel distance button."
   ),
-  "AccelPersonalityEnabled": tr_noop(
-    "Lets you choose how sunnypilot starts, catches up, and settles at the cruise speed. Emergency braking and stopping are unchanged."
-  ),
-  "AccelPersonality": tr_noop(
-    "Eco is gentlest, Normal balances a prompt start with smooth catch-up, and Sport is more responsive."
-  ),
   "IsLdwEnabled": tr_noop(
     "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
     "without a turn signal activated while driving over 31 mph (50 km/h)."
@@ -112,24 +106,6 @@ class TogglesLayout(Widget):
       icon="speed_limit.png"
     )
 
-    self._accel_controller_enabled = toggle_item(
-      lambda: tr("Enable Accel Controller"),
-      lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
-      self._params.get_bool("AccelPersonalityEnabled"),
-      callback=self._set_accel_controller_enabled,
-      icon="speed_limit.png",
-    )
-
-    self._accel_personality_setting = multiple_button_item(
-      lambda: tr("Acceleration Profile"),
-      lambda: tr(DESCRIPTIONS["AccelPersonality"]),
-      buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
-      button_width=300,
-      callback=self._set_accel_personality,
-      selected_index=self._params.get("AccelPersonality", return_default=True),
-      icon="speed_limit.png"
-    )
-
     self._toggles = {}
     self._locked_toggles = set()
     for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
@@ -159,11 +135,9 @@ class TogglesLayout(Widget):
 
       self._toggles[param] = toggle
 
-      # insert longitudinal personality and Accel Controller settings after NDOG toggle
+      # insert longitudinal personality after NDOG toggle
       if param == "DisengageOnAccelerator":
         self._toggles["LongitudinalPersonality"] = self._long_personality_setting
-        self._toggles["AccelPersonalityEnabled"] = self._accel_controller_enabled
-        self._toggles["AccelPersonality"] = self._accel_personality_setting
 
     self._update_experimental_mode_icon()
     self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
@@ -184,7 +158,6 @@ class TogglesLayout(Widget):
 
   def _update_toggles(self):
     ui_state.update_params()
-    accel_controller_enabled = self._params.get_bool("AccelPersonalityEnabled")
 
     e2e_description = tr(
       "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
@@ -203,15 +176,11 @@ class TogglesLayout(Widget):
         self._toggles["ExperimentalMode"].action_item.set_enabled(True)
         self._toggles["ExperimentalMode"].set_description(e2e_description)
         self._long_personality_setting.action_item.set_enabled(True)
-        self._accel_controller_enabled.action_item.set_enabled(True)
-        self._accel_personality_setting.action_item.set_enabled(True)
       else:
         # no long for now
         self._toggles["ExperimentalMode"].action_item.set_enabled(False)
         self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._long_personality_setting.action_item.set_enabled(False)
-        self._accel_controller_enabled.action_item.set_enabled(False)
-        self._accel_personality_setting.action_item.set_enabled(False)
         self._params.remove("ExperimentalMode")
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
@@ -234,8 +203,6 @@ class TogglesLayout(Widget):
     # refresh toggles from params to mirror external changes
     for param in self._toggle_defs:
       self._toggles[param].action_item.set_state(self._params.get_bool(param))
-    self._accel_controller_enabled.action_item.set_state(accel_controller_enabled)
-    self._accel_personality_setting.action_item.set_selected_button(self._params.get("AccelPersonality", return_default=True))
 
     # these toggles need restart, block while engaged
     for toggle_def in self._toggle_defs:
@@ -280,9 +247,3 @@ class TogglesLayout(Widget):
 
   def _set_longitudinal_personality(self, button_index: int):
     self._params.put("LongitudinalPersonality", button_index, block=True)
-
-  def _set_accel_personality(self, button_index: int):
-    self._params.put("AccelPersonality", button_index, block=True)
-
-  def _set_accel_controller_enabled(self, state: bool):
-    self._params.put_bool("AccelPersonalityEnabled", state, block=True)

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -14,7 +14,6 @@ from openpilot.system.ui.lib.application import gui_app
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView
 
 ONROAD_DELAY = 2.5  # seconds
 
@@ -73,9 +72,6 @@ class MiciMainLayout(Scroller):
     # For scroll_to
     return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
 
-  def _should_auto_scroll_to_onroad(self) -> bool:
-    return True
-
   def _setup_callbacks(self):
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
@@ -126,15 +122,13 @@ class MiciMainLayout(Scroller):
 
     # FIXME: these two pops can interrupt user interacting in the settings
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
-        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
       self._onroad_time_delay = None
 
     # When car leaves standstill, pop nav stack and scroll to onroad
     CS = ui_state.sm["carState"]
     if not CS.standstill and self._prev_standstill:
-      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
-        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
     self._prev_standstill = CS.standstill
 
   def _on_interactive_timeout(self):

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -42,8 +42,6 @@ class TogglesLayoutMici(NavScroller):
     super().__init__()
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
-    self._accel_controller_enabled = BigParamControl("enable accel controller", "AccelPersonalityEnabled")
-    self._accel_personality_toggle = BigMultiParamToggle("acceleration profile", "AccelPersonality", ["eco", "normal", "sport"])
     self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
                                        toggle_callback=self._on_experimental_mode)
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
@@ -55,8 +53,6 @@ class TogglesLayoutMici(NavScroller):
 
     self._scroller.add_widgets([
       self._personality_toggle,
-      self._accel_controller_enabled,
-      self._accel_personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
       ldw_toggle,
@@ -69,7 +65,6 @@ class TogglesLayoutMici(NavScroller):
     # Toggle lists
     self._refresh_toggles = (
       ("ExperimentalMode", self._experimental_btn),
-      ("AccelPersonalityEnabled", self._accel_controller_enabled),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),
@@ -109,23 +104,17 @@ class TogglesLayoutMici(NavScroller):
       if ui_state.has_longitudinal_control:
         self._experimental_btn.set_visible(True)
         self._personality_toggle.set_visible(True)
-        self._accel_controller_enabled.set_visible(True)
-        self._accel_personality_toggle.set_visible(True)
       else:
         # no long for now
         self._experimental_btn.set_visible(False)
         self._experimental_btn.set_checked(False)
         self._personality_toggle.set_visible(False)
-        self._accel_controller_enabled.set_visible(False)
-        self._accel_personality_toggle.set_visible(False)
         ui_state.params.remove("ExperimentalMode")
 
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
 
-    self._accel_personality_toggle.refresh()
-
   def _on_experimental_mode(self, state: bool):
     if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
       # Don't show enabled state until confirm

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -154,8 +154,8 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
-    if render_lead_indicator and radar_state:
-      self._draw_lead_indicator()
+    # if render_lead_indicator and radar_state:
+    #   self._draw_lead_indicator()
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""

openpilot/selfdrive/ui/mici/widgets/button.py

@@ -383,18 +383,13 @@ class BigMultiParamToggle(BigMultiToggle):
     self._load_value()
 
   def _load_value(self):
-    value = self._params.get(self._param, return_default=True)
-    index = value if isinstance(value, int) else 0
-    self.set_value(self._options[max(0, min(index, len(self._options) - 1))])
+    self.set_value(self._options[self._params.get(self._param) or 0])
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
     self._params.put(self._param, new_idx)
 
-  def refresh(self):
-    self._load_value()
-
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -143,8 +143,7 @@ class CruiseLayout(Widget):
           self.icbm_toggle.show_description(True)
 
       if has_long or has_icbm:
-        software_cruise_speed = has_long and (not ui_state.CP.pcmCruise or not ui_state.CP_SP.pcmCruiseSpeed)
-        self.custom_acc_toggle.action_item.set_enabled((software_cruise_speed or has_icbm) and ui_state.is_offroad())
+        self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.dec_toggle.action_item.set_enabled(has_long)
         self.scc_v_toggle.action_item.set_enabled(True)
         self.scc_m_toggle.action_item.set_enabled(True)
@@ -170,7 +169,7 @@ class CruiseLayout(Widget):
       show_custom_acc_desc = True
     else:
       if has_long or has_icbm:
-        if has_long and ui_state.CP.pcmCruise and ui_state.CP_SP.pcmCruiseSpeed:
+        if has_long and ui_state.CP.pcmCruise:
           new_custom_acc_desc = tr(ACC_PCMCRUISE_DISABLED_DESCRIPTION)
           show_custom_acc_desc = True
         else:

openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -4,6 +4,7 @@ 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.
 """
+import os
 import re
 import time
 import pyray as rl
@@ -12,8 +13,7 @@ from openpilot.cereal import custom
 from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle, resolve_bundle_by_ref
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.selfdrive.ui.sunnypilot.model_info import (big_model_state, bundles_for_source, carrying_model, default_model_name,
-                                                           model_cache_size_mb, queued_name, refresh_in_progress, refresh_model_list)
+from openpilot.selfdrive.ui.sunnypilot.model_info import big_model_state, bundles_for_source, carrying_model, default_model_name, queued_name
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import DialogResult, Widget
@@ -21,6 +21,7 @@ from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDial
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.toggle import ON_COLOR
 
+from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction, ScrollingButtonAction
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
@@ -39,9 +40,6 @@ class ModelsLayout(Widget):
     self._selection_source = None
     self._downloading = False
     self._verifying = False
-    self._clearing = False
-    self._refreshing = False
-    self._refresh_start: float | None = None
     self._last_note = None
     self.last_cache_calc_time = 0
 
@@ -69,14 +67,15 @@ class ModelsLayout(Widget):
 
     self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
 
-    self.refresh_item = button_item(tr("Refresh Model List"),
-                                    lambda: tr("FETCHING...") if self._refreshing else tr("REFRESH"), "",
-                                    self._refresh_models)
+    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
+                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
+                                             ui_state.params.put("ModelManager_LastSyncTime_Chestnut", 0),
+                                             gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
 
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
       description="",
-      action_item=NoElideButtonAction(lambda: tr("CLEARING...") if self._clearing else tr("CLEAR")),
+      action_item=NoElideButtonAction(tr("CLEAR")),
       callback=self._clear_cache
     )
 
@@ -116,38 +115,39 @@ class ModelsLayout(Widget):
     if lagd_toggle:
       desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['lateralDelay'].lateralDelay:.3f} s"
     elif ui_state.CP is not None:
-      sw = float(ui_state.params.get("LagdToggleDelay", return_default=True))
+      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
       desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
     self.lagd_toggle.set_description(desc)
 
   @staticmethod
   def calculate_cache_size():
-    return model_cache_size_mb()
+    cache_size = 0.0
+    if os.path.exists(CUSTOM_MODEL_PATH):
+      for file in os.listdir(CUSTOM_MODEL_PATH):
+        try:
+          cache_size += os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file))
+        except OSError:
+          continue
+    return cache_size / (1024**2)
 
   def _clear_cache(self):
     def _callback(response):
       if response == DialogResult.CONFIRM:
         ui_state.params.put_bool("ModelManager_ClearCache", True)
+        self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
                            tr("Clear Cache"), callback=_callback)
     gui_app.push_widget(dialog)
 
-  def _refresh_models(self):
-    refresh_model_list()
-    self._refresh_start = time.monotonic()
-
   def _handle_bundle_download_progress(self):
     self.cancel_download_item.set_visible(False)
     self._downloading = False
     self._verifying = False
     self.download_item.set_visible(True)
 
-    self._clearing = ui_state.params.get_bool("ModelManager_ClearCache")
-    if self._clearing:
-      self.last_cache_calc_time = 0.0  # refresh the size as soon as clearing finishes
-    elif (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
+    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
       self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
@@ -345,13 +345,6 @@ class ModelsLayout(Widget):
     self.big_model_item.action_item.set_enabled(offroad)
     self.small_model_item.set_description("" if offroad else tr("Only available when vehicle is off, or always offroad mode is on"))
 
-    # manager is offroad-only, so an onroad clear would never be serviced
-    self.clear_cache_item.action_item.set_enabled(offroad and not self._downloading and not self._clearing)
-
-    # manager is offroad-only, so a refresh queued onroad would never be serviced
-    self._refreshing = refresh_in_progress(self._refresh_start)
-    self.refresh_item.action_item.set_enabled(offroad and not self._downloading and not self._refreshing)
-
   def _render(self, rect):
     self._scroller.render(rect)
 

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py

@@ -23,7 +23,7 @@ DESCRIPTIONS = {
   'stop_and_go_hack': tr_noop(
     'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
     'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
-  ),
+  )
 }
 
 

openpilot/selfdrive/ui/sunnypilot/mici/layouts/main.py

@@ -1,19 +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.
-"""
-
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
-from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
-
-
-class MiciMainLayoutSP(MiciMainLayout):
-  def __init__(self):
-    super().__init__()
-    scroller = self._scroller
-    scroller.scroll_panel = GuiScrollPanel2SP(scroller._horizontal, handle_out_of_bounds=not scroller._snap_items)
-
-  def _should_auto_scroll_to_onroad(self) -> bool:
-    return not self._onroad_layout.is_on_info_panel()

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -4,18 +4,15 @@ 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.
 """
-import time
-
 import pyray as rl
 
 from openpilot.cereal import custom
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
 from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.sunnypilot.model_info import (active_source, big_model_state, bundles_for_source, carrying_model,
-                                                           default_model_name, model_cache_size_mb, model_info, queued_name,
-                                                           refresh_in_progress, refresh_model_list)
+                                                           default_model_name, model_info, queued_name)
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
@@ -84,18 +81,10 @@ class ModelsLayoutMici(NavScroller):
     self.select_model_btn = BigButton(tr("select model"))
     self.select_model_btn.set_click_callback(self._show_folders)
 
-    self.refresh_btn = BigButton(tr("refresh models"))
-    self.refresh_btn.set_click_callback(self._refresh_models)
-    self._refresh_start: float | None = None
-
     self.cancel_download_btn = BigButton(tr("cancel download"))
     self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadRef"))
 
-    self.clear_cache_btn = BigButton(tr("clear cache"), value=f"{model_cache_size_mb():.1f} MB")
-    self.clear_cache_btn.set_click_callback(self._confirm_clear_cache)
-    self._cache_size_time = 0.0
-
-    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn]
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
     self._scroller.add_widgets(self.main_items)
 
   @property
@@ -173,15 +162,6 @@ class ModelsLayoutMici(NavScroller):
     ui_state.params.remove(ACTIVE_BUNDLE_KEYS[source])
     self._pop_to_main()
 
-  def _confirm_clear_cache(self):
-    icon = gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64)
-    gui_app.push_widget(BigConfirmationDialog(f"{tr('slide to')}\n{tr('clear cache')}", icon,
-                                              lambda: ui_state.params.put_bool("ModelManager_ClearCache", True), red=True))
-
-  def _refresh_models(self):
-    refresh_model_list()
-    self._refresh_start = time.monotonic()
-
   def _select_folder(self, folder_name):
     source = self._selection_source
     if source is None:  # folders are only reachable after picking a hardware
@@ -225,21 +205,6 @@ class ModelsLayoutMici(NavScroller):
       device.set_override_interactive_timeout(None)
     self._was_downloading = is_downloading
 
-    # manager is offroad-only, so an onroad clear would never be serviced
-    clearing = ui_state.params.get_bool("ModelManager_ClearCache")
-    self.clear_cache_btn.set_enabled(ui_state.is_offroad() and not is_downloading and not clearing)
-    if clearing:
-      self.clear_cache_btn.set_value(tr("clearing..."))
-      self._cache_size_time = 0.0  # refresh the size as soon as clearing finishes
-    elif (now := time.monotonic()) - self._cache_size_time > 0.5:
-      self._cache_size_time = now
-      self.clear_cache_btn.set_value(f"{model_cache_size_mb():.1f} MB")
-
-    # manager is offroad-only, so a refresh queued onroad would never be serviced
-    refreshing = refresh_in_progress(self._refresh_start)
-    self.refresh_btn.set_enabled(ui_state.is_offroad() and not is_downloading and not refreshing)
-    self.refresh_btn.set_value(tr("fetching...") if refreshing else "")
-
     self.current_model_info.current_model_header.set_text(tr("active model"))
     active_text, info_header, info_text = _model_info()
     self.current_model_info.current_model_text.set_text(active_text)

openpilot/selfdrive/ui/sunnypilot/mici/layouts/onroad.py

@@ -1,64 +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.
-"""
-from collections.abc import Callable
-import pyray as rl
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
-
-CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
-HORIZONTAL_SETTLE_PX = 5
-HORIZONTAL_RESET_RATIO = 0.5
-
-
-class OnroadViewContainerSP(ScrollerSP):
-  def __init__(self, bookmark_callback=None):
-    super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
-    self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
-    self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
-
-    self._scroller.add_widgets([
-      self.road_view,
-      self.onroad_info_panel,
-    ])
-    self._scroller.set_reset_scroll_at_show(False)
-    self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
-
-    for child in (self.road_view, self.onroad_info_panel):
-      inner_touch_valid = child._touch_valid_callback
-      child.set_touch_valid_callback(
-        lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
-      )
-
-  def set_rect(self, rect: rl.Rectangle):
-    super().set_rect(rect)
-    self.road_view.set_rect(rect)
-    self.onroad_info_panel.set_rect(rect)
-    return self
-
-  def is_swiping_left(self) -> bool:
-    return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
-
-  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
-    self.road_view.set_click_callback(click_callback)
-    self.onroad_info_panel.set_click_callback(click_callback)
-
-  def is_on_info_panel(self) -> bool:
-    """True when scrolled past halfway toward onroad_info_panel (used by main layout
-    to skip auto-pop-back-to-camera while user is reading the info panel)."""
-    return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
-
-  def _render(self, rect: rl.Rectangle):
-    if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
-      self._scroller.scroll_panel.set_offset(0)
-
-    vertical_offset = self._scroller.scroll_panel.get_offset()
-    show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
-    self.road_view.set_show_confidence_ball(show_ball)
-
-    super()._render(rect)

openpilot/selfdrive/ui/sunnypilot/mici/layouts/onroad_info_panel.py

@@ -1,403 +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.
-"""
-
-import pyray as rl
-from dataclasses import dataclass, field
-from openpilot.common.constants import CV
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
-from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
-
-METER_TO_KM = 0.001
-METER_TO_MILE = 0.000621371
-
-CONTENT_MARGIN = 16
-SPEED_LIMIT_SIGN_WIDTH = 146
-VIENNA_SIGN_SIZE = 146
-MUTCD_SIGN_HEIGHT = 178
-OFFSET_BADGE_SIZE = 50
-OFFSET_BADGE_PANEL_PADDING = 4
-MUTCD_OFFSET_SIGN_Y_SHIFT = 6
-VIENNA_BADGE_X_RATIO = 0.80
-VIENNA_BADGE_UPCOMING_X_RATIO = 0.70
-VIENNA_BADGE_Y_RATIO = -0.82
-UPCOMING_SIGN_SIZE_RATIO = 0.76
-UPCOMING_SIGN_OVERLAP_RATIO = 0.05
-UNIT_FONT_SIZE = 40
-SPEED_FONT_SIZE = 114
-ROAD_FONT_SIZE = 32
-SCC_TAG_WIDTH = 78
-SCC_TAG_HEIGHT = 30
-SCC_TAG_GAP = 5
-COLUMN_GAP = 12
-
-
-@dataclass(frozen=True)
-class OnroadInfoPanelColors:
-  white: rl.Color = rl.WHITE
-  black: rl.Color = rl.BLACK
-  red: rl.Color = field(default_factory=lambda: rl.Color(255, 0, 0, 255))
-  green: rl.Color = field(default_factory=lambda: rl.Color(0, 255, 0, 255))
-  grey: rl.Color = field(default_factory=lambda: rl.Color(190, 195, 190, 255))
-  light_grey: rl.Color = field(default_factory=lambda: rl.Color(200, 200, 200, 255))
-  dark_grey: rl.Color = field(default_factory=lambda: rl.Color(100, 100, 100, 255))
-  bg_dark: rl.Color = field(default_factory=lambda: rl.Color(0, 0, 0, 255))
-  card_bg: rl.Color = field(default_factory=lambda: rl.Color(50, 50, 50, 200))
-  badge_bg: rl.Color = field(default_factory=lambda: rl.Color(60, 60, 60, 255))
-
-
-COLORS = OnroadInfoPanelColors()
-
-
-class OnroadInfoPanel(Widget):
-  def __init__(self, bookmark_callback=None):
-    super().__init__()
-    self.speed_limit: float = 0.0
-    self.speed_limit_valid: bool = False
-    self.speed_limit_offset: float = 0.0
-    self.next_speed_limit: float = 0.0
-    self.next_speed_limit_distance: float = 0.0
-    self.road_name: str = ""
-    self.current_speed: float = 0.0
-    self.set_speed: float = 0.0
-    self.cruise_enabled: bool = False
-
-    self._sign_slide: float = 0.0
-
-    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
-    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
-    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
-
-    self._marquee_offset: float = 0.0
-    self._marquee_direction: int = 1
-    self._marquee_pause_timer: float = 0.0
-    self._marquee_speed: float = 40.0
-    self._marquee_pause_duration: float = 1.5
-
-    self._alert_renderer = AlertRenderer()
-    self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
-
-    self._bookmark_icon = BookmarkIcon(bookmark_callback)
-
-  def is_swiping_left(self) -> bool:
-    return self._bookmark_icon.is_swiping_left()
-
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
-    # Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
-    if not self._bookmark_icon.interacting():
-      super()._handle_mouse_release(mouse_pos)
-
-  def _update_state(self) -> None:
-    sm = ui_state.sm
-    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
-
-    if sm.valid["longitudinalPlanSP"]:
-      lp_sp = sm["longitudinalPlanSP"]
-      resolver = lp_sp.speedLimit.resolver
-      self.speed_limit = resolver.speedLimit * speed_conv
-      self.speed_limit_valid = resolver.speedLimitValid
-      self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
-
-    if sm.valid["liveMapDataSP"]:
-      lmd = sm["liveMapDataSP"]
-      self.next_speed_limit = lmd.speedLimitAhead * speed_conv
-      self.next_speed_limit_distance = lmd.speedLimitAheadDistance
-      self.road_name = lmd.roadName
-
-    if sm.updated["carState"]:
-      self.current_speed = sm["carState"].vEgo * speed_conv
-
-    if sm.valid["carState"] and sm.valid["controlsState"]:
-      self.cruise_enabled = sm["carState"].cruiseState.enabled
-      v_cruise_cluster = sm["carState"].vCruiseCluster
-      set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
-      self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
-
-  def _render(self, rect: rl.Rectangle) -> None:
-    self._update_state()
-
-    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
-
-    left_x = rect.x + CONTENT_MARGIN
-
-    if self.cruise_enabled:
-      unit = tr("MAX")
-      display_speed = self.set_speed
-    else:
-      unit = tr("km/h") if ui_state.is_metric else tr("MPH")
-      display_speed = self.current_speed
-
-    display_speed_text = str(round(display_speed))
-    if self.speed_limit_valid and display_speed > self.speed_limit:
-      speed_color = COLORS.red
-    else:
-      speed_color = COLORS.white
-
-    sign_width = min(SPEED_LIMIT_SIGN_WIDTH, rect.width * 0.30)
-    sign_height = VIENNA_SIGN_SIZE if ui_state.is_metric else MUTCD_SIGN_HEIGHT
-
-    has_upcoming_limit = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
-    target_sign_slide = 1.0 if has_upcoming_limit else 0.0
-    slide_speed = 3.0 * rl.get_frame_time()
-    if self._sign_slide < target_sign_slide:
-      self._sign_slide = min(self._sign_slide + slide_speed, target_sign_slide)
-    elif self._sign_slide > target_sign_slide:
-      self._sign_slide = max(self._sign_slide - slide_speed, target_sign_slide)
-
-    upcoming_width = int(sign_width * UPCOMING_SIGN_SIZE_RATIO)
-    upcoming_height = int(sign_height * UPCOMING_SIGN_SIZE_RATIO)
-    upcoming_reserved_width = int(upcoming_width * 0.85) + 5
-    sign_x_without_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN
-    sign_x_with_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN - upcoming_reserved_width
-    sign_x = sign_x_without_upcoming + (sign_x_with_upcoming - sign_x_without_upcoming) * self._sign_slide
-    sign_y = rect.y + (rect.height - sign_height) / 2
-    if not ui_state.is_metric and self.speed_limit_offset != 0 and self.speed_limit_valid:
-      sign_y += MUTCD_OFFSET_SIGN_Y_SHIFT
-
-    readout_right = sign_x - COLUMN_GAP
-    readout_width = max(1, readout_right - left_x)
-    road_y = rect.y + rect.height - 44
-
-    unit_font_size = self._fit_font_size(self._font_semi_bold, unit, readout_width, 46, UNIT_FONT_SIZE, 28)
-    speed_font_size = self._fit_font_size(self._font_bold, display_speed_text, readout_width, road_y - (rect.y + 54) - 8,
-                                          SPEED_FONT_SIZE, 76)
-    speed_size = measure_text_cached(self._font_bold, display_speed_text, speed_font_size)
-    speed_y = min(rect.y + 54, road_y - speed_size.y - 8)
-    unit_y = max(rect.y + 14, speed_y - unit_font_size - 6)
-
-    rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, unit_y), unit_font_size, 0, COLORS.grey)
-    rl.draw_text_ex(self._font_bold, display_speed_text, rl.Vector2(left_x, speed_y), speed_font_size, 0, speed_color)
-    self._draw_road_name(left_x, road_y, readout_width)
-
-    if has_upcoming_limit and self._sign_slide > 0.01:
-      upcoming_speed_text = str(round(self.next_speed_limit))
-      distance_text = self._format_distance(self.next_speed_limit_distance)
-      upcoming_x = sign_x + sign_width - int(upcoming_width * UPCOMING_SIGN_OVERLAP_RATIO)
-      upcoming_y = sign_y + (sign_height - upcoming_height) / 2
-
-      upcoming_speed_color = COLORS.black
-      if ui_state.is_metric:
-        self._draw_vienna_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
-      else:
-        self._draw_mutcd_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
-
-      distance_font_size = self._fit_font_size(self._font_medium, distance_text, upcoming_width, 30, 24, 16)
-      distance_size = measure_text_cached(self._font_medium, distance_text, distance_font_size)
-      rl.draw_text_ex(self._font_medium, distance_text, rl.Vector2(upcoming_x + upcoming_width / 2 - distance_size.x / 2, upcoming_y + upcoming_height),
-                      distance_font_size, 0, COLORS.grey)
-
-    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
-
-    if self.speed_limit_offset != 0 and self.speed_limit_valid:
-      offset_text = str(abs(round(self.speed_limit_offset)))
-      badge_size = OFFSET_BADGE_SIZE
-      badge_rect = self._offset_badge_rect(rect, sign_x, sign_y, sign_width, sign_height, badge_size, has_upcoming_limit)
-
-      if ui_state.is_metric:
-        badge_radius = badge_size / 2
-        badge_center_x = badge_rect.x + badge_radius
-        badge_center_y = badge_rect.y + badge_radius
-        rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius + 2, COLORS.dark_grey)
-        rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius, COLORS.badge_bg)
-        self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_center_x, badge_center_y), COLORS.white,
-                                     badge_size - 10, badge_size - 8, min_size=24)
-      else:
-        rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
-        rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
-        self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_rect.x + badge_size / 2, badge_rect.y + badge_size / 2),
-                                     COLORS.white, badge_size - 10, badge_size - 8, min_size=24)
-
-    scc_tag_x = min(left_x + speed_size.x + COLUMN_GAP, readout_right - SCC_TAG_WIDTH)
-    scc_tag_y = speed_y + (speed_size.y - (SCC_TAG_HEIGHT * 2 + SCC_TAG_GAP)) / 2
-    if scc_tag_x >= left_x + speed_size.x + 8:
-      self._draw_scc_icons(scc_tag_x, scc_tag_y, readout_right)
-
-    self._bookmark_icon.render(rect)
-
-    if ui_state.started:
-      alert_obj, no_alert = self._alert_renderer.will_render()
-      self._alert_alpha_filter.update(0 if no_alert else 1)
-      alpha = self._alert_alpha_filter.x
-      if alpha > 0.01:
-        rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
-      self._alert_renderer.render(rect)
-
-  def _draw_scc_icons(self, x: float, y: float, right_limit: float) -> None:
-    sm = ui_state.sm
-    if not sm.valid["longitudinalPlanSP"]:
-      return
-    scc = sm["longitudinalPlanSP"].smartCruiseControl
-
-    drawn = 0
-
-    for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
-      if not active:
-        continue
-      tag_x = x
-      if tag_x + SCC_TAG_WIDTH > right_limit:
-        return
-      tag_y = y + drawn * (SCC_TAG_HEIGHT + SCC_TAG_GAP)
-      rl.draw_rectangle_rounded(rl.Rectangle(tag_x, tag_y, SCC_TAG_WIDTH, SCC_TAG_HEIGHT), 0.3, 10, COLORS.green)
-      self._draw_text_centered_fit(self._font_bold, label, 18, rl.Vector2(tag_x + SCC_TAG_WIDTH / 2, tag_y + SCC_TAG_HEIGHT / 2), COLORS.black,
-                                   SCC_TAG_WIDTH - 10, SCC_TAG_HEIGHT - 4, min_size=14)
-      drawn += 1
-
-  def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
-    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
-    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
-
-    if ui_state.is_metric:
-      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
-    else:
-      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
-
-  def _draw_road_name(self, x: float, y: float, width: float) -> None:
-    if width <= 0:
-      return
-
-    road_display = self.road_name if self.road_name else "--"
-    font_size = self._fit_font_size(self._font_semi_bold, road_display, width, 38, ROAD_FONT_SIZE, 28)
-    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
-    text_width = road_size.x
-
-    if text_width <= width:
-      self._marquee_offset = 0.0
-      self._marquee_direction = 1
-      self._marquee_pause_timer = 0.0
-      rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
-    else:
-      overflow = text_width - width
-      dt = rl.get_frame_time()
-
-      if self._marquee_pause_timer > 0:
-        self._marquee_pause_timer -= dt
-      else:
-        self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
-
-        if self._marquee_offset >= overflow:
-          self._marquee_offset = overflow
-          self._marquee_direction = -1
-          self._marquee_pause_timer = self._marquee_pause_duration
-        elif self._marquee_offset <= 0:
-          self._marquee_offset = 0
-          self._marquee_direction = 1
-          self._marquee_pause_timer = self._marquee_pause_duration
-
-      rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
-      text_pos = rl.Vector2(x - self._marquee_offset, y)
-      rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
-      rl.end_scissor_mode()
-
-  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
-    center = rl.Vector2(x + width / 2, y + height / 2)
-    outer_radius = min(width, height) / 2
-
-    rl.draw_circle_v(center, outer_radius, COLORS.white)
-    ring_width = outer_radius * 0.18
-    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
-
-    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
-    self._draw_text_centered_fit(self._font_bold, speed_str, int(font_size), center, speed_color, width * 0.72, height * 0.50, min_size=24)
-
-  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
-    sign_rect = rl.Rectangle(x, y, width, height)
-    rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
-
-    inset = max(4, width * 0.05)
-    inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
-    outer_radius = 0.35 * width / 2.0
-    inner_radius = outer_radius - inset
-    inner_roundness = inner_radius / (inner_rect.width / 2.0)
-    rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
-
-    mid_x = x + width / 2
-    label_size = max(18, int(width * 0.26))
-    if is_upcoming:
-      self._draw_text_centered_fit(self._font_bold, tr("AHEAD"), int(width * 0.34), rl.Vector2(mid_x, y + height * 0.28), COLORS.black,
-                                   width * 0.94, height * 0.32, min_size=20)
-    else:
-      self._draw_text_centered_fit(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black,
-                                   width * 0.84, height * 0.24, min_size=16)
-      self._draw_text_centered_fit(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black,
-                                   width * 0.84, height * 0.24, min_size=16)
-
-    speed_font_size = int(width * 0.60) if len(speed_str) >= 3 else int(width * 0.72)
-    self._draw_text_centered_fit(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color,
-                                 width * 0.90, height * 0.52, min_size=32)
-
-  def _draw_text_centered(self, font, text, size, pos_center, color):
-    sz = measure_text_cached(font, text, size)
-    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
-
-  def _draw_text_centered_fit(self, font, text, size, pos_center, color, max_width: float, max_height: float, min_size: int = 10):
-    size = self._fit_font_size(font, text, max_width, max_height, size, min_size)
-    self._draw_text_centered(font, text, size, pos_center, color)
-
-  def _fit_font_size(self, font, text: str, max_width: float, max_height: float, max_size: int | float, min_size: int) -> int:
-    size = int(max_size)
-    while size > min_size:
-      text_size = measure_text_cached(font, text, size)
-      if text_size.x <= max_width and text_size.y <= max_height:
-        return size
-      size -= 2
-    return min_size
-
-  def _offset_badge_rect(self, panel_rect: rl.Rectangle, sign_x: float, sign_y: float, sign_width: float, sign_height: float,
-                         badge_size: float, has_upcoming_limit: bool) -> rl.Rectangle:
-    if ui_state.is_metric:
-      radius = min(sign_width, sign_height) / 2
-      center_x = sign_x + sign_width / 2
-      center_y = sign_y + sign_height / 2
-      badge_x_ratio = VIENNA_BADGE_UPCOMING_X_RATIO if has_upcoming_limit else VIENNA_BADGE_X_RATIO
-      badge_center_x = center_x + radius * badge_x_ratio
-      badge_center_y = center_y + radius * VIENNA_BADGE_Y_RATIO
-      badge_x = badge_center_x - badge_size / 2
-      badge_y = badge_center_y - badge_size / 2
-    else:
-      badge_x = sign_x + sign_width - badge_size * 0.45
-      badge_y = sign_y - badge_size * 0.75
-
-    return rl.Rectangle(
-      self._clamp(
-        badge_x,
-        panel_rect.x + OFFSET_BADGE_PANEL_PADDING,
-        panel_rect.x + panel_rect.width - badge_size - OFFSET_BADGE_PANEL_PADDING,
-      ),
-      self._clamp(
-        badge_y,
-        panel_rect.y + OFFSET_BADGE_PANEL_PADDING,
-        panel_rect.y + panel_rect.height - badge_size - OFFSET_BADGE_PANEL_PADDING,
-      ),
-      badge_size,
-      badge_size,
-    )
-
-  @staticmethod
-  def _clamp(value: float, min_value: float, max_value: float) -> float:
-    return max(min_value, min(max_value, value))
-
-  def _format_distance(self, distance: float) -> str:
-    if ui_state.is_metric:
-      if distance < 50:
-        return tr("Near")
-      if distance >= 1000:
-        return f"{distance * METER_TO_KM:.1f}" + tr("km")
-      if distance < 200:
-        rounded = max(10, int(distance / 10) * 10)
-      else:
-        rounded = int(distance / 100) * 100
-      return str(rounded) + tr("m")
-    else:
-      distance_mi = distance * METER_TO_MILE
-      if distance_mi < 0.1:
-        return tr("Near")
-      return f"{distance_mi:.1f}" + tr("mi")

openpilot/selfdrive/ui/sunnypilot/mici/onroad/augmented_road_view.py

@@ -1,29 +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.
-"""
-
-from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
-
-
-class _SuppressedConfidenceBall:
-  def render(self, *_):
-    pass
-
-
-class AugmentedRoadViewSP(AugmentedRoadView):
-  def __init__(self, **kwargs):
-    super().__init__(**kwargs)
-    self._show_confidence_ball: bool = True
-    self._real_confidence_ball = self._confidence_ball
-    self._confidence_ball = _SuppressedConfidenceBall()
-
-  def set_show_confidence_ball(self, show: bool) -> None:
-    self._show_confidence_ball = show
-
-  def _render(self, _) -> None:
-    super()._render(_)
-    if self._show_confidence_ball:
-      self._real_confidence_ball.render(self.rect)

openpilot/selfdrive/ui/sunnypilot/mici/tests/test_scroller_sp.py

@@ -1,83 +0,0 @@
-import pyray as rl
-
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app
-from openpilot.system.ui.lib.scroll_panel2 import ScrollState
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets import scroller as scroller_mod
-from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
-
-
-class DummyScrollIndicator:
-  def update(self, *_) -> None:
-    pass
-
-  def render(self) -> None:
-    pass
-
-
-class DummyWidget(Widget):
-  def __init__(self, rect: rl.Rectangle):
-    super().__init__()
-    self.set_rect(rect)
-
-  def _render(self, _) -> None:
-    pass
-
-
-def _mouse_event(x: float, y: float, *, pressed: bool = False, released: bool = False,
-                 down: bool = True, t: float = 0.0) -> MouseEvent:
-  return MouseEvent(MousePos(x, y), 0, pressed, released, down, t)
-
-
-class TestScrollerSP(OpenpilotTestCase):
-  def test_vertical_snap_items_are_supported(self, monkeypatch):
-    monkeypatch.setattr(scroller_mod, "ScrollIndicator", DummyScrollIndicator)
-
-    scroller = scroller_mod._Scroller([], horizontal=False, snap_items=True, scroll_indicator=False)
-    scroller.set_rect(rl.Rectangle(0, 0, 100, 100))
-    scroller.scroll_panel.set_offset(-60)
-
-    captured_snap_target = None
-
-    def update(_, __, snap_target=None):
-      nonlocal captured_snap_target
-      captured_snap_target = snap_target
-      return scroller.scroll_panel.get_offset()
-
-    monkeypatch.setattr(scroller.scroll_panel, "update", update)
-
-    visible_items: list[Widget] = [
-      DummyWidget(rl.Rectangle(0, -60, 100, 100)),
-      DummyWidget(rl.Rectangle(0, 40, 100, 100)),
-    ]
-    scroller._get_scroll(visible_items, 200)
-
-    assert captured_snap_target == -100
-
-  def test_scroll_panel_sp_rejects_orthogonal_drags(self, monkeypatch):
-    panel = GuiScrollPanel2SP(horizontal=True)
-    bounds = rl.Rectangle(0, 0, 100, 100)
-
-    monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(10, 10, pressed=True, t=1.0)])
-    panel.update(bounds, 200)
-    assert panel.state == ScrollState.PRESSED
-
-    monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(23, 60, t=1.1)])
-    panel.update(bounds, 200)
-
-    assert panel.state == ScrollState.STEADY
-    assert panel.get_offset() == 0
-
-  def test_scroll_panel_sp_can_disable_out_of_bounds_handling(self, monkeypatch):
-    panel = GuiScrollPanel2SP(horizontal=False, handle_out_of_bounds=False)
-    bounds = rl.Rectangle(0, 0, 100, 100)
-    monkeypatch.setattr(gui_app, "_mouse_events", [])
-
-    panel.set_offset(20)
-    panel.update(bounds, 200)
-    assert panel.get_offset() == 0
-
-    panel.set_offset(-150)
-    panel.update(bounds, 200)
-    assert panel.get_offset() == -100

openpilot/selfdrive/ui/sunnypilot/mici/widgets/scroll_panel_sp.py

@@ -1,33 +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.
-"""
-
-import pyray as rl
-from openpilot.system.ui.lib.application import MouseEvent
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
-
-
-class GuiScrollPanel2SP(GuiScrollPanel2):
-  """Scroll panel behavior for nested Mici pagers."""
-
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
-    super().__init__(horizontal, handle_out_of_bounds=handle_out_of_bounds)
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
-                          content_size: float) -> None:
-    state_before_update = self._state
-    super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
-
-    if self._state == ScrollState.MANUAL_SCROLL and state_before_update == ScrollState.PRESSED and \
-       self._initial_click_event is not None:
-      drag_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
-      drag_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
-      primary_drag = drag_x if self._horizontal else drag_y
-      cross_drag = drag_y if self._horizontal else drag_x
-      if cross_drag > primary_drag:
-        self._state = ScrollState.STEADY
-        self._velocity = 0.0
-        self._velocity_buffer.clear()

openpilot/selfdrive/ui/sunnypilot/mici/widgets/scroller_sp.py

@@ -1,16 +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.
-"""
-
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
-
-
-class ScrollerSP(Scroller):
-  def __init__(self, **kwargs):
-    super().__init__(**kwargs)
-    inner = self._scroller
-    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)

openpilot/selfdrive/ui/sunnypilot/model_info.py

@@ -4,28 +4,12 @@ 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.
 """
-import contextlib
-import os
-import time
-
-from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
 from openpilot.sunnypilot.models.fetcher import get_cached_bundles
 from openpilot.sunnypilot.models.helpers import get_active_source, get_selected_bundle, resolve_bundle_by_ref
 from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL, DEFAULT_MODEL
 
 
-def model_cache_size_mb() -> float:
-  """Bytes on disk under the model cache directory, in MB."""
-  model_root = Paths.model_root()
-  total = 0
-  if os.path.isdir(model_root):
-    for name in os.listdir(model_root):
-      with contextlib.suppress(OSError):
-        total += os.path.getsize(os.path.join(model_root, name))
-  return total / (1024 ** 2)
-
-
 def active_source() -> str:
   return get_active_source(chestnut=ui_state.chestnut_present,
                            chestnut_active=ui_state.chestnut_active, chestnut_loading=ui_state.chestnut_loading,
@@ -99,22 +83,3 @@ def model_info() -> tuple[str, str, str]:
   active_name = active_bundle.displayName if active_bundle else default_model_name(source)
   other_name = other_bundle.displayName if other_bundle else default_model_name(other)
   return source, active_name, other_name
-
-
-# mirrors the manager's ModelCache keys; the manager restamps them on a successful fetch
-MODEL_SYNC_KEYS = ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_Chestnut")
-MODEL_SYNC_TIMEOUT = 20.0
-
-
-def refresh_model_list() -> None:
-  # zeroing the sync keys makes the manager refetch each manifest on its next tick
-  for key in MODEL_SYNC_KEYS:
-    ui_state.params.put(key, 0)
-
-
-def refresh_in_progress(started_at: float | None) -> bool:
-  """Whether a user refresh is still outstanding. A failed fetch never restamps the
-  sync keys, so the spinner is bounded by MODEL_SYNC_TIMEOUT rather than sticking."""
-  if started_at is None or time.monotonic() - started_at > MODEL_SYNC_TIMEOUT:
-    return False
-  return not all(ui_state.params.get(key) for key in MODEL_SYNC_KEYS)

openpilot/selfdrive/ui/ui.py

@@ -10,9 +10,6 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
-
 BIG_UI = gui_app.big_ui()
 
 

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.10.10-4923"
+#define SUNNYPILOT_VERSION "2026.09.04-4849"

openpilot/sunnypilot/modeld_v2/__init__.py

@@ -0,0 +1,5 @@
+from pathlib import Path
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

openpilot/sunnypilot/modeld_v2/camera_offset_helper.py

@@ -15,19 +15,11 @@ class CameraOffsetHelper:
     self.actual_camera_offset = 0.0
 
   @staticmethod
-  def get_v_horizon(intrinsics, rpy_calib):
+  def apply_camera_offset(model_transform, intrinsics, height, offset_param):
     cy = intrinsics[1, 2]
-    if len(rpy_calib) == 3 and np.isfinite(rpy_calib).all():
-      fy = intrinsics[1, 1]
-      pitch = rpy_calib[1]
-      return float(cy - fy * np.tan(pitch))
-    return float(cy)
-
-  @staticmethod
-  def apply_camera_offset(model_transform, height, offset_param, v_horizon):
     shear = np.eye(3, dtype=np.float32)
     shear[0, 1] = offset_param / height
-    shear[0, 2] = -offset_param / height * v_horizon
+    shear[0, 2] = -offset_param / height * cy
     model_transform = (shear @ model_transform).astype(np.float32)
     return model_transform
 
@@ -38,13 +30,10 @@ class CameraOffsetHelper:
     self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
     dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
     height = sm["extrinsicsCalibration"].height[0] if sm['extrinsicsCalibration'].height else 1.22
-    rpy_calib = sm['extrinsicsCalibration'].rpyCalib
 
     intrinsics_main = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
-    v_horizon_main = self.get_v_horizon(intrinsics_main, rpy_calib)
-    model_transform_main = self.apply_camera_offset(model_transform_main, height, self.actual_camera_offset, v_horizon_main)
+    model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
 
     intrinsics_extra = dc.wide_road.intrinsics
-    v_horizon_extra = self.get_v_horizon(intrinsics_extra, rpy_calib)
-    model_transform_extra = self.apply_camera_offset(model_transform_extra, height, self.actual_camera_offset, v_horizon_extra)
+    model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
     return model_transform_main, model_transform_extra

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -32,7 +32,7 @@ def _patch_tinygrad_fetch_fw():
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
-import openpilot.selfdrive.modeld.compile_modeld as stock
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
 from tinygrad import dtypes
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
@@ -41,7 +41,8 @@ from tinygrad.tensor import Tensor
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 WARP_INPUTS = ['tfm', 'big_tfm']
 POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-nv12_copy_size = stock.nv12_copy_size
+WARP_DEV = os.getenv('WARP_DEV')
+
 
 def _detect_desire_key(shapes: dict) -> str | None:
   return next((key for key in shapes if key.startswith('desire')), None)
@@ -138,7 +139,7 @@ def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
   return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)
 
 
-def make_random_images(keys, shape, device, rng=None):
+def make_random_images(keys, shape, device):
   return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}
 
 
@@ -151,9 +152,24 @@ def make_warp_queues(device=Device.DEFAULT):
   return queues, npy
 
 
+def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
+
+  def warp(tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
+    return Tensor.cat(warped_frame, warped_big_frame)
+  return warp
+
+
 def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
-  sample_skip_fn = partial(stock.sample_skip, frame_skip=frame_skip)
-  sample_desire_fn = partial(stock.sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
   desire_key = _detect_desire_key(input_shapes)
   road_key, wide_key = _detect_vision_keys(input_shapes)
@@ -170,14 +186,14 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
     warped_dev = warped.to(Device.DEFAULT)
     Tensor.realize(packed_npy_inputs_dev, warped_dev)
 
-    img = stock.shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
-    big_img = stock.shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)
+    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)
 
     unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
     unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
 
     desire_dev = unpacked_dict['desire']
-    desire_buf = stock.shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
+    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
 
     inputs = {desire_key: desire_buf}
     for key, tensor_val in unpacked_dict.items():
@@ -186,13 +202,13 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
 
     if 'prev_feat' in unpacked_dict:
       prev_feat_dev = unpacked_dict['prev_feat']
-      inputs['features_buffer'] = stock.shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
+      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
 
     if vision_runner:
       vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
       if 'features_buffer' not in inputs:
         new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
-        inputs['features_buffer'] = stock.shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
       policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
       return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
 
@@ -203,28 +219,27 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
     policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
     if 'features_buffer' not in inputs and features_slice is not None:
       new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-      stock.shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
     return policy_out
 
   return run_policy
 
 
-def compile_jit(jit, input_keys, make_queues, make_random_inputs=None, benchmark_runs: int = 1):
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
   SEED = 42
-  def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
-    queues_res = make_queues(Device.DEFAULT)
-    input_queues, npy = queues_res[0], queues_res[1]
-    frame_views = queues_res[2] if len(queues_res) > 2 else {}
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_queues(Device.DEFAULT)
     rng = np.random.default_rng(seed)
     Tensor.manual_seed(seed)
 
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
     for i in range(n_runs):
       for v in npy.values():
         v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      for v in frame_views.values():
-        v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
       Device.default.synchronize()
-      random_inputs = make_random_inputs(rng=rng) if make_random_inputs is not None else {}
+      random_inputs = make_random_inputs()
       st = time.perf_counter()
       outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
       mt = time.perf_counter()
@@ -245,15 +260,14 @@ def compile_jit(jit, input_keys, make_queues, make_random_inputs=None, benchmark
     return val, buffers
 
   print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED, 3)
-  print(f'pickle round trip ({benchmark_runs} runs per seed)')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
   with tempfile.TemporaryFile(dir=".") as f:
     dump_oob(jit, f)
     f.seek(0)
-    loaded_jit = load_oob(f)
-  random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
-  random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
-  return jit
+    deserialized_jit = load_oob(f)
+  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
+  return deserialized_jit
 
 
 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -303,7 +317,6 @@ if __name__ == "__main__":
   parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
   parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
   parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
-  parser.add_argument('--benchmark-runs', type=int, default=1, help='benchmark runs')
   parser.add_argument('--output', required=True)
 
   parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
@@ -322,64 +335,48 @@ if __name__ == "__main__":
   args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
   args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
 
-  if args.model_type == 'supercombo':
+  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
+
+  if args.model_type == 'vision_policy':
+    assert vision_runner and args.policy_onnx
+    policy_runners = [OnnxRunner(args.policy_onnx)]
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
+  elif args.model_type == 'supercombo':
     assert args.supercombo_onnx
-    model_metadata = make_metadata_dict(args.supercombo_onnx)
-    output_data['metadata'] = {'model': model_metadata, **model_metadata}
-    output_data['input_devices'] = {'model': Device.DEFAULT}
-    output_data['run_model'] = {}
-    derived_frame_skip = args.frame_skip or derive_frame_skip({}, model_metadata['input_shapes'])
-    model_runner = OnnxRunner(args.supercombo_onnx)
-    run_policy = stock.make_run_policy(model_runner, model_metadata, derived_frame_skip)
-    for cam_w, cam_h in args.camera_resolutions:
-      print(f"Compiling unified run_model JIT for {cam_w}x{cam_h}...")
-      nv12 = stock.NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      frame_copy_size = stock.nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-      make_model_queues = partial(stock.make_input_queues, model_metadata['input_shapes'], derived_frame_skip,
-                                  frame_copy_size=frame_copy_size)
-      warp = stock.make_warp(nv12, model_w, model_h)
-      run_model_jit = TinyJit(stock.make_run_model(warp, run_policy, model_metadata, frame_copy_size), prune=True)
-      output_data['run_model'][(cam_w, cam_h)] = compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues, benchmark_runs=args.benchmark_runs)
-  else:
-    vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
-    if args.model_type == 'vision_policy':
-      assert vision_runner and args.policy_onnx
-      policy_runners = [OnnxRunner(args.policy_onnx)]
-      output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
-    elif args.model_type == 'vision_multi_policy':
-      assert vision_runner
-      policy_runners, policy_names = _load_policy_runners(args)
-      output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
-      for name in policy_names:
-        runner_arg = getattr(args, f"{name}_onnx")
-        output_data['metadata'][name] = make_metadata_dict(runner_arg)
+    policy_runners = [OnnxRunner(args.supercombo_onnx)]
+    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
+  elif args.model_type == 'vision_multi_policy':
+    assert vision_runner
+    policy_runners, policy_names = _load_policy_runners(args)
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
+    for name in policy_names:
+      runner_arg = getattr(args, f"{name}_onnx")
+      output_data['metadata'][name] = make_metadata_dict(runner_arg)
 
-    policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
-    first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
-    vision_meta = output_data['metadata'].get('vision', {})
+  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
+  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
+  vision_meta = output_data['metadata'].get('vision', {})
 
-    derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-    all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
-    feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('policy')
-    assert feat_meta is not None
-    features_slice = feat_meta['output_slices']['hidden_state']
+  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
+  all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
+  feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
+  assert feat_meta is not None
+  features_slice = feat_meta['output_slices']['hidden_state']
+  is_supercombo = vision_runner is None
 
-    print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
-    run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
-    run_policy_jit = TinyJit(run_policy_func, prune=True)
-    make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=False)
-    make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=Device.DEFAULT)
-    output_data['run_policy'] = compile_jit(run_policy_jit, POLICY_INPUTS, make_policy_queues, make_random_inputs=make_random_model_inputs)
+  print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
+  run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
+  run_policy_jit = TinyJit(run_policy_func, prune=True)
+  make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
+  output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)
 
-    for cam_w, cam_h in args.camera_resolutions:
-      print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
-      nv12 = stock.NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-      frame_copy_size = stock.nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-      make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=frame_copy_size, device=Device.DEFAULT)
-      warp = TinyJit(stock.make_warp(nv12, model_w, model_h), prune=True)
-      output_data[(cam_w, cam_h)] = compile_jit(warp, WARP_INPUTS, make_warp_queues, make_random_inputs=make_random_warp_inputs)
-
-    output_data['metadata']['warp_dev'] = Device.DEFAULT
+  for cam_w, cam_h in args.camera_resolutions:
+    print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True)
+    output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
 
   with open(args.output, "wb") as file:
     dump_oob(output_data, file)

openpilot/sunnypilot/modeld_v2/constants.py

@@ -14,8 +14,6 @@ class ModelConstants:
 
   # model inputs constants
   MODEL_FREQ = 20
-  MODEL_RUN_FREQ = 20
-  MODEL_CONTEXT_FREQ = 5
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
   DESIRE_LEN = 8
@@ -37,7 +35,6 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
-  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -1,100 +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.
-"""
-
-import io
-import struct
-import pickle
-import inspect
-import importlib
-import enum
-
-
-def _pad_args(func, args, kwargs):
-  try:
-    sig = inspect.signature(func)
-  except Exception:
-    return args, kwargs
-  params = list(sig.parameters.values())
-  if inspect.isfunction(func) and params and params[0].name in ('cls', 'self'):
-    params = params[1:]
-
-  new_args = list(args)
-  has_varargs = any(p.kind == inspect.Parameter.VAR_POSITIONAL for p in params)
-  if len(new_args) > len(params) and not has_varargs:
-    new_args = new_args[:len(params)]
-
-  for i in range(len(new_args), len(params)):
-    param = params[i]
-    if param.kind in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD):
-      continue
-    val = param.default if param.default is not inspect.Parameter.empty else None
-    new_args.append(val)
-  return new_args, kwargs
-
-
-def _enum_factory(enum_class):
-  def factory(*args, **kwargs):
-    try:
-      return enum_class(*args, **kwargs)
-    # OptOps and UOp objects in the .pkl are left over from the compilation phase,
-    # reassignment does nothing because they aren't tied to the execution graph
-    # It never executes or evaluates the UOp nodes again.
-    except ValueError:
-      return list(enum_class)[0]
-  factory.__name__ = enum_class.__name__
-  factory.__module__ = enum_class.__module__
-  return factory
-
-
-def _dynamic_factory(real_class):
-  if isinstance(real_class, type) and issubclass(real_class, enum.Enum):
-    return _enum_factory(real_class)
-
-  def factory(*args, **kwargs):
-    try:
-      return real_class(*args, **kwargs)
-    except TypeError:
-      new_args, new_kwargs = _pad_args(real_class, args, kwargs)
-      return real_class(*new_args, **new_kwargs)
-
-  class DynamicMeta(type(real_class)):
-    def __call__(cls, *args, **kwargs):
-      return factory(*args, **kwargs)
-
-  class DynamicProxy(real_class, metaclass=DynamicMeta):
-    __slots__ = ()
-
-    def __new__(cls, *args, **kwargs):
-      return factory(*args, **kwargs)
-
-  DynamicProxy.__name__ = real_class.__name__
-  DynamicProxy.__module__ = real_class.__module__
-  return DynamicProxy
-
-
-class DynamicTinygradUnpickler(pickle.Unpickler):
-  def find_class(self, module, name):
-    if module == "tinygrad.ops":
-      try:
-        importlib.import_module("tinygrad.uops")
-        module = "tinygrad.uops"
-      except ImportError:
-        pass
-    real_class = getattr(importlib.import_module(module), name)
-    if module.startswith("tinygrad"):
-      return _dynamic_factory(real_class)
-    return real_class
-
-
-def load_oob(f):
-  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-  def buffers():
-    while (h := f.read(8)):
-      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
-      f.readinto(pb)
-      yield pb
-  return DynamicTinygradUnpickler(io.BytesIO(opcodes), buffers=buffers()).load()

openpilot/sunnypilot/modeld_v2/meta_helper.py

@@ -1,9 +1,26 @@
 from openpilot.sunnypilot.modeld_v2.constants import Meta
+from openpilot.cereal import custom
 from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
+ModelBundle = custom.ModelManagerSP.ModelBundle
+
 
 def load_meta_constants():
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
   if (bundle := get_active_bundle()) and bundle.is20hz:
     return Meta20hz
-  return Meta
+
+  return Meta  # Default

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -6,7 +6,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from collections.abc import Callable
 import os
 os.environ['GMMU'] = '0'
 import numpy as np
@@ -17,7 +16,7 @@ from tinygrad.tensor import Tensor
 
 import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import chestnut_present
+from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
@@ -38,21 +37,13 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.modeld import ChestnutState
 
-from openpilot.selfdrive.modeld.compile_modeld import (
-  MODELD_INPUTS,
-  make_input_queues as make_stock_input_queues,
-)
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import (derive_frame_skip, make_split_input_queues,
-                                                           make_supercombo_input_queues, nv12_copy_size,
-                                                           WARP_INPUTS, POLICY_INPUTS)
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
-from openpilot.sunnypilot.modeld_v2.helpers import load_oob
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
@@ -119,40 +110,36 @@ class ModelState(ModelStateBase):
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
     jits = load_oob(open_file_chunked(pkl_path))
 
-    metadata = jits['metadata']
-    self.WARP_DEV = metadata.get('warp_dev', 'QCOM') if COMMA_HARDWARE else 'CPU'
-    self.DEV = ('AMD' if self.chestnut else 'QCOM') if COMMA_HARDWARE else 'CPU'
+    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
+    self.DEV = 'AMD' if self.chestnut else self.WARP_DEV
     self.QUEUE_DEV = self.DEV
-    self.is_run_model = 'run_model' in jits
+    metadata = jits['metadata']
 
-    nv12_info = get_nv12_info(cam_w, cam_h)
-    self.frame_copy_size = nv12_copy_size(*nv12_info[:3])
-    self.full_frames: dict = {}
-    self._blob_cache: dict = {}
-    self.frame_buffers: dict = {}
+    self.is_legacy_model = 'run_policy' not in jits  # remove after next recompile
+    if self.is_legacy_model:
+      self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
+      self.run_policy = jits[(cam_w, cam_h)]['run_policy']
+    else:
+      self.run_policy = jits['run_policy']
+      self.warp = jits[(cam_w, cam_h)]
 
-    if self.is_run_model or 'model' in metadata:
-      model_metadata = metadata.get('model', metadata)
-      self.input_shapes = model_metadata['input_shapes']
+    if 'model' in metadata:
+      model_metadata = metadata['model']
       self.vision_output_slices = model_metadata['output_slices']
       self.policy_output_slices = {}
       self._policy_slices_list = []
       self._combined_model_type = 'supercombo'
-      self._vision_input_names = [key for key in self.input_shapes if 'img' in key]
-      self.frame_skip = derive_frame_skip({}, self.input_shapes)
-      if self.is_run_model:
-        self.input_queues, self.numpy_inputs, self.frame_buffers = make_stock_input_queues(
-          self.input_shapes, self.frame_skip, device=self.DEV, frame_copy_size=self.frame_copy_size)
-        self.frame_views, self.npy = self.frame_buffers, self.numpy_inputs
-        self.run_model, self.run_policy, self.warp = jits['run_model'][(cam_w, cam_h)], None, None
-      else:
-        self.input_queues, self.numpy_inputs = make_supercombo_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
-        self.run_model, self.run_policy, self.warp = None, jits['run_policy'], jits[(cam_w, cam_h)]
+      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
+                                                                          frame_skip, device=self.QUEUE_DEV)
     else:
-      self.run_model, self.run_policy, self.warp = None, jits['run_policy'], jits[(cam_w, cam_h)]
       vision_metadata = metadata['vision']
-      policy_keys = [k for k in metadata if k not in ('vision', 'warp_dev')]
-      self._combined_model_type = 'split' if policy_keys == ['policy'] else 'multi_policy'
+      policy_keys = [k for k in metadata if k != 'vision']
+      if policy_keys == ['policy']:
+        self._combined_model_type = 'split'
+      else:
+        self._combined_model_type = 'multi_policy'
       self.vision_output_slices = vision_metadata['output_slices']
       self._policy_keys = policy_keys
       self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
@@ -168,39 +155,54 @@ class ModelState(ModelStateBase):
     self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
     self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
     self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
-    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
 
     is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
     if is_20hz:
       from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
       self.constants = SplitModelConstants()
     else:
+      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
       self.constants = ModelConstants()
 
-    self.parser = Parser()
-    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
+    if self._combined_model_type != 'supercombo':
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+      self.parser = SplitParser()
+    else:
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+      self.parser = CombinedParser()
 
-    if self.warp is not None:
-      self.full_frames = {k: Tensor(np.zeros(nv12_info[3], dtype=np.uint8), device=self.WARP_DEV).contiguous().realize() for k in self._vision_input_names}
-      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[self._road_key], big_frame=self.full_frames[self._wide_key])
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
+    self.full_frames: dict = {}
+    self._blob_cache: dict = {}
+    nv12_info = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
+
+    yuv_size = self.frame_buf_params[self._road_key][3]
+    frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+    big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+
+    if self.is_legacy_model: # Remove this conditional hack after recompile
+      self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
+    else:
+      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
 
   def warmup(self) -> None:
-    dummy_size = self.frame_copy_size if self.is_run_model else self.frame_buf_params[self._road_key][3]
-    dummy_frames = {k: np.zeros(dummy_size, dtype=np.uint8) for k in self._vision_input_names}
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
     transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
-    dummy_inputs = {k: np.zeros(v.shape, dtype=v.dtype) for k, v in self.numpy_inputs.items() if k not in ['tfm', 'big_tfm', 'prev_feat']}
-    self.run(dummy_frames, transforms, dummy_inputs)
-    if self.is_run_model:
-      self.input_queues, self.numpy_inputs, self.frame_buffers = make_stock_input_queues(
-        self.input_shapes, self.frame_skip, device=self.DEV, frame_copy_size=self.frame_copy_size)
-      self.frame_views = self.frame_buffers
-      self.npy = self.numpy_inputs
-    else:
-      for v in self.numpy_inputs.values():
-        v[:] = 0
-      self.full_frames.clear()
-      self._blob_cache.clear()
+
+    dummy_inputs = {}
+    for k, v in self.numpy_inputs.items():
+      if k not in ['tfm', 'big_tfm', 'prev_feat']:
+        dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
+
+    self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
+
+    for v in self.numpy_inputs.values():
+      v[:] = 0
     self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
+
 
   @property
   def mlsim(self) -> bool:
@@ -215,50 +217,45 @@ class ModelState(ModelStateBase):
     return self._desire_key
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray],
-          after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray] | None:
-    if self.is_run_model:
-      for key, buf in bufs.items():
-        data = buf.data if hasattr(buf, 'data') else buf
-        np.copyto(self.frame_buffers[key], np.frombuffer(data, dtype=np.uint8, count=self.frame_copy_size))
-    else:
-      for key, buf in bufs.items():
-        ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
-        cache_key = (key, ptr)
-        if cache_key not in self._blob_cache:
-          self._blob_cache[cache_key] = Tensor.from_blob(ptr, (self.frame_buf_params[key][3],), dtype='uint8', device=self.WARP_DEV)
-        self.full_frames[key] = self._blob_cache[cache_key]
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 0
     self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
-
     for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
       if key in self.numpy_inputs and key in inputs:
         self.numpy_inputs[key][:] = inputs[key]
 
-    self.numpy_inputs['tfm'][:, :] = transforms[self._road_key].reshape(3, 3)
-    self.numpy_inputs['big_tfm'][:, :] = transforms[self._wide_key].reshape(3, 3)
+    road_key = self._road_key
+    wide_key = self._wide_key
+    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
-    if self.run_model is not None:
-      outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
-      raw_outputs = outs
+    if self.is_legacy_model:  # remove after next recompile
+      if prepare_only:
+        self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
     else:
-      assert self.warp is not None and self.run_policy is not None
-      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[self._road_key], big_frame=self.full_frames[self._wide_key])
+      if prepare_only:
+        self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+        return None
+      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
       raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)
 
-    if after_enqueue is not None:
-      after_enqueue()
-
     if self._combined_model_type == 'supercombo':
       model_output = raw_outputs.numpy().flatten()
-      if self.chestnut and not np.all(np.isfinite(model_output)):
-        raise RuntimeError("model output not finite")
       sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
       outputs = self.parser.parse_outputs(sliced)
-      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
+      if 'prev_feat' in self.numpy_inputs:
         self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
     else:
       vision_output = raw_outputs[0].numpy().flatten()
@@ -288,6 +285,9 @@ class ModelState(ModelStateBase):
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
+    if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
+      raise RuntimeError("model output not finite")
+
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -373,11 +373,7 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
-    if model is None:
-      params.put_bool("ChestnutModelError", True)
     params.put_bool("ChestnutActive", model is not None)
-    if model is not None:
-      params.remove("ChestnutModelError")
 
   small_model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False) if model is None or CHESTNUT else None
   if model is None:
@@ -491,6 +487,9 @@ def main(demo=False):
     run_count = run_count + 1
 
     frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
@@ -513,14 +512,11 @@ def main(demo=False):
 
     mt1 = time.perf_counter()
     try:
-      send_chestnut = (chestnut_state is not None and
-                       run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0)
-      model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
+      model_output = model.run(bufs, transforms, inputs, prepare_only)
     except Exception:
       if not params.get_bool("ChestnutActive"):
         raise
       cloudlog.exception("chestnut failed, falling back to small")
-      params.put_bool("ChestnutModelError", True)
       params.put_bool("ChestnutActive", False)
       assert small_model is not None
       model = small_model
@@ -552,7 +548,6 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
@@ -564,6 +559,9 @@ def main(demo=False):
       pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
+    if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()
+
 if __name__ == "__main__":
   try:
     import argparse

openpilot/sunnypilot/modeld_v2/parse_model_outputs.py

@@ -115,41 +115,22 @@ class Parser:
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if 'plan' in outs:
-      self.parse_mdn('plan', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'planplus' in outs:
-      self.parse_mdn('planplus', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    if 'lane_lines' in outs:
-      self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    if 'road_edges' in outs:
-      self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    if 'pose' in outs:
-      self.parse_mdn('pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'road_transform' in outs:
-      self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    # supercombo (4955 / 102) and newer variants (e.g. 990 / 144).
+    self.parse_mdn('plan',   outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose',         outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
     if 'sim_pose' in outs:
       self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'wide_from_device_euler' in outs:
-      self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    if 'lead' in outs:
-      self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    if 'action' in outs:
-      self.parse_mdn('action', outs, out_shape=(ModelConstants.ACTION_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      if k in outs:
-        self.parse_binary_crossentropy(k, outs)
-    if 'desire_state' in outs:
-      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    if 'desire_pred' in outs:
-      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred',  outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
     return outs
-
-  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    return self.parse_outputs(outs)
-
-  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    return self.parse_outputs(outs)

openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -0,0 +1,159 @@
+import numpy as np
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      assert out_shape is not None
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      assert out_shape is not None
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lead' in outs:
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+    if 'plan' in outs:
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
+    if 'lane_lines' in outs:
+      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
+      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    if 'action' in outs:
+      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
+
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
+    return outs

openpilot/sunnypilot/modeld_v2/tests/helpers.py

@@ -117,7 +117,7 @@ ARCHETYPES = {
     is_20hz=True,
     expected_model_type='split',
     expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
     expected_desire_key='desire',
   ),
   'vision_multi_policy': Archetype(
@@ -130,7 +130,7 @@ ARCHETYPES = {
     is_20hz=True,
     expected_model_type='multi_policy',
     expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
     expected_desire_key='desire',
   ),
   'tri_policy': Archetype(
@@ -144,7 +144,7 @@ ARCHETYPES = {
     is_20hz=True,
     expected_model_type='multi_policy',
     expected_constants_class=SplitModelConstants,
-    expected_parser_module='parse_model_outputs',
+    expected_parser_module='parse_model_outputs_split',
     expected_desire_key='desire',
   ),
   'supercombo_non20hz': Archetype(

openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py

@@ -6,9 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 import numpy as np
 
-from openpilot.common.transformations.camera import DEVICE_CAMERAS, view_frame_from_device_frame
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.common.test import OpenpilotTestCase
 
@@ -47,50 +46,29 @@ class TestCameraOffset(OpenpilotTestCase):
     self.camera_offset.update(main_transform, extra_transform, sm, False)
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
 
-  def test_apply_camera_offset(self):
+  def test_camera_offset_(self):
     intrinsics = self.dc.narrow_road.intrinsics
-    v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, [])  # pitch = 0 fallback: v_horizon == cy
     transform = np.eye(3, dtype=np.float32)
     height = 1.22
     offset = 0.1
 
+    cy = intrinsics[1, 2]
     expected_shear = np.eye(3, dtype=np.float32)
     expected_shear[0, 1] = offset / height
-    expected_shear[0, 2] = -offset / height * v_horizon
+    expected_shear[0, 2] = -offset / height * cy
 
-    result = CameraOffsetHelper.apply_camera_offset(transform, height, offset, v_horizon)
+    result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
     np.testing.assert_array_almost_equal(result, expected_shear)
 
-  def test_v_horizon_empty_rpy(self):
-    intrinsics = self.dc.narrow_road.intrinsics
-    v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, [])
-    np.testing.assert_almost_equal(v_horizon, intrinsics[1, 2])
-
-  def test_v_horizon_projection(self):
-    intrinsics = self.dc.narrow_road.intrinsics
-    f, cy = intrinsics[1, 1], intrinsics[1, 2]
-
-    for pitch_deg in [6.0, -6.0, 0.0]:
-      rpy = [0.0, np.radians(pitch_deg), 0.0]
-      d_dev = rot_from_euler(rpy) @ np.array([1.0, 0.0, 0.0])
-      view = view_frame_from_device_frame @ d_dev
-      expected = cy + f * view[1] / view[2]
-
-      v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, rpy)
-      np.testing.assert_almost_equal(v_horizon, expected, decimal=4)
-
   def test_update(self):
-    height = 1.2
-    pitch = np.radians(-8.0)
-
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
       narrowRoadCameraState=MockStruct(sensor='os04c10'),
-      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, pitch, 0.0], height=[height])
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
     )
     intrinsics_main = self.dc.narrow_road.intrinsics
     intrinsics_extra = self.dc.wide_road.intrinsics
-    device_from_calib_euler = np.array(sm['extrinsicsCalibration'].rpyCalib, dtype=np.float32)
+    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
 
@@ -103,13 +81,5 @@ class TestCameraOffset(OpenpilotTestCase):
     main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
     assert not np.array_equal(main_out, main_transform)
     assert not np.array_equal(extra_out, extra_transform)
-
-    # settle the low-pass filter
-    for _ in range(100):
-      main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
-
-    # undo main_transform dot product to get shear matrix
-    shear = main_out @ np.linalg.inv(main_transform)
-    expected_v_horizon = intrinsics_main[1, 2] - intrinsics_main[1, 1] * np.tan(pitch)
-    np.testing.assert_almost_equal(shear[0, 1], self.camera_offset.actual_camera_offset / height, decimal=4)
-    np.testing.assert_almost_equal(shear[0, 2], -self.camera_offset.actual_camera_offset / height * expected_v_horizon, decimal=4)
+    assert main_out[0, 1] != 0.0
+    assert main_out[0, 2] != 0.0

openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py

@@ -103,23 +103,6 @@ class TestStockEquivalence(OpenpilotTestCase):
     assert state.vision_output_slices == arch.metadata_structure['vision']['output_slices']
     assert state.policy_output_slices == arch.metadata_structure['policy']['output_slices']
 
-  def test_unified_run_model(self, tmp_path, monkeypatch, patch_modeld):
-    from openpilot.common.hardware import hw
-    from openpilot.selfdrive.modeld.helpers import dump_oob
-    shapes = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256), 'features_buffer': (1, 24, 32, 512),
-              'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2), 'action_t': (1, 2)}
-    pkl_data = {'metadata': {'model': {'input_shapes': shapes, 'output_slices': {}}},
-                'run_model': {(CAM_W, CAM_H): tests_helpers._noop_jit}}
-    with open(tmp_path / 'driving_test_tinygrad.pkl', 'wb') as f:
-      dump_oob(pkl_data, f)
-    bundle = DummyBundle(models=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')])
-    patch_modeld(bundle)
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
-    assert state.is_run_model and state.run_model is not None
-    assert state.run_policy is None and state.warp is None
-    assert 'img' in state.frame_views and 'big_img' in state.frame_views
-
 
 ARCHETYPE_NAMES = list(ARCHETYPES.keys())
 

openpilot/sunnypilot/modeld_v2/tests/test_models.py

@@ -1,43 +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.
-"""
-
-import os
-import unittest
-from unittest.mock import patch
-from openpilot.common.file_chunker import open_file_chunked
-from openpilot.sunnypilot.modeld_v2.helpers import load_oob
-from tinygrad.device import Device
-
-
-class TestLegacyModels(unittest.TestCase):
-  def test_legacy_model_load(self):
-    base_name = os.environ.get("MODEL_BASE_NAME")
-    if not base_name:
-      raise unittest.SkipTest("MODEL_BASE_NAME env var not set, skipping integration test.")
-    chunk_dir = os.environ.get("MODEL_CHUNK_DIR", "/tmp/model_chunks")
-    base_path = os.path.join(chunk_dir, base_name)
-
-    try:
-      f = open_file_chunked(base_path)
-    except Exception as error:
-      self.fail(f"Failed to open chunked file {base_path}: {error}")
-    self.addCleanup(f.close)
-
-    real_getitem = Device.__class__.__getitem__
-
-    def safe_getitem(device_self, ix):
-      if ix == "QCOM" and not os.path.exists("/dev/kgsl-3d0"):
-        return real_getitem(device_self, "CPU")
-      if ix == "AMD" and not os.path.exists("/dev/kfd"):
-        return real_getitem(device_self, "CPU")
-      return real_getitem(device_self, ix)
-
-    with patch.object(Device.__class__, "__getitem__", safe_getitem):
-      obj = load_oob(f)
-
-    assert isinstance(obj, dict), "Parsed object is not a dictionary"
-    assert "metadata" in obj, "Metadata key is missing"

openpilot/sunnypilot/modeld_v2/tests/test_parse_model_outputs.py

@@ -1,81 +0,0 @@
-import numpy as np
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser, _infer_mhp, sigmoid, softmax
-
-
-class TestParseModelOutputs(OpenpilotTestCase):
-  def test_infer_mhp_lead(self):
-    in_hypotheses, out_selections = _infer_mhp(102, 24)
-    assert in_hypotheses == 2
-    assert out_selections == 3
-
-  def test_infer_mhp_plan(self):
-    in_hypotheses, out_selections = _infer_mhp(4955, 495)
-    assert in_hypotheses == 5
-    assert out_selections == 1
-
-  def test_infer_mhp_non_mdn(self):
-    in_hypotheses, out_selections = _infer_mhp(48, 24)
-    assert in_hypotheses == 1
-    assert out_selections == 0
-
-  def test_check_missing_raises(self):
-    parser = Parser(ignore_missing=False)
-    with self.assertRaises(ValueError):
-      parser.check_missing({}, "missing_key")
-
-  def test_check_missing_ignored(self):
-    parser = Parser(ignore_missing=True)
-    assert parser.check_missing({}, "missing_key") is True
-
-  def test_binary_crossentropy(self):
-    parser = Parser()
-    raw_logits = np.array([[-10.0, 0.0, 10.0]], dtype=np.float32)
-    outs = {"meta": raw_logits.copy()}
-    parser.parse_binary_crossentropy("meta", outs)
-    expected_probabilities = sigmoid(raw_logits)
-    np.testing.assert_allclose(outs["meta"], expected_probabilities, rtol=1e-5, atol=1e-6)
-
-  def test_categorical_crossentropy(self):
-    parser = Parser()
-    raw_logits = np.array([[1.0, 2.0, 3.0]], dtype=np.float32)
-    outs = {"desire_state": raw_logits.copy()}
-    parser.parse_categorical_crossentropy("desire_state", outs)
-    expected_probabilities = softmax(raw_logits)
-    np.testing.assert_allclose(outs["desire_state"], expected_probabilities, rtol=1e-5, atol=1e-6)
-
-  def test_parse_vision_outputs(self):
-    parser = Parser()
-    pose_raw = np.zeros((1, ModelConstants.POSE_WIDTH * 2), dtype=np.float32)
-    road_transform_raw = np.zeros((1, ModelConstants.POSE_WIDTH * 2), dtype=np.float32)
-    lead_raw = np.zeros((1, 102), dtype=np.float32)
-    meta_raw = np.zeros((1, 55), dtype=np.float32)
-    vision_outputs = {"pose": pose_raw, "road_transform": road_transform_raw, "lead": lead_raw, "meta": meta_raw}
-    parsed = parser.parse_vision_outputs(vision_outputs)
-    assert "pose" in parsed
-    assert "road_transform" in parsed
-    assert "lead" in parsed
-    assert "meta" in parsed
-    assert parsed["pose"].shape == (1, ModelConstants.POSE_WIDTH)
-    assert parsed["lead"].shape == (1, ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
-
-  def test_parse_policy_outputs(self):
-    parser = Parser()
-    plan_raw = np.zeros((1, 4955), dtype=np.float32)
-    desire_state_raw = np.zeros((1, ModelConstants.DESIRE_PRED_WIDTH), dtype=np.float32)
-    action_raw = np.zeros((1, ModelConstants.ACTION_WIDTH * 2), dtype=np.float32)
-    policy_outputs = {"plan": plan_raw, "desire_state": desire_state_raw, "action": action_raw}
-    parsed = parser.parse_policy_outputs(policy_outputs)
-    assert parsed["plan"].shape == (1, ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)
-    assert parsed["action"].shape == (1, ModelConstants.ACTION_WIDTH)
-    assert parsed["desire_state"].shape == (1, ModelConstants.DESIRE_PRED_WIDTH)
-
-  def test_parse_outputs_combined(self):
-    parser = Parser()
-    outputs = {"plan": np.zeros((1, 4955), dtype=np.float32), "pose": np.zeros((1, ModelConstants.POSE_WIDTH * 2),
-               dtype=np.float32), "meta": np.zeros((1, 55), dtype=np.float32)}
-    parsed = parser.parse_outputs(outputs)
-    assert parsed["plan"].shape == (1, ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)
-    assert parsed["pose"].shape == (1, ModelConstants.POSE_WIDTH)
-    assert parsed["meta"].shape == (1, 55)

openpilot/sunnypilot/models/constants.py

@@ -0,0 +1,121 @@
+import numpy as np
+
+def index_function(idx, max_val=192, max_idx=32):
+  return max_val * ((idx/max_idx)**2)
+
+
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  NAV_FEATURE_LEN = 256
+  NAV_INSTRUCTION_LEN = 150
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
+
+
+class MetaTombRaider:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 41, 8)
+  BRAKE_DISENGAGE = slice(2, 41, 8)
+  STEER_OVERRIDE = slice(3, 41, 8)
+  HARD_BRAKE_3 = slice(4, 41, 8)
+  HARD_BRAKE_4 = slice(5, 41, 8)
+  HARD_BRAKE_5 = slice(6, 41, 8)
+  GAS_PRESS = slice(7, 41, 8)
+  BRAKE_PRESS = slice(8, 41, 8)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(41, 53, 2)
+  RIGHT_BLINKER = slice(42, 53, 2)
+
+
+class MetaSimPose:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)

openpilot/sunnypilot/models/fetcher.py

@@ -139,7 +139,7 @@ class ModelCache:
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
   MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v22.json"
-  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v25.json"
+  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v23.json"
 
   MODEL_SOURCES = {
     "qcom": (MODEL_URL, ""),

openpilot/sunnypilot/models/helpers.py

@@ -7,11 +7,14 @@ See the LICENSE.md file in the root directory for more details.
 
 import hashlib
 import os
+import pickle
+from pathlib import Path
 import numpy as np
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
 from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.modeld.helpers import chestnut_present
 
@@ -19,6 +22,7 @@ from openpilot.selfdrive.modeld.helpers import chestnut_present
 REQUIRED_JSON_VERSION = 19
 
 CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
 ModelManager = custom.ModelManagerSP
 
 ACTIVE_BUNDLE_KEYS = {
@@ -197,6 +201,33 @@ def _get_model():
   return None
 
 
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
+  return {
+    key: np.zeros(shape, dtype=np.float32).flatten()
+    for key, shape in model_metadata['input_shapes'].items()
+    if 'img' not in key
+  }
+
+
+def load_meta_constants(model_metadata: dict):
+  """ Loads the appropriate meta model class based on key shapes"""
+  if 'sim_pose' in model_metadata['input_shapes']:
+    return MetaSimPose
+
+  meta_slice = model_metadata['output_slices']['meta']
+  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
+    return MetaTombRaider
+
+  return Meta
+
+
 # The following method(s) are modeld helper methods
 def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
   # times at X_IDXS according to plan.

openpilot/sunnypilot/models/tests/test_tinygrad_ref.py

@@ -0,0 +1,24 @@
+import requests
+
+from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
+from openpilot.common.test import OpenpilotTestCase
+
+def fetch_tinygrad_ref():
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
+  response.raise_for_status()
+  json_data = response.json()
+  return json_data.get("tinygrad_ref")
+
+
+class TestTinygradRef(OpenpilotTestCase):
+  def test_tinygrad_ref(self):
+    current_ref = get_tinygrad_ref()
+    remote_ref = fetch_tinygrad_ref()
+    assert remote_ref == current_ref, (
+      f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
+    Current: {current_ref}
+    Remote: {remote_ref}
+    Please run build-all workflow to update models."""
+    )
+    print("tinygrad_repo ref matches current compiled driving models json ref.")

openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py

@@ -115,7 +115,7 @@ class IntelligentCruiseButtonManagement:
     self.is_ready = ready and not button_pressed
 
   def run(self, CS: car.CarState, CC: car.CarControl, LP_SP: custom.LongitudinalPlanSP, is_metric: bool) -> None:
-    if self.CP_SP.pcmCruiseSpeed or not self.CP_SP.intelligentCruiseButtonManagementAvailable:
+    if self.CP_SP.pcmCruiseSpeed:
       return
 
     self.is_metric = is_metric

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -136,10 +136,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
-    "ToyotaTSS2Long",
-    "ToyotaEnhancedBsm",
-    "ToyotaAutoHold",
-    "ToyotaBrakeOnset",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py

@@ -1,26 +1,14 @@
-from opendbc.can.parser import CANParser
-from opendbc.car import create_button_events
 from opendbc.car.structs import car
-from opendbc.car.toyota.carstate import get_virtual_cruise_button, VIRTUAL_CRUISE_BUTTONS
-from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.parameterized import parameterized, parameterized_class
 from openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.car.cruise import TOYOTA_VIRTUAL_CRUISE_LONG_PRESS, VCruiseHelper, V_CRUISE_INITIAL, V_CRUISE_UNSET
+from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
 from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
-from openpilot.sunnypilot.selfdrive.car.interfaces import initialize_params
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-class TestToyotaParamsHandoff(OpenpilotTestCase):
-  def test_tss2_long_tuning_param_is_forwarded_to_opendbc(self):
-    keys = {next(iter(entry)) for entry in initialize_params(Params())}
-    assert "ToyotaTSS2Long" in keys
-
-
 # TODO: test pcmCruise and pcmCruiseSpeed
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
@@ -126,8 +114,8 @@ class TestCustomAccIncrements(TestVCruiseHelper):
   def test_rounding_behavior(self):
     """Test rounding behavior for 5 and 10 increments"""
     test_cases = [
-      (47, 5, 50),  # 47 -> 50 (round up to next 5)
-      (45, 5, 50),  # 45 -> 50 (already at 5, increment by 5)
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
+      (45, 5, 50),   # 45 -> 50 (already at 5, increment by 5)
       (43, 10, 50),  # 43 -> 50 (round up to next 10)
       (40, 10, 50),  # 40 -> 50 (already at 10, increment by 10)
     ]
@@ -158,302 +146,3 @@ class TestCustomAccIncrements(TestVCruiseHelper):
     initial_speed = self.v_cruise_helper.v_cruise_kph
     self.press_button_long(ButtonType.accelCruise)
     assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10  # Should fallback to 10
-
-
-class TestToyotaVirtualCruiseSpeed(OpenpilotTestCase):
-  def setup_method(self):
-    self.params = Params()
-    self.params.put_bool("CustomAccIncrementsEnabled", True, block=True)
-    self.params.put("CustomAccShortPressIncrement", 5, block=True)
-    self.params.put("CustomAccLongPressIncrement", 5, block=True)
-
-    CP = car.CarParams(brand="toyota", pcmCruise=True, openpilotLongitudinalControl=True)
-    CP_SP = custom.CarParamsSP(pcmCruiseSpeed=False)
-    self.v_cruise_helper = VCruiseHelper(CP, CP_SP)
-    self.v_cruise_helper.read_custom_set_speed_params()
-    self.route_parser = CANParser("toyota_nodsu_pt_generated", [("CLUTCH", 16)], 0)
-    self.route_button = 0
-
-  @staticmethod
-  def car_state(canonical_kph, cluster_kph, *, available=True, standstill=False, gas_pressed=False, v_ego_kph=0.0, button_events=None):
-    CS = car.CarState(
-      gasPressed=gas_pressed,
-      vEgo=v_ego_kph * CV.KPH_TO_MS,
-      cruiseState={
-        "available": available,
-        "speed": canonical_kph * CV.KPH_TO_MS,
-        "speedCluster": cluster_kph * CV.KPH_TO_MS,
-        "standstill": standstill,
-      },
-    )
-    CS.buttonEvents = button_events or []
-    return CS
-
-  def seed_enabled(self, canonical_kph, cluster_kph, *, is_metric=True):
-    CS = self.car_state(canonical_kph, cluster_kph)
-    self.v_cruise_helper.update_v_cruise(CS, enabled=False, is_metric=is_metric)
-    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=is_metric)
-    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=is_metric)
-    assert self.v_cruise_helper.v_cruise_kph == canonical_kph
-    assert self.v_cruise_helper.v_cruise_cluster_kph == cluster_kph
-
-  def press(self, button_type, canonical_kph, cluster_kph, hold_frames=0, *, standstill=False, gas_pressed=False, v_ego_kph=0.0, is_metric=True):
-    pressed = [ButtonEvent(type=button_type, pressed=True)]
-    self.v_cruise_helper.update_v_cruise(
-      self.car_state(canonical_kph, cluster_kph, standstill=standstill, gas_pressed=gas_pressed, v_ego_kph=v_ego_kph, button_events=pressed),
-      enabled=True,
-      is_metric=is_metric,
-    )
-    for _ in range(hold_frames):
-      self.v_cruise_helper.update_v_cruise(
-        self.car_state(canonical_kph, cluster_kph, standstill=standstill, gas_pressed=gas_pressed, v_ego_kph=v_ego_kph),
-        enabled=True,
-        is_metric=is_metric,
-      )
-    released = [ButtonEvent(type=button_type, pressed=False)]
-    self.v_cruise_helper.update_v_cruise(
-      self.car_state(canonical_kph, cluster_kph, standstill=standstill, gas_pressed=gas_pressed, v_ego_kph=v_ego_kph, button_events=released),
-      enabled=True,
-      is_metric=is_metric,
-    )
-
-  def set_increments(self, short_increment, long_increment):
-    self.params.put("CustomAccShortPressIncrement", short_increment, block=True)
-    self.params.put("CustomAccLongPressIncrement", long_increment, block=True)
-    self.v_cruise_helper.read_custom_set_speed_params()
-
-  def assert_kph_almost_equal(self, actual, expected):
-    self.assertAlmostEqual(actual, expected, delta=abs(expected) * 1e-6)
-
-  def route_button_events(self, payload):
-    self.route_parser.update((1, [(0x361, bytes.fromhex(payload), 0)]))
-    current = get_virtual_cruise_button(
-      self.route_parser.vl["CLUTCH"]["CRUISE_RES"],
-      self.route_parser.vl["CLUTCH"]["CRUISE_SET"],
-    )
-    events = create_button_events(current, self.route_button, VIRTUAL_CRUISE_BUTTONS)
-    self.route_button = current
-    return events
-
-  def test_short_press_rounds_display_target_and_preserves_offset(self):
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.accelCruise, 28, 32)
-
-    assert self.v_cruise_helper.v_cruise_kph == 31
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 35
-
-  def test_decel_at_display_minimum_does_not_increase_target(self):
-    self.seed_enabled(26, 30)
-    self.press(ButtonType.decelCruise, 25, 29)
-
-    assert self.v_cruise_helper.v_cruise_kph == 26
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 30
-
-  @parameterized.expand((52, TOYOTA_VIRTUAL_CRUISE_LONG_PRESS - 1))
-  def test_route_length_short_press_is_not_a_long_press(self, hold_frames):
-    self.set_increments(short_increment=2, long_increment=5)
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.accelCruise, 28, 32, hold_frames=hold_frames)
-
-    assert self.v_cruise_helper.v_cruise_kph == 29
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 33
-
-  def test_toyota_long_press_uses_route_validated_cadence_and_suppresses_release(self):
-    self.set_increments(short_increment=2, long_increment=5)
-    self.seed_enabled(27, 31)
-
-    pressed = [ButtonEvent(type=ButtonType.accelCruise, pressed=True)]
-    self.v_cruise_helper.update_v_cruise(self.car_state(31, 35, button_events=pressed), enabled=True, is_metric=True)
-    for _ in range(TOYOTA_VIRTUAL_CRUISE_LONG_PRESS):
-      self.v_cruise_helper.update_v_cruise(self.car_state(31, 35), enabled=True, is_metric=True)
-
-    assert self.v_cruise_helper.v_cruise_kph == 31
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 35
-
-    released = [ButtonEvent(type=ButtonType.accelCruise, pressed=False)]
-    self.v_cruise_helper.update_v_cruise(self.car_state(31, 35, button_events=released), enabled=True, is_metric=True)
-    assert self.v_cruise_helper.v_cruise_kph == 31
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 35
-
-  def test_route_4_32_second_hold_repeats_six_times(self):
-    self.seed_enabled(26, 30)
-    self.press(ButtonType.accelCruise, 30, 34, hold_frames=432)
-
-    assert self.v_cruise_helper.v_cruise_kph == 56
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 60
-
-  def test_maximum_boundary_caps_pair_and_preserves_offset(self):
-    self.seed_enabled(141, 145)
-    self.press(ButtonType.accelCruise, 142, 146)
-
-    assert self.v_cruise_helper.v_cruise_kph == 141
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 145
-
-    self.press(ButtonType.accelCruise, 143, 147)
-    assert self.v_cruise_helper.v_cruise_kph == 141
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 145
-
-  @parameterized.expand(
-    (
-      (25, 29, ButtonType.decelCruise),
-      (141, 147, ButtonType.accelCruise),
-    )
-  )
-  def test_out_of_range_raw_pair_is_not_moved_in_opposite_direction(self, canonical_kph, cluster_kph, button_type):
-    self.seed_enabled(canonical_kph, cluster_kph)
-    self.press(button_type, canonical_kph, cluster_kph)
-
-    assert self.v_cruise_helper.v_cruise_kph == canonical_kph
-    assert self.v_cruise_helper.v_cruise_cluster_kph == cluster_kph
-
-  def test_imperial_increment_preserves_canonical_cluster_pair(self):
-    self.seed_enabled(45, 50, is_metric=False)
-    self.press(ButtonType.accelCruise, 46, 51, is_metric=False)
-
-    assert self.v_cruise_helper.v_cruise_kph == 51
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 56
-
-  def test_engagement_button_held_does_not_change_target(self):
-    initial = self.car_state(27, 31)
-    self.v_cruise_helper.update_v_cruise(initial, enabled=False, is_metric=True)
-
-    pressed = [ButtonEvent(type=ButtonType.decelCruise, pressed=True)]
-    self.v_cruise_helper.update_v_cruise(self.car_state(27, 31, button_events=pressed), enabled=False, is_metric=True)
-    for _ in range(TOYOTA_VIRTUAL_CRUISE_LONG_PRESS + 10):
-      self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-
-    released = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32, button_events=released), enabled=True, is_metric=True)
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-
-    assert self.v_cruise_helper.v_cruise_kph == 28
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 32
-
-  def test_delayed_pcm_target_seeds_before_software_ownership(self):
-    invalid = self.car_state(0, 0)
-    self.v_cruise_helper.update_v_cruise(invalid, enabled=False, is_metric=True)
-
-    release = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
-    for _ in range(4):
-      self.v_cruise_helper.update_v_cruise(self.car_state(0, 0, button_events=release), enabled=True, is_metric=True)
-      assert self.v_cruise_helper.v_cruise_kph == V_CRUISE_UNSET
-      assert self.v_cruise_helper.v_cruise_cluster_kph == V_CRUISE_UNSET
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(27, 31), enabled=True, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 27)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 31)
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 27)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 31)
-
-  def test_route_payload_short_press_drives_virtual_target(self):
-    self.seed_enabled(27, 31)
-
-    pressed = self.route_button_events("a61a0000561a1a81")
-    self.v_cruise_helper.update_v_cruise(self.car_state(27, 31, button_events=pressed), enabled=True, is_metric=True)
-    for _ in range(52):
-      self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-
-    released = self.route_button_events("861a0000561b1a81")
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32, button_events=released), enabled=True, is_metric=True)
-    assert self.v_cruise_helper.v_cruise_kph == 31
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 35
-
-  def test_prius_route_payload_short_set_drives_virtual_target(self):
-    self.seed_enabled(31, 35)
-
-    pressed = self.route_button_events("965f000056666585")
-    self.v_cruise_helper.update_v_cruise(self.car_state(31, 35, button_events=pressed), enabled=True, is_metric=True)
-    for _ in range(45):
-      self.v_cruise_helper.update_v_cruise(self.car_state(30, 34), enabled=True, is_metric=True)
-
-    released = self.route_button_events("865f000056666585")
-    self.v_cruise_helper.update_v_cruise(self.car_state(30, 34, button_events=released), enabled=True, is_metric=True)
-    assert self.v_cruise_helper.v_cruise_kph == 26
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 30
-
-  def test_prius_route_payload_standstill_res_does_not_change_target(self):
-    self.seed_enabled(27, 31)
-
-    pressed = self.route_button_events("a61b0000561c1c80")
-    self.v_cruise_helper.update_v_cruise(
-      self.car_state(27, 31, standstill=True, button_events=pressed),
-      enabled=True,
-      is_metric=True,
-    )
-    for _ in range(TOYOTA_VIRTUAL_CRUISE_LONG_PRESS):
-      self.v_cruise_helper.update_v_cruise(self.car_state(27, 31, standstill=True), enabled=True, is_metric=True)
-
-    released = self.route_button_events("865f000056666585")
-    self.v_cruise_helper.update_v_cruise(
-      self.car_state(27, 31, standstill=True, button_events=released),
-      enabled=True,
-      is_metric=True,
-    )
-    assert self.v_cruise_helper.v_cruise_kph == 27
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 31
-
-  def test_route_payload_disengage_mid_hold_clears_pending_action(self):
-    self.seed_enabled(27, 31)
-
-    pressed = self.route_button_events("a61a0000561a1a81")
-    self.v_cruise_helper.update_v_cruise(self.car_state(27, 31, button_events=pressed), enabled=True, is_metric=True)
-    for _ in range(30):
-      self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=False, is_metric=True)
-    released = self.route_button_events("861a0000561b1a81")
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32, available=False, button_events=released), enabled=False, is_metric=True)
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=False, is_metric=True)
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=True, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 28)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 32)
-
-  def test_standstill_resume_does_not_change_target(self):
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.accelCruise, 27, 31, standstill=True)
-
-    assert self.v_cruise_helper.v_cruise_kph == 27
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 31
-
-  def test_disengagement_discards_virtual_target_and_reseeds_raw_pair(self):
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.accelCruise, 28, 32)
-    assert self.v_cruise_helper.v_cruise_kph == 31
-
-    raw = self.car_state(28, 32)
-    self.v_cruise_helper.update_v_cruise(raw, enabled=False, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 28)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 32)
-
-    self.v_cruise_helper.update_v_cruise(raw, enabled=True, is_metric=True)
-    self.v_cruise_helper.update_v_cruise(raw, enabled=True, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 28)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 32)
-
-  def test_unavailable_and_mads_handback_discard_virtual_target(self):
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.accelCruise, 28, 32)
-    assert self.v_cruise_helper.v_cruise_kph == 31
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(28, 32), enabled=False, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 28)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 32)
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(0, 0, available=False), enabled=False, is_metric=True)
-    assert self.v_cruise_helper.v_cruise_kph == V_CRUISE_UNSET
-    assert self.v_cruise_helper.v_cruise_cluster_kph == V_CRUISE_UNSET
-
-    self.v_cruise_helper.update_v_cruise(self.car_state(29, 33), enabled=False, is_metric=True)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_kph, 29)
-    self.assert_kph_almost_equal(self.v_cruise_helper.v_cruise_cluster_kph, 33)
-
-  def test_set_during_gas_override_clips_target_to_ego_speed(self):
-    self.seed_enabled(27, 31)
-    self.press(ButtonType.decelCruise, 26, 30, gas_pressed=True, v_ego_kph=50)
-
-    assert self.v_cruise_helper.v_cruise_kph == 50
-    assert self.v_cruise_helper.v_cruise_cluster_kph == 54

openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -12,13 +12,11 @@ from openpilot.cereal import log, custom
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
 from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
-from openpilot.sunnypilot.selfdrive.controls.lib.stopping_controller import StoppingController
 
 
 class ControlsExt(ModelStateBase):
@@ -33,11 +31,6 @@ class ControlsExt(ModelStateBase):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.stopping_controller = StoppingController(self.CP.stopAccel) if params.get_bool("SunnypilotStoppingController") else None
-    # the stock LongControl.update() has already run by the time long_accel_sp() sees it, so carry the pair it was
-    # handed last frame; a fresh LongControl starts at (off, 0.0)
-    self._stopping_prev = (LongCtrlState.off, 0.0)
-
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
@@ -54,27 +47,6 @@ class ControlsExt(ModelStateBase):
     else:
       return lac
 
-  def long_accel_sp(self, actuators, CS, long_plan, accel_limits: tuple[float, float]) -> None:
-    """sunnypilot: terminal-stop policy applied after the stock LongControl.update() (see stopping_controller.py)."""
-    stock_state = self.LoC.long_control_state
-    stock_accel = actuators.accel
-    prev_state, prev_accel = self._stopping_prev
-    self._stopping_prev = (stock_state, stock_accel)
-
-    if self.stopping_controller is None:
-      return
-
-    state, accel = self.stopping_controller.update(
-      prev_state, stock_state, CS, long_plan.aTarget, prev_accel, stock_accel, accel_limits, long_plan.hasLead,
-      pitch=self.calibrated_pose.orientation.pitch if self.calibrated_pose is not None else None,
-      a_long=self.calibrated_pose.acceleration.x if self.calibrated_pose is not None else None)
-    if state != stock_state:
-      self.LoC.reset()
-    self.LoC.long_control_state = state
-    self.LoC.last_output_accel = accel
-    self._stopping_prev = (state, accel)
-    actuators.accel = float(accel)
-
   def get_params_sp(self, sm: messaging.SubMaster) -> None:
     if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
       self.blinker_pause_lateral.get_params()

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py

@@ -1,128 +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.
-"""
-
-import numpy as np
-
-from openpilot.cereal import custom
-from openpilot.common.params import Params
-from openpilot.sunnypilot import get_sanitize_int_param
-
-AccelProfile = custom.LongitudinalPlanSP.AccelController.Profile
-
-MAX_ACCEL_BREAKPOINTS = [0., 3., 12,  24., 36.]  # m/s
-MAX_ACCEL_PROFILES = {
-  AccelProfile.eco:    [1.75, 1.50, 0.40, 0.15, 0.12],
-  AccelProfile.normal: [1.95, 1.80, 0.70, 0.36, 0.25],
-  AccelProfile.sport:  [2.00, 2.00, 1.20, 0.70, 0.50],
-}
-# Eco while the hybrid's engine is OFF (battery-first mode, ported from tncr18): keep wheel power m*a*v + road load under
-# the ~11-14 kW at which a Corolla hybrid starts its engine (30 Corolla Cross rlogs, threshold not SOC dependent):
-# 60 km/h 0.25, 70 km/h 0.16, 80 km/h 0.12. Launch values are the Altis eco ones. Once the engine runs there is nothing
-# to save, so the normal eco line takes over until it stops again.
-ECO_ENGINE_OFF_BP = [0., 3., 12., 16.67, 19.44, 22.22, 24., 36.]  # m/s
-# The first two rows follow the eco line above: battery-first may never launch harder than eco. They still held the
-# pre-retune eco values (1.85 / 1.55) in the source this was ported from, which put engine-off above eco at 0-3 m/s.
-ECO_ENGINE_OFF_MAX_ACCEL = [1.75, 1.50, 0.35, 0.25, 0.16, 0.12, 0.08, 0.06]
-# Cruise deceleration to a lowered set speed (no lead). Normal/sport: one CONSTANT decel latched when the gap opens
-# (gap / response time, never gentler than CRUISE_DECEL_ACCEL) and held, so the car slows on a straight line instead of
-# the proportional gap/time law, which braked hardest at the start and dragged a long tail; more presses = firmer.
-# Eco (driver request 2026-09-25/26): never hurry to the new set speed however far it is or however many presses.
-# Above 70 km/h: pure coasting - the target decel IS the planner's pitch-aware coast accel (get_coast_accel), so the
-# PCM neither adds throttle nor regen; the speed table above 70 is only the fallback when no coast value is given
-# (road-load estimate of a 1500 kg Corolla Cross: -0.22 at 70, -0.30 at 90, -0.40 at 120). Below 60 km/h -0.40
-# (regen), blended into coasting between 60 and 70 as the speed falls. Whether -0.40 is too firm is for the road test.
-CRUISE_DECEL_RESPONSE_TIME = {  # seconds to close the gap (normal/sport)
-  AccelProfile.normal: 3.5,
-  AccelProfile.sport: 3.0,
-}
-CRUISE_DECEL_ACCEL = {  # m/s^2; gentlest constant decel (normal/sport)
-  AccelProfile.normal: -0.50,
-  AccelProfile.sport: -0.65,
-}
-ECO_CRUISE_DECEL_BP = [0., 16.67, 19.44, 25.0, 33.3]   # m/s (0, 60, 70, 90, 120 km/h)
-ECO_CRUISE_DECEL_V = [-0.40, -0.40, -0.22, -0.30, -0.40]  # m/s^2; the >= 70 km/h part is only the FALLBACK coast estimate
-ECO_COAST_BLEND_BP = [16.67, 19.44]  # m/s: -0.40 at 60 km/h blends into pure coasting by 70 km/h
-ECO_COAST_MIN, ECO_COAST_MAX = -1.2, -0.05  # m/s^2; sanity clip on the planner's pitch-aware coast accel
-# Eco lead pull-away boost (driver 2026-10-01 night): below 80 km/h, when a detected lead is pulling away (gap opening),
-# eco may accelerate a little harder for a while so the car keeps up, eased in and out; with no lead nothing changes.
-# The boost scales with how fast the gap opens, fades out from 70 to 80 km/h, and never lifts eco above the normal line.
-ECO_BOOST_DV_BP = [0.3, 2.5]     # m/s, lead speed minus ego speed
-ECO_BOOST_V = [0.0, 0.35]        # m/s^2 added to the eco limit
-ECO_BOOST_FADE_BP = [19.44, 22.22]  # m/s (70 -> 80 km/h): full -> none
-ECO_BOOST_D_MAX = 80.0           # m, only a lead this close counts
-ECO_BOOST_PROB_MIN = 0.5
-ECO_BOOST_RISE = 0.25            # m/s^3, how fast the boost builds
-ECO_BOOST_FALL = 0.5             # m/s^3, how fast it fades
-ECO_BOOST_DT = 0.05              # s, planner step
-CRUISE_DECEL_TAPER_TIME = 1.0  # s; inside |decel| * this of the target the decel eases off proportionally (no overshoot)
-
-
-class AccelController:
-  def __init__(self):
-    self.params = Params()
-    self._cruise_decel: float | None = None
-    self._cruise_decel_target: float | None = None
-    self._boost = 0.0
-    self.update()
-
-  def update(self) -> None:
-    self._profile = get_sanitize_int_param("AccelPersonality", AccelProfile.eco, AccelProfile.sport, self.params)
-    self._enabled = self.params.get_bool("AccelPersonalityEnabled")
-
-  @property
-  def profile(self) -> int:
-    return self._profile
-
-  def is_enabled(self) -> bool:
-    return self._enabled
-
-  def get_max_accel(self, v_ego: float, engine_off: bool = False, lead=None) -> float:
-    if engine_off and self._profile == AccelProfile.eco:
-      base = float(np.interp(max(0.0, v_ego), ECO_ENGINE_OFF_BP, ECO_ENGINE_OFF_MAX_ACCEL))
-    else:
-      base = float(np.interp(max(0.0, v_ego), MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self._profile]))
-    if self._profile != AccelProfile.eco:
-      self._boost = 0.0
-      return base
-    return base + self._eco_lead_boost(v_ego, base, lead)
-
-  def _eco_lead_boost(self, v_ego: float, base: float, lead) -> float:
-    target = 0.0
-    if lead is not None and lead.present and lead.modelProb > ECO_BOOST_PROB_MIN and lead.dRel < ECO_BOOST_D_MAX:
-      target = float(np.interp(lead.vLead - v_ego, ECO_BOOST_DV_BP, ECO_BOOST_V))
-      target *= float(np.interp(v_ego, ECO_BOOST_FADE_BP, [1.0, 0.0]))
-      normal = float(np.interp(max(0.0, v_ego), MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[AccelProfile.normal]))
-      target = float(np.clip(target, 0.0, max(normal - base, 0.0)))
-    step = (ECO_BOOST_RISE if target > self._boost else ECO_BOOST_FALL) * ECO_BOOST_DT
-    self._boost = float(np.clip(target, self._boost - step, self._boost + step))
-    return self._boost
-
-  def get_cruise_target(self, v_ego: float, v_target: float, accel_coast: float | None = None) -> float:
-    if not np.isfinite(v_target) or v_target <= 0.0 or v_target >= v_ego:
-      self._cruise_decel = None
-      self._cruise_decel_target = None
-      return v_target
-
-    target_delta = v_target - v_ego
-    if self._profile == AccelProfile.eco:
-      # speed-scheduled, independent of the gap and of how many presses opened it
-      decel = float(np.interp(v_ego, ECO_CRUISE_DECEL_BP, ECO_CRUISE_DECEL_V))
-      if accel_coast is not None and np.isfinite(accel_coast) and accel_coast < 0.0:
-        # >= 70 km/h: coast exactly (pitch-aware); 60-70 km/h: blend from the low-speed value into coasting
-        coast = float(np.clip(accel_coast, ECO_COAST_MIN, ECO_COAST_MAX))
-        w = float(np.interp(v_ego, ECO_COAST_BLEND_BP, [0.0, 1.0]))
-        decel = (1.0 - w) * ECO_CRUISE_DECEL_V[1] + w * coast
-    else:
-      if self._cruise_decel is None or self._cruise_decel_target != v_target:
-        # a new (or changed) gap: latch one constant decel for this episode
-        self._cruise_decel = min(CRUISE_DECEL_ACCEL[self._profile], target_delta / CRUISE_DECEL_RESPONSE_TIME[self._profile])
-        self._cruise_decel_target = v_target
-      decel = self._cruise_decel
-
-    # taper only once the target is close (both terms are negative; max = the gentler one) so the speed lands cleanly
-    decel = max(decel, target_delta / CRUISE_DECEL_TAPER_TIME)
-    return float(v_ego + decel)

openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py

@@ -1,142 +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.
-"""
-
-from types import SimpleNamespace
-
-import numpy as np
-
-from opendbc.car.interfaces import ACCEL_MAX
-from openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import (
-  AccelController, AccelProfile, CRUISE_DECEL_ACCEL, CRUISE_DECEL_RESPONSE_TIME, ECO_CRUISE_DECEL_BP,
-  ECO_CRUISE_DECEL_V, ECO_ENGINE_OFF_MAX_ACCEL, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES,
-)
-
-
-class TestAccelController(OpenpilotTestCase):
-  def setUp(self):
-    self.params = Params()
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    self.params.put("AccelPersonality", AccelProfile.normal, block=True)
-
-  def set_profile(self, profile: int) -> AccelController:
-    self.params.put("AccelPersonality", profile, block=True)
-    return AccelController()
-
-  def test_table_breakpoints(self):
-    for profile, values in MAX_ACCEL_PROFILES.items():
-      controller = self.set_profile(profile)
-      for speed, expected in zip(MAX_ACCEL_BREAKPOINTS, values, strict=True):
-        assert controller.get_max_accel(speed) == expected
-
-  def test_profiles_are_ordered_monotonic_and_bounded(self):
-    controllers = {
-      profile: self.set_profile(profile)
-      for profile in (AccelProfile.eco, AccelProfile.normal, AccelProfile.sport)
-    }
-    previous = {profile: float("inf") for profile in controllers}
-
-    for speed in np.linspace(0.0, 55.0, 551):
-      values = {profile: controller.get_max_accel(speed) for profile, controller in controllers.items()}
-      assert 0.0 <= values[AccelProfile.eco] <= values[AccelProfile.normal] <= values[AccelProfile.sport] <= ACCEL_MAX
-      for profile, value in values.items():
-        assert value <= previous[profile]
-        previous[profile] = value
-
-  def test_engine_off_line_only_lowers_eco(self):
-    speeds = np.linspace(0.0, 40.0, 401)
-    eco = self.set_profile(AccelProfile.eco)
-    for speed in speeds:
-      assert eco.get_max_accel(speed, engine_off=True) <= eco.get_max_accel(speed) + 1e-12
-    for speed, expected in zip(MAX_ACCEL_BREAKPOINTS, ECO_ENGINE_OFF_MAX_ACCEL, strict=True):
-      assert eco.get_max_accel(speed, engine_off=True) == expected
-
-    for profile in (AccelProfile.normal, AccelProfile.sport):
-      controller = self.set_profile(profile)
-      for speed in speeds:
-        assert controller.get_max_accel(speed, engine_off=True) == controller.get_max_accel(speed)
-
-  def test_engine_off_eco_line_respects_hybrid_power_budget(self):
-    controller = self.set_profile(AccelProfile.eco)
-    for kph, budget_kw in ((60, 11.5), (70, 11.5), (80, 13.5)):
-      speed = kph / 3.6
-      road_load = (0.010 * 1500 * 9.81 + 0.5 * 1.2 * 0.82 * speed * speed) * speed
-      wheel_power = 1500 * controller.get_max_accel(speed, engine_off=True) * speed + road_load
-      assert wheel_power <= budget_kw * 1e3, kph
-
-  def test_lead_boost_is_eco_only_and_absent_without_a_lead(self):
-    # the eco lead pull-away boost: no lead is the plain table lookup, and normal/sport ignore the lead entirely
-    eco = self.set_profile(AccelProfile.eco)
-    assert eco.get_max_accel(1.0, lead=None) == eco.get_max_accel(1.0)
-    assert eco.get_max_accel(20.0, lead=None) == eco.get_max_accel(20.0)
-
-    normal = self.set_profile(AccelProfile.normal)
-    lead = SimpleNamespace(present=True, modelProb=0.9, dRel=30.0, vLead=23.0)
-    assert normal.get_max_accel(20.0, lead=lead) == normal.get_max_accel(20.0)
-
-  def test_sport_uses_openpilot_accel_max_at_launch(self):
-    controller = self.set_profile(AccelProfile.sport)
-    assert controller.get_max_accel(0.0) == ACCEL_MAX
-
-  def test_negative_speed_uses_standstill_value(self):
-    controller = self.set_profile(AccelProfile.sport)
-    assert controller.get_max_accel(-1.0) == MAX_ACCEL_PROFILES[AccelProfile.sport][0]
-
-  def test_eco_cruise_decel_is_speed_scheduled_not_gap_scheduled(self):
-    controller = self.set_profile(AccelProfile.eco)
-    a_small = controller.get_cruise_target(22.0, 20.0) - 22.0
-    a_big = controller.get_cruise_target(22.0, 12.0) - 22.0
-    assert np.isclose(a_small, a_big)
-    assert np.isclose(controller.get_cruise_target(19.44, 10.0) - 19.44, -0.22)
-    assert np.isclose(controller.get_cruise_target(15.0, 10.0) - 15.0, -0.40)
-    assert -0.40 < controller.get_cruise_target(18.0, 10.0) - 18.0 < -0.22
-    # with the planner's coast accel available, >= 70 km/h coasts exactly (pitch-aware), 60-70 blends into it
-    assert np.isclose(controller.get_cruise_target(22.0, 10.0, accel_coast=-0.27) - 22.0, -0.27)
-    assert np.isclose(controller.get_cruise_target(15.0, 10.0, accel_coast=-0.27) - 15.0, -0.40)
-    assert -0.40 < controller.get_cruise_target(18.0, 10.0, accel_coast=-0.27) - 18.0 < -0.27
-    # normal ignores the coast value
-    normal = self.set_profile(AccelProfile.normal)
-    assert normal.get_cruise_target(22.0, 20.0, accel_coast=-0.27) == normal.get_cruise_target(22.0, 20.0)
-  def test_normal_and_sport_cruise_decel_latch_then_taper(self):
-    for profile in (AccelProfile.normal, AccelProfile.sport):
-      controller = self.set_profile(profile)
-      v_target = 10.0
-      a1 = controller.get_cruise_target(14.0, v_target) - 14.0
-      a2 = controller.get_cruise_target(13.0, v_target) - 13.0
-      expected = min(CRUISE_DECEL_ACCEL[profile], (v_target - 14.0) / CRUISE_DECEL_RESPONSE_TIME[profile])
-      assert a1 < 0 and np.isclose(a1, a2)
-      assert np.isclose(a1, expected)
-
-      a_close = controller.get_cruise_target(10.2, v_target) - 10.2
-      assert a1 < a_close < 0
-      assert controller.get_cruise_target(10.0, v_target) == v_target
-      # A new, lower target re-latches a firmer deceleration.
-      a_new_target = controller.get_cruise_target(14.0, v_target - 2.0) - 14.0
-      assert a_new_target <= a1
-      assert CRUISE_DECEL_RESPONSE_TIME[profile] >= 3.0
-
-  def test_non_decel_cruise_requests_clear_latched_deceleration(self):
-    controller = self.set_profile(AccelProfile.normal)
-    controller.get_cruise_target(14.0, 10.0)
-    assert controller.get_cruise_target(10.0, 10.0) == 10.0
-    assert np.isclose(controller.get_cruise_target(14.0, 10.0) - 14.0,
-                      (10.0 - 14.0) / CRUISE_DECEL_RESPONSE_TIME[AccelProfile.normal])
-
-  def test_eco_decel_table_is_valid(self):
-    assert len(ECO_CRUISE_DECEL_BP) == len(ECO_CRUISE_DECEL_V)
-    assert all(decel < 0.0 for decel in ECO_CRUISE_DECEL_V)
-
-  def test_params_refresh(self):
-    controller = self.set_profile(AccelProfile.normal)
-    self.params.put("AccelPersonality", AccelProfile.sport, block=True)
-    controller.update()
-    assert controller.profile == AccelProfile.sport
-
-    self.params.put_bool("AccelPersonalityEnabled", False, block=True)
-    controller.update()
-    assert not controller.is_enabled()