ui: preserve custom button presses

# Conflicts:
#	opendbc_repo
#	selfdrive/ui/feedback/feedbackd.py
#	sunnypilot/sunnylink/params_metadata.json

.github/workflows/build-all-tinygrad-models.yaml

@@ -7,19 +7,6 @@ on:
         description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
         required: true
         type: string
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
-        required: true
-        type: choice
-        default: 'qcom'
-        options:
-          - qcom
-          - usbgpu
-      hf_repo:
-        description: 'Hugging Face dataset repository'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'
 
 jobs:
   setup:
@@ -59,14 +46,13 @@ jobs:
         id: get-json
         run: |
           cd docs/docs
-          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
-          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
           next=$((latest+1))
-          json_file="${PREFIX}${next}.json"
-          cp "${PREFIX}${latest}.json" "$json_file"
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
           echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
           echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
 
       - name: Extract tinygrad models
         id: set-matrix
@@ -75,23 +61,45 @@ jobs:
           jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
           echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
 
-      - name: Get next recompiled dir number
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo and create new recompiled dir
         id: create-recompiled-dir
         env:
-          HF_REPO: ${{ github.event.inputs.hf_repo }}
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
-          pip install huggingface_hub
-          recompiled_dir=$(python3 -c "
-          from huggingface_hub import HfApi
-          import re, sys
-          api = HfApi()
-          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
-          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
-          nums = [int(m.group(1)) for m in dirs if m]
-          print(max(nums) + 1)
-          " "$HF_REPO")
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
           echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
 
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
+
       - name: Push new JSON to GitHub docs repo
         run: |
           cd docs
@@ -115,30 +123,25 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
-      target_hardware: ${{ github.event.inputs.target_hardware }}
-      hf_repo: ${{ github.event.inputs.hf_repo }}
-      set_min_version: ${{ github.event.inputs.set_min_version }}
-      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
 
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
       - uses: actions/download-artifact@v4
         with:
-          pattern: artifact-name-*
+          pattern: model-*
           path: output
-        continue-on-error: true
 
       - id: set-retry-matrix
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -146,7 +149,7 @@ jobs:
 
   retry_get_and_build:
     needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
     strategy:
       matrix:
         model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -158,9 +161,146 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
-      target_hardware: ${{ github.event.inputs.target_hardware }}
       artifact_suffix: -retry
-      hf_repo: ${{ github.event.inputs.hf_repo }}
-      set_min_version: ${{ github.event.inputs.set_min_version }}
-      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    env:
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-models
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
+        run: |
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+
+      - name: Copy model artifacts to gitlab
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: update json
+        run: |
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated json to GitHub
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages

.github/workflows/build-single-tinygrad-model.yaml

@@ -29,24 +29,11 @@ on:
         required: false
         type: boolean
         default: true
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
         required: false
-        type: string
-        default: 'qcom'
-      hf_repo:
-        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'
-      set_min_version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-      tinygrad_ref:
-        description: 'Tinygrad reference'
-        required: false
-        type: string
+        default: true
+        type: boolean
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -78,8 +65,8 @@ on:
           - None
           - Master Models
           - Release Models
+          - 2025 World Models
           - 2026 World Models
-          - 2026 Deep RL Models
           - Custom Merge Models
           - Other
       custom_model_folder:
@@ -94,22 +81,9 @@ on:
         description: 'Minimum selector version'
         required: false
         type: string
-      target_hardware:
-        description: 'Hardware target to compile for'
-        required: false
-        type: choice
-        default: 'qcom'
-        options:
-          - qcom
-          - usbgpu
-      hf_repo:
-        description: 'Hugging Face dataset repository'
-        required: false
-        type: string
-        default: 'sunnypilot/sunnypilot_models_v1'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
 
 jobs:
   build_model:
@@ -119,20 +93,38 @@ jobs:
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
       is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
-      target_hardware: ${{ inputs.target_hardware }}
     secrets: inherit
 
   publish_model:
-    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
+    if: ${{ !inputs.bypass_push && !cancelled() }}
     concurrency:
-      group: hf-push-${{ inputs.recompiled_dir }}
+      group: gitlab-push-${{ inputs.recompiled_dir }}
       cancel-in-progress: false
     needs: build_model
     runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-      contents: write
     steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
@@ -141,28 +133,16 @@ jobs:
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Install huggingface_hub
-        run: pip install --upgrade "huggingface_hub>=0.22.0"
-
-      - name: Validate hf_repo and JSON version
-        env:
-          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
+      - name: Validate recompiled dir and JSON version
         run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
           if [ ! -f "$JSON_FILE" ]; then
             echo "JSON file $JSON_FILE does not exist!"
             exit 1
           fi
-          python3 -c "
-          import sys
-          from huggingface_hub import HfApi
-          try:
-              api = HfApi()
-              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
-              print(f'Success: Repo {sys.argv[1]} exists.')
-          except Exception as e:
-              print('HF validation failed:', e)
-              sys.exit(1)
-          " "${{ inputs.hf_repo }}"
 
       - name: Download artifact name file
         uses: actions/download-artifact@v4
@@ -182,26 +162,49 @@ jobs:
           name: ${{ steps.read-artifact-name.outputs.artifact_name }}
           path: output
 
-      - name: Create models folder
+      - name: Remove unwanted files
+        run: |
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
+
+      - name: Copy model artifact(s) to GitLab recompiled dir
         env:
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
-          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
 
-      - name: Upload to Hugging Face
+      - name: Push recompiled dir to GitLab
         env:
-          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
         run: |
-          hf upload ${{ inputs.hf_repo }} \
-            output/ \
-            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
-            --repo-type=dataset
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
 
-      - name: Pull gh-pages
-        run: |
+      - run: |
           cd docs
           git pull origin gh-pages
 
@@ -217,11 +220,9 @@ jobs:
           fi
           [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
           [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
-            --recompiled-dir "local_models/$RECOMPILED_DIR" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
             --sort-by-date \
             $ARGS
 

.github/workflows/sunnypilot-build-model.yaml

@@ -80,7 +80,6 @@ jobs:
         with:
           repository: commaai/openpilot
           ref: ${{ inputs.upstream_branch }}
-          fetch-depth: 1
           submodules: recursive
           path: openpilot
 
@@ -90,25 +89,18 @@ jobs:
         with:
           repository: sunnypilot/sunnypilot
           ref: ${{ inputs.upstream_branch }}
-          fetch-depth: 1
           submodules: recursive
           path: openpilot
       - name: Get commit date
         id: commit-date
         run: |
-          cd ${{ github.workspace }}/openpilot/openpilot
+          cd ${{ github.workspace }}/openpilot
           commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
           echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
       - run: |
-          cd ${{ github.workspace }}/openpilot/openpilot
-          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
-            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
-            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
-          else
-            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
-            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
-          fi
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
@@ -124,10 +116,24 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-          fetch-depth: 1
           submodules: recursive
 
       - run: git lfs pull
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables
         id: set-env
@@ -138,7 +144,7 @@ jobs:
           export UV_PYTHON_PREFERENCE=managed
           export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          uv sync --frozen
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -167,6 +173,8 @@ jobs:
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ env.MODELS_DIR }}
+      - run: |
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
@@ -183,7 +191,7 @@ jobs:
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
-            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
@@ -246,8 +254,10 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
+            --include='*.pkl' \
             --include='*.chunk*' \
             --include='*.chunkmanifest' \
+            --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \

.gitmodules

@@ -4,7 +4,6 @@
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
-  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

Jenkinsfile

@@ -22,7 +22,6 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 345 Supported Cars
+# 342 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,7 +34,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -83,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -159,7 +158,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -243,20 +242,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -335,8 +334,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||

openpilot/cereal/custom.capnp

@@ -203,7 +203,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelController @8 :AccelController;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -306,19 +305,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
-
-  struct AccelController {
-    enabled @0 :Bool;
-    active @1 :Bool;
-    profile @2 :Profile;
-    tFollowMultiplier @3 :Float32;
-
-    enum Profile {
-      eco @0;
-      normal @1;
-      sport @2;
-    }
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {

openpilot/common/hardware/base.h

@@ -15,7 +15,7 @@ public:
 
   static std::string get_serial() { return "cccccc"; }
 
-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
     return {};
   }
 

openpilot/common/hardware/comma/hardware.h

@@ -59,7 +59,7 @@ public:
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
   }
 
-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
     std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},
       {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
@@ -73,14 +73,12 @@ public:
     temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
     ret["boot temp"] = temp;
 
-    // TODO: these are too slow to do on route log inits. need to do it async?
-    if (!route_log) {
-      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
-        for (std::string slot : {"a", "b"}) {
-          std::string partition = part + "_" + slot;
-          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
-          ret[partition] = hash.substr(0, hash.find_first_of(" "));
-        }
+    // TODO: log something from system and boot
+    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+      for (std::string slot : {"a", "b"}) {
+        std::string partition = part + "_" + slot;
+        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+        ret[partition] = hash.substr(0, hash.find_first_of(" "));
       }
     }
 

openpilot/common/params_keys.h

@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
+    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
@@ -186,12 +186,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // toyota specific params
-    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"CustomButtonAction", {PERSISTENT | BACKUP, INT, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -201,14 +196,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
-    {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
-    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -240,10 +232,6 @@ 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/assets/icons_mici/settings/software.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15
-size 3225
+oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
+size 1579

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/lib/longcontrol.py

@@ -4,7 +4,6 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
@@ -40,13 +39,13 @@ def long_control_state_trans(CP_SP, active, long_control_state,
 
   return long_control_state
 
-class LongControl(LongControlSP):
+class LongControl:
   def __init__(self, CP, CP_SP):
-    LongControlSP.__init__(self)
     self.CP = CP
     self.CP_SP = CP_SP
     self.long_control_state = LongCtrlState.off
-    self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
 
@@ -61,17 +60,16 @@ class LongControl(LongControlSP):
     self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
-    LongControlSP.update_state(self, self.long_control_state == LongCtrlState.stopping, active, CS)
     if self.long_control_state == LongCtrlState.off:
       self.reset()
       output_accel = 0.
 
     elif self.long_control_state == LongCtrlState.stopping:
-      output_accel = LongControlSP.stopping_accel(self, self.last_output_accel, CS)
+      output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         # TODO: can we just go straight to stopAccel?
-        output_accel -= LongControlSP.stopping_decel_rate(self, CS, a_target, output_accel) * DT_CTRL
+        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
 
     else:  # LongCtrlState.pid

openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -35,7 +35,6 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c
 
 # extra generated files used to trigger a rebuild
 generated_files = [
-  'acados_ocp_long.json',
   f'{gen}/Makefile',
 
   f'{gen}/main_long.c',

openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -307,10 +307,8 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, personality=log.LongitudinalPersonality.standard, t_follow_multiplier=None):
+  def update(self, radarstate, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
-    if t_follow_multiplier is not None:
-      t_follow *= t_follow_multiplier
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -35,13 +35,8 @@ 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, min_accel_override=None, v_ego_filtered=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)
-  min_accel = A_CRUISE_MIN if e2e or min_accel_override is None else min_accel_override
+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)
@@ -53,11 +48,7 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
       coast_limit = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [max_accel, clipped_accel_coast])
       max_accel = min(max_accel, coast_limit)
 
-  # v_ego is noisy frame-to-frame (~0.05-0.1 m/s sensor jitter); at a held cruise speed with no
-  # lead this raw diff is the entire accel command, so unfiltered it reads straight through as
-  # gas/brake hunting. v_ego_filtered lets the caller supply an already-smoothed speed for this
-  # term only -- turn/coast derating above still uses the real-time v_ego on purpose.
-  target_accel = np.clip(v_cruise - (v_ego if v_ego_filtered is None else v_ego_filtered), min_accel, max_accel)
+  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
   if not e2e:
     j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
     target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
@@ -76,14 +67,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    # v_desired_filter.x is a trajectory-integration state (fed back from output_a_target each
-    # frame, see below) not a clean v_ego low-pass -- keep the cruise-hold error term's smoothing
-    # on its own filter so it can't pick up feedback from the planner's own output.
-    self.v_ego_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.a_cruise = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
-    self.accel_controller_active = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
@@ -100,8 +86,7 @@ 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
@@ -120,12 +105,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     if reset_state:
       self.v_desired_filter.x = v_ego
-      self.v_ego_filter.x = v_ego
       self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    self.v_ego_filter.x = max(0.0, self.v_ego_filter.update(v_ego))
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
@@ -135,8 +118,7 @@ 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.a_desired)
-    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality,
-                     t_follow_multiplier=self.get_t_follow_multiplier(sm, v_ego))
+    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -159,13 +141,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     is_e2e = self.is_e2e(sm)
 
-    max_accel_override = self.get_max_accel_override(v_ego)
-    min_accel_override = self.get_min_accel_override(v_ego, is_e2e, force_decel)
-    self.accel_controller_active = max_accel_override is not None or min_accel_override is not None
     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, max_accel_override, min_accel_override,
-                                     self.v_ego_filter.x)
+                                     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),

openpilot/selfdrive/controls/tests/test_v_ego_filter.py

@@ -1,103 +0,0 @@
-from typing import cast
-
-from openpilot.cereal import custom, messaging
-from opendbc.car import structs
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-V_EGO = 20.0
-E2E_ACCEL = -3.0  # sustained hard braking candidate, picked to win the min() every frame
-
-
-class MockDec:
-  def __init__(self):
-    pass
-
-  def update(self, sm):
-    pass
-
-  def active(self) -> bool:
-    return False
-
-  def mode(self) -> str:
-    return "acc"
-
-  def enabled(self) -> bool:
-    return True
-
-
-class MockSubMaster(dict):
-  def __init__(self, services: dict):
-    super().__init__(services)
-    self.valid = dict.fromkeys(services, True)
-    self.logMonoTime = dict.fromkeys(services, 0)
-    self.updated = dict.fromkeys(services, True)
-    self.recv_frame = dict.fromkeys(services, 1)
-
-  def all_checks(self, service_list=None) -> bool:
-    return True
-
-
-def build_sm(experimental_mode: bool) -> MockSubMaster:
-  services = {}
-  for service in ("radarState", "controlsState", "vehicleParameters", "carStateSP",
-                  "liveMapDataSP", "gpsLocationExternal", "gpsLocation"):
-    services[service] = getattr(messaging.new_message(service), service)
-
-  car_state = messaging.new_message('carState')
-  car_state.carState.vEgo = V_EGO
-  car_state.carState.vCruise = 100.0
-  car_state.carState.vCruiseCluster = 100.0
-  services['carState'] = car_state.carState.as_reader()
-
-  selfdrive_state = messaging.new_message('selfdriveState')
-  selfdrive_state.selfdriveState.experimentalMode = experimental_mode
-  selfdrive_state.selfdriveState.enabled = True
-  services['selfdriveState'] = selfdrive_state.selfdriveState.as_reader()
-
-  car_control = messaging.new_message('carControl')
-  car_control.carControl.enabled = True
-  services['carControl'] = car_control.carControl.as_reader()
-
-  model = messaging.new_message('modelV2')
-  model.modelV2.orientationRate.z = [0.01] * 33  # nonzero: a straight path divides by zero in SCC vision
-  model.modelV2.velocity.x = [V_EGO] * 33
-  model.modelV2.position.x = [float(i) for i in range(33)]
-  model.modelV2.action.desiredAcceleration = E2E_ACCEL
-  services['modelV2'] = model.modelV2.as_reader()
-
-  return MockSubMaster(services)
-
-
-def build_planner() -> LongitudinalPlanner:
-  CP = structs.CarParams()
-  CP.steerRatio = 15.0
-  CP.wheelbase = 2.7
-  CP.longitudinalActuatorDelay = 0.2
-  CP_SP = custom.CarParamsSP.new_message().as_reader()
-
-  planner = LongitudinalPlanner(CP, CP_SP, init_v=V_EGO)
-  planner.dec = cast(DynamicExperimentalController, MockDec())
-  return planner
-
-
-class TestVEgoFilter(OpenpilotTestCase):
-  """
-  v_desired_filter.x is a trajectory-integration state, not a plain v_ego low-pass -- its last
-  update()-line nudges it by output_a_target/a_prev every frame, so a sustained e2e/mpc
-  candidate that wins the min() can drag it away from a real, held-constant v_ego. get_cruise_
-  accel's cruise-hold error term must be smoothed by the dedicated v_ego_filter instead, which
-  only ever sees v_ego and can't pick up that feedback.
-  """
-
-  def test_v_ego_filter_tracks_constant_v_ego_even_when_output_a_target_diverges(self):
-    planner = build_planner()
-    sm = build_sm(experimental_mode=True)  # e2e candidate (E2E_ACCEL) wins the min() every frame
-    for _ in range(300):  # 15s at DT_MDL=0.05 -- several v_desired_filter time constants
-      planner.update(sm)
-
-    # the trajectory-integration state got dragged well away from the real, constant v_ego
-    self.assertLess(planner.v_desired_filter.x, V_EGO - 1.0)
-    # the dedicated filter, seeing only v_ego, stays converged on it regardless
-    self.assertAlmostEqual(planner.v_ego_filter.x, V_EGO, places=1)

openpilot/selfdrive/modeld/SConscript

@@ -79,9 +79,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
   driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-  # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
-  taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
-  cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '

openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
-size 1757355221
+oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
+size 1753235978

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/pandad/tests/test_pandad_spi.py

@@ -102,6 +102,7 @@ class TestBoarddSpi(OpenpilotTestCase):
         edt = 1e3 / SERVICE_LIST[service].frequency
         assert edt*0.9 < np.mean(dts) < edt*1.1
         assert np.max(dts) < edt*8
+        assert np.min(dts) < edt
         assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
 
     with subtests.test(msg="CAN traffic"):

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -17,8 +17,8 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
-  "Offroad_ChestnutBranch": {
-    "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
     "severity": 0
   },
   "Offroad_UnregisteredHardware": {

openpilot/selfdrive/selfdrived/events.py

@@ -234,8 +234,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.bigModelFailed: {
-    ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
-    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
   },
 
   EventName.lateralManeuver: {

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -337,7 +337,7 @@ class SelfdriveD(CruiseHelper):
       device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
       self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
 
-    if self.calibrated_pose is not None and not self.CP.notCar:
+    if self.calibrated_pose is not None:
       excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
       if not self.excessive_actuation and excessive_actuation is not None:
         set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
@@ -397,9 +397,6 @@ class SelfdriveD(CruiseHelper):
     # All events here should at least have NO_ENTRY and SOFT_DISABLE.
     num_events = len(self.events)
 
-    if self.big_model_active and big_failed:
-      self.events.add(EventName.bigModelFailed)
-
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and len(not_running):
       if not_running != self.not_running_prev:

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/test/process_replay/test_processes.py

@@ -7,7 +7,7 @@ import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-from opendbc.car.car_helpers import interface_names, interfaces
+from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
@@ -64,8 +64,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = {brand for brand, platforms in interface_names.items()
-                       if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"}
+excluded_interfaces = ["mock", "body", "psa"]
 
 BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

openpilot/selfdrive/test/test_onroad.py

@@ -67,7 +67,7 @@ PROCS = {
   "openpilot.selfdrive.pandad.pandad": 0,
   "openpilot.system.loggerd.uploader": 15.0,
   "openpilot.system.loggerd.deleter": 1.0,
-  "./pandad": 40.0,
+  "./pandad": 19.0,
   "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
   "openpilot.common.hardware.comma.modem": 10.0,
 }
@@ -107,10 +107,6 @@ def cputime_total(ct):
 class TestOnroad(OpenpilotTestCase):
   COMMA_HARDWARE_TEST = True
 
-  def setUp(self):
-    # Hardware setup is handled once for the full onroad test in setup_class.
-    unittest.TestCase.setUp(self)
-
   @classmethod
   def setup_class(cls):
     if "DEBUG" in os.environ:
@@ -336,34 +332,26 @@ class TestOnroad(OpenpilotTestCase):
             assert np.all(eof_sof_diff < 50*1e6)
 
         first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        if cams[0].endswith('CameraState'):
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
+        if cam.endswith('CameraState'):
           # camerad guarantees that all cams start on frame ID 0
           # (note loggerd also needs to start up fast enough to catch it)
-          assert min(first_fid) < 100, "Cameras start on frame ID too high"
-        else:
-          # encoderd synchronizes all camera encoders to the same starting frame
-          assert len(first_fid) == 1, "Camera encoders don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
 
         # we don't do a full segment rotation, so these might not match exactly
         last_fid = {max(self.ts[c]['frameId']) for c in cams}
         assert max(last_fid) - min(last_fid) < 10
 
-        timestamps = {
-          cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True))
-          for cam in cams
-        }
-        common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values()))
-        assert common_frame_ids, "Cameras have no overlapping frame IDs"
-
-        for frame_id in sorted(common_frame_ids):
+        start, end = min(first_fid), min(last_fid)
+        for i in range(end-start):
           # road and wide cameras (first two) should be synced within 2ms
-          ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]}
-          diff = max(ts.values()) - min(ts.values())
-          assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}"
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
+          diff = (max(ts.values()) - min(ts.values()))
+          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
 
           # cabin camera should be staggered ~25ms from road camera
-          offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6
-          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms"
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
 
   def test_camera_encoder_matches(self, subtests):
     # sanity check that the frame metadata is consistent with the encoded frames

openpilot/selfdrive/ui/layouts/main.py

@@ -3,6 +3,7 @@ from enum import IntEnum
 import openpilot.cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
@@ -27,6 +28,7 @@ class MainLayout(Widget):
     super().__init__()
 
     self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
+    self._custom_button_sock = messaging.sub_sock('carState')
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
@@ -40,6 +42,10 @@ class MainLayout(Widget):
       MainState.SETTINGS: SettingsLayout(),
       MainState.ONROAD: AugmentedRoadView(),
     }
+    self._custom_button_callbacks = {
+      CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
+      CustomButtonAction.CYCLE_UI: self._cycle_ui,
+    }
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -55,6 +61,7 @@ class MainLayout(Widget):
       gui_app.push_widget(self._onboarding_window)
 
   def _render(self, _):
+    handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
     self._handle_onroad_transition()
     self._render_main_content()
 
@@ -114,6 +121,18 @@ class MainLayout(Widget):
   def _on_settings_clicked(self):
     self.open_settings(PanelType.DEVICE)
 
+  def _show_onroad(self):
+    self._set_current_layout(MainState.ONROAD)
+    self._sidebar.set_visible(False)
+
+  def _cycle_ui(self):
+    if self._current_mode == MainState.ONROAD and not self._sidebar.is_visible:
+      self._sidebar.set_visible(True)
+    elif self._current_mode == MainState.SETTINGS:
+      self._show_onroad()
+    else:
+      self._on_settings_clicked()
+
   def _on_bookmark_clicked(self):
     for service in ('bookmarkButton', 'userBookmark'):
       msg = messaging.new_message(service, valid=True)

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

@@ -27,13 +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(
-    "Sets your preferred acceleration ceiling by profile, and gives extra following distance when a lead is braking for an earlier, "
-    "smoother response. Stock braking and stopping logic remain in control at all times."
-  ),
-  "AccelPersonality": tr_noop(
-    "Select the vehicle acceleration response. Chauffeur braking and stopping behavior remain the same across profiles."
-  ),
   "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)."
@@ -113,24 +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():
@@ -160,11 +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)
@@ -185,7 +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. " +
@@ -204,15 +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.")
@@ -235,8 +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:
@@ -281,9 +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

@@ -4,6 +4,7 @@ from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
@@ -14,7 +15,6 @@ 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
 
@@ -24,6 +24,7 @@ class MiciMainLayout(Scroller):
     super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
 
     self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
+    self._custom_button_sock = messaging.sub_sock('carState')
 
     self._prev_onroad = False
     self._prev_standstill = False
@@ -36,6 +37,10 @@ class MiciMainLayout(Scroller):
     self._settings_layout = SettingsLayout()
     self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
     self._body_onroad_layout = BodyLayout()
+    self._custom_button_callbacks = {
+      CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
+      CustomButtonAction.CYCLE_UI: self._cycle_ui,
+    }
 
     # Initialize widget rects
     for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
@@ -73,9 +78,6 @@ 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),
@@ -99,6 +101,8 @@ class MiciMainLayout(Scroller):
     self._alerts_layout._update_state()
 
   def _render(self, _):
+    handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
+
     if not self._setup:
       if self._alerts_layout.active_alerts() > 0:
         self._scroller.scroll_to(self._alerts_layout.rect.x)
@@ -126,15 +130,13 @@ 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):
@@ -156,6 +158,23 @@ class MiciMainLayout(Scroller):
       msg = messaging.new_message(service, valid=True)
       self._pm.send(service, msg)
 
+  def _show_layout(self, layout: Widget):
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+    gui_app.pop_widgets_to(self, lambda: self._scroll_to(layout))
+
+  def _layout_visible(self, layout: Widget) -> bool:
+    return abs(layout.rect.x - self._rect.x) < self._rect.width / 2
+
+  def _cycle_ui(self):
+    if gui_app.widget_in_stack(self._settings_layout):
+      self._show_layout(self._onroad_layout)
+    elif gui_app.get_active_widget() is self and self._layout_visible(self._home_layout):
+      if not gui_app.widget_in_stack(self._onboarding_window):
+        gui_app.push_widget(self._settings_layout)
+    else:
+      self._show_layout(self._home_layout)
+
   def _on_body_changed(self):
     self._car_onroad_layout.set_visible(not ui_state.is_body)
     self._body_onroad_layout.set_visible(bool(ui_state.is_body))

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

@@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget):
 
     self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
     self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
-                                           font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
+                                           font_weight=FontWeight.ROMAN, wrap_text=False)
 
   def _update_state(self):
     desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")

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/alert_renderer.py

@@ -132,7 +132,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
 
       # 1. Never received selfdriveState since going onroad
       waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it

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

@@ -150,8 +150,8 @@ class BigButton(Widget):
     super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
 
   def _width_hint(self) -> int:
-    # A value moves the title to the top, where it shares space with the icon.
-    icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
+    # Single line if scrolling, so hide behind icon if exists
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
     return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
 
   def _get_label_font_size(self):
@@ -385,18 +385,13 @@ 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/onroad/alert_renderer.py

@@ -92,7 +92,7 @@ class AlertRenderer(Widget):
 
       # 1. Never received selfdriveState since going onroad
       waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it

openpilot/selfdrive/ui/sunnypilot/custom_button.py

@@ -0,0 +1,19 @@
+from enum import IntEnum
+
+from opendbc.car.structs import car
+
+
+class CustomButtonAction(IntEnum):
+  NONE = 0
+  BOOKMARK = 1
+  CYCLE_UI = 3
+
+
+def handle_custom_button(messages, params, callbacks):
+  for msg in messages:
+    custom_pressed = any(be.type == car.CarState.ButtonEvent.Type.altButton2 and be.pressed
+                         for be in msg.carState.buttonEvents)
+    if custom_pressed:
+      action = CustomButtonAction(params.get('CustomButtonAction', return_default=True))
+      if callback := callbacks.get(action):
+        callback()

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/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/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/tests/test_custom_button.py

@@ -0,0 +1,21 @@
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+from opendbc.car.structs import car
+
+from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
+
+
+def test_custom_button_actions():
+  params = Mock()
+  press = SimpleNamespace(carState=SimpleNamespace(buttonEvents=[SimpleNamespace(
+      type=car.CarState.ButtonEvent.Type.altButton2,
+      pressed=True,
+    )]))
+  messages = [press, SimpleNamespace(carState=SimpleNamespace(buttonEvents=[])), press]
+  callbacks = {action: Mock() for action in CustomButtonAction if action != CustomButtonAction.NONE}
+
+  for action, callback in callbacks.items():
+    params.get.return_value = action
+    handle_custom_button(messages, params, callbacks)
+    assert callback.call_count == 2

openpilot/selfdrive/ui/tests/test_soundd.py

@@ -20,14 +20,14 @@ class TestSoundd(OpenpilotTestCase):
     sm.update(100)
     assert sm.updated['selfdriveState']
 
-    sm.recv_time['selfdriveState'] = 0
-    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT)
+    received_at = sm.recv_time['selfdriveState']
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
     assert not check_selfdrive_timeout_alert(sm)
 
-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
     assert check_selfdrive_timeout_alert(sm)
 
-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
     assert not check_selfdrive_timeout_alert(sm)
 
   def test_check_selfdrive_timeout_alert_mads_lateral_only(self):

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/SConscript

@@ -1,2 +1,3 @@
 SConscript(['common/transformations/SConscript'])
+SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])

openpilot/sunnypilot/modeld_v2/SConscript

@@ -0,0 +1,84 @@
+import os
+import glob
+
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
+lenv = env.Clone()
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU:LLVM')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_modeld_script = File("compile_modeld.py").abspath
+upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
+script_deps = [File("compile_modeld.py"), upstream_compile_script]
+
+def compile_combined(model_type, onnx_args, output_name):
+  output_pkl = File(f"models/{output_name}").abspath
+  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+         f'--model-type {model_type} '
+         f'--model-size {model_w}x{model_h} '
+         f'--camera-resolutions {camera_res_args} '
+         f'{onnx_args} '
+         f'--frame-skip {frame_skip} '
+         f'--output {output_pkl}')
+  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+
+# Vision + Policy (stock default model)
+vision_onnx = File("models/driving_vision.onnx").abspath
+policy_onnx = File("models/driving_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
+  compile_combined('vision_policy',
+                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
+                   'driving_combined_tinygrad.pkl')
+
+# Vision + Off-Policy
+off_policy_onnx = File("models/driving_off_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
+  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
+                   'driving_combined_multi_tinygrad.pkl')
+
+# Vision + On-Policy + Off-Policy
+on_policy_onnx = File("models/driving_on_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
+                   'driving_combined_tri_tinygrad.pkl')
+
+# Supercombo
+supercombo_onnx = File("models/supercombo.onnx").abspath
+if os.path.isfile(supercombo_onnx):
+  compile_combined('supercombo',
+                   f'--supercombo-onnx {supercombo_onnx}',
+                   'driving_combined_supercombo_tinygrad.pkl')

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details.
 
 import argparse
 import os
-import tempfile
+import pickle
 import time
+from collections import defaultdict
 from functools import partial
-from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
 import numpy as np
 os.environ['GMMU'] = '0'
 
@@ -38,9 +38,6 @@ from tinygrad.engine.jit import TinyJit
 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']
-WARP_DEV = os.getenv('WARP_DEV')
 
 
 def _detect_desire_key(shapes: dict) -> str | None:
@@ -79,7 +76,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
 
 
 def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
-                            is_supercombo: bool = False) -> tuple[dict, dict]:
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
   road_key, _ = _detect_vision_keys(input_shapes)
   if not road_key:
     raise ValueError("Vision road key missing from input shapes.")
@@ -95,75 +92,74 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
   desire_shape = input_shapes[desire_key]
   features_buffer = input_shapes.get('features_buffer')
 
-  npy_arrays = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32)
-  }
+  if use_packed:  # remove packed detection block after all models are recompiled
+    npy_arrays = {
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
 
-  shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
 
-  split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
-  split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
-  for (k, s), v in zip(shapes.items(), split_views, strict=True):
-    npy_arrays[k] = v.reshape(s)
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
+      npy_arrays[k] = v.reshape(s)
 
-  queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                  dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-  }
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    }
 
-  if features_buffer:
-    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                       dtype=np.float32), device=device).contiguous().realize()
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
 
-  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+  else:
+    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
+    npy_arrays = {
+      'desire': np.zeros(desire_shape[2], dtype=np.float32),
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    for key, shape in input_shapes.items():
+      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize()
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
 
   return queues, npy_arrays
 
 
 def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
-                            frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False)
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
 
 
 def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
-                                 device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
 
 
-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}
-
-
-def make_warp_queues(device=Device.DEFAULT):
-  npy = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
-  queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
-  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):
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
+  frame_prepare = make_frame_prepare(nv12, *model_size)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
@@ -176,14 +172,20 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
   is_supercombo = vision_runner is None
   npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
 
-  def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs):
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
     desire_q = kwargs['desire_q']
-    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
-    warped_dev = warped.to(Device.DEFAULT)
-    Tensor.realize(packed_npy_inputs_dev, warped_dev)
 
-    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
-    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
+    tfm_dev = tfm.to(Device.DEFAULT)
+    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+
+    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+
+    if prepare_only:
+      return img, big_img
 
     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))
@@ -218,52 +220,42 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
       shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
     return policy_out
 
-  return run_policy
+  return runner
 
 
-def compile_jit(jit, make_random_inputs, input_keys, make_queues):
-  SEED = 42
-  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)
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-    testing = test_val is not None or test_buffers is not None
-    n_runs = 1 if testing else 3
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
 
-    for i in range(n_runs):
-      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      Device.default.synchronize()
-      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()
-      Device.default.synchronize()
-      et = time.perf_counter()
-      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
+  if not feat_meta:
+    raise ValueError("Could not find vision, model, or policy metadata.")
 
-      if i == 0:
-        val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+  features_slice = feat_meta['output_slices']['hidden_state']
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
 
-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
-      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return val, buffers
+  is_supercombo = vision_runner is None
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
+  run_jit = TinyJit(run_func, prune=True)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
 
-  print('capture + replay')
-  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)
-    deserialized_jit = load_oob(f)
-  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
-  return deserialized_jit
+  for i in range(3):
+    rng = np.random.default_rng(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    for arr in npy_arrays.values():
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+
+    Device.default.synchronize()
+    start_time = time.perf_counter()
+    run_jit(**queues, frame=frame, big_frame=big_frame)
+    mid_time = time.perf_counter()
+    Device.default.synchronize()
+    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
+
+  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
 
 
 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -285,6 +277,19 @@ def read_file_chunked_to_shm(path):
   return shm_path
 
 
+def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
+               vision_runner, policy_runners: list, metadata: dict) -> dict:
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  return {
+    (cam_w, cam_h): {
+      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
+                   frame_skip, vision_runner, policy_runners, metadata)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+    for cam_w, cam_h in camera_resolutions
+  }
+
+
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
   runners, keys = [], []
   for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
@@ -295,18 +300,7 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
 
 
 if __name__ == "__main__":
-  if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
-    from openpilot.system.hardware.chestnut.flash import link_up
-    for _ in range(10):
-      if link_up():
-        break
-      time.sleep(1)
-    else:
-      raise RuntimeError("Chestnut not ready, skipping big model build")
-
-  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
   from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
   from tinygrad.nn.onnx import OnnxRunner
 
   parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
@@ -323,8 +317,7 @@ if __name__ == "__main__":
   parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
 
   args = parser.parse_args()
-  model_w, model_h = args.model_size
-  output_data = {}
+  output_data = defaultdict(dict)
 
   args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
   args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
@@ -355,31 +348,17 @@ if __name__ == "__main__":
   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('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=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 = 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)
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
+                        vision_runner, policy_runners, output_data['metadata']))
 
   with open(args.output, "wb") as file:
-    dump_oob(output_data, file)
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    pickle.dump(output_data, file)
 
   pkl_size = os.path.getsize(args.output)
   print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
   chunk_targets = get_chunk_targets(args.output, pkl_size)
   chunk_file(args.output, chunk_targets)
   print(f"Chunked into {len(chunk_targets) - 1} file(s)")

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -9,13 +9,17 @@ See the LICENSE.md file in the root directory for more details.
 import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
+os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
+import pickle
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
-from openpilot.cereal.services import SERVICE_LIST
 from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
@@ -23,6 +27,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 
 from tinygrad.tensor import Tensor
+from tinygrad.device import Device
 
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
@@ -35,13 +40,12 @@ from openpilot.system import sentry
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 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.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 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, WARP_INPUTS, POLICY_INPUTS
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -84,7 +88,7 @@ class ModelState(ModelStateBase):
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray
 
-  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
+  def __init__(self, cam_w: int, cam_h: int):
     ModelStateBase.__init__(self)
 
     env_pkl = os.environ.get('COMBINED_MODEL_PKL')
@@ -99,7 +103,6 @@ class ModelState(ModelStateBase):
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
     self.PLANPLUS_CONTROL: float = 1.0
-    self.usbgpu = usbgpu
 
     pkl_path = _find_driving_pkl(model_bundle)
     assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
@@ -107,20 +110,24 @@ class ModelState(ModelStateBase):
 
   def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = load_oob(open_file_chunked(pkl_path))
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    jits = pickle.load(open_file_chunked(pkl_path))
 
-    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
-    self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
+    self.DEV = Device.DEFAULT
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
     self.QUEUE_DEV = self.DEV
+
     metadata = jits['metadata']
 
-    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']
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
+    captured = getattr(self._run_policy, 'captured', None)
+    if captured is not None:
+      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
     else:
-      self.run_policy = jits['run_policy']
-      self.warp = jits[(cam_w, cam_h)]
+      use_packed = True
 
     if 'model' in metadata:
       model_metadata = metadata['model']
@@ -129,9 +136,10 @@ class ModelState(ModelStateBase):
       self._policy_slices_list = []
       self._combined_model_type = 'supercombo'
       self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
       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)
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
     else:
       vision_metadata = metadata['vision']
       policy_keys = [k for k in metadata if k != 'vision']
@@ -144,12 +152,13 @@ class ModelState(ModelStateBase):
       self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
       self.policy_output_slices = self._policy_slices_list[0]
       self._has_on_policy = any('on' in k.lower() for k in policy_keys)
-      self._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key]
-      first_policy_meta = metadata[policy_keys[0]]
-      frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'],
-                                                                     first_policy_meta['input_shapes'],
-                                                                     frame_skip, device=self.QUEUE_DEV)
+      first_policy_metadata = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
+      policy_input_shapes = first_policy_metadata['input_shapes']
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
+                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
 
     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)
@@ -177,33 +186,10 @@ class ModelState(ModelStateBase):
     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)
-
-    if self.usbgpu:
-      self.warmup()
-
-  def warmup(self) -> None:
-    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 = {}
-    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()
+    self._warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
 
 
   @property
@@ -241,17 +227,11 @@ class ModelState(ModelStateBase):
     self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
     self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
-    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:
-      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 prepare_only:
+      self._warp_enqueue(**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])
 
     if self._combined_model_type == 'supercombo':
       model_output = raw_outputs.numpy().flatten()
@@ -287,9 +267,10 @@ class ModelState(ModelStateBase):
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
-    if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
-      cloudlog.error("model output not finite, dropping frame")
-      return None
+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
+      feat_val = self.input_queues['feat_q'].numpy()
+      self.input_queues['feat_q'].assign(feat_val).realize()
 
     return outputs
 
@@ -297,8 +278,8 @@ class ModelState(ModelStateBase):
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
-      desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                          action_t=long_action_t)
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                       action_t=long_action_t)
 
       curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
                         if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -306,8 +287,8 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
 
-    stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
@@ -316,7 +297,7 @@ class ModelState(ModelStateBase):
       else:
         desired_curvature = prev_action.desiredCurvature
 
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop))
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 
 
 def main(demo=False):
@@ -327,14 +308,6 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  USBGPU = usbgpu_present()
-  if USBGPU:
-    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
-
-  params = Params()
-  params.put_bool("UsbGpuLoading", USBGPU)
-  params.remove("UsbGpuActive")
-
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -359,34 +332,15 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   cloudlog.warning("loading model")
-  st = time.monotonic()
-
-  model = None
-  if USBGPU:
-    import threading
-    def load():
-      nonlocal model
-      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
-    t = threading.Thread(target=load, daemon=True)
-    t.start()
-    t.join(60)
-    if model is None:
-      params.put_bool("UsbGpuActive", False)
-      raise RuntimeError("eGPU model load failed or timed out (60s)")
-    params.put_bool("UsbGpuActive", True)
-  else:
-    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
-
-  params.put_bool("UsbGpuLoading", False)
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
+  cloudlog.warning("models loaded, modeld starting")
 
   # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
-  pm = PubMaster(pub_socks)
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
+  params = Params()
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -524,7 +478,6 @@ def main(demo=False):
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
-      modelv2_send.modelV2.big = model.usbgpu
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -545,8 +498,6 @@ 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:

openpilot/sunnypilot/modeld_v2/tests/helpers.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import pathlib
+import pickle
 import tempfile
 
 import openpilot.sunnypilot.models.helpers as helpers
@@ -163,16 +164,14 @@ ARCHETYPES = {
 def make_pkl_data(archetype):
   return {
     'metadata': archetype.metadata_structure,
-    'run_policy': _noop_jit,
-    (CAM_W, CAM_H): _noop_jit,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
   }
 
 
 def write_pkl(tmp_path, archetype):
-  from openpilot.selfdrive.modeld.helpers import dump_oob
   pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
   with open(pkl_path, 'wb') as f:
-    dump_oob(make_pkl_data(archetype), f)
+    pickle.dump(make_pkl_data(archetype), f)
   return pkl_path
 
 

openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py

@@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase):
 
     def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
       recorded_vel.append(plan_vel.copy())
-      return 0.0
+      return 0.0, False
 
     def mock_curvature(output, plan, vego, lat_action_t, mlsim):
       recorded_curv_plans.append(plan.copy())

openpilot/sunnypilot/models/fetcher.py

@@ -13,7 +13,6 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
-from openpilot.selfdrive.modeld.helpers import usbgpu_present
 
 from openpilot.cereal import custom
 
@@ -104,11 +103,11 @@ class ModelParser:
 class ModelCache:
   """Handles caching of model data to avoid frequent remote fetches"""
 
-  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""):
+  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
     self.params = params
     self.cache_timeout = cache_timeout
-    self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
-    self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"
+    self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
+    self._CACHE_KEY = "ModelManager_ModelsCache"
 
   def _is_expired(self) -> bool:
     """Checks if the cache has expired"""
@@ -140,37 +139,24 @@ 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_v19.json"
-  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
 
   def __init__(self, params: Params):
     self.params = params
-    self.model_parser = ModelParser()
-    self._is_usbgpu: bool | None = None
     self.model_cache = ModelCache(params)
-    self.model_url = self.MODEL_URL
-    self._update_model_source()
-
-  def _update_model_source(self) -> None:
-    """Updates what json to use based on usbgpu availability"""
-    is_usbgpu = usbgpu_present()
-    if is_usbgpu != self._is_usbgpu:
-      self._is_usbgpu = is_usbgpu
-      self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
-      self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL
-      self.params.put("ModelManager_ActiveJson", self.model_url, block=True)
+    self.model_parser = ModelParser()
 
   def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
     """Fetches fresh model data from remote and updates cache.
     Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
     """
     try:
-      response = requests.get(self.model_url, timeout=10)
+      response = requests.get(self.MODEL_URL, timeout=10)
 
       # Explicitly handle 404 differently
       if response.status_code == 404:
-        cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
-        raise HTTPError(f"404 Not Found: {self.model_url}", response=response)
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
 
       # Raise for any other 4xx/5xx
       response.raise_for_status()
@@ -193,7 +179,6 @@ class ModelFetcher:
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
-    self._update_model_source()
     cached_data, is_expired = self.model_cache.get()
 
     if cached_data and not is_expired:
@@ -217,7 +202,10 @@ if __name__ == "__main__":
   for bundle in bundles:
     for model in bundle.models:
       model_overrides = {override.key: override.value for override in bundle.overrides}
+      # Print model details
       print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
+      # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      # Print metadata details
       if model.artifact.chunks:
         print(f"Contains {len(model.artifact.chunks)} chunks.")

openpilot/sunnypilot/models/helpers.py

@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
 from openpilot.common.hardware.hw import Paths
 
 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 17
+REQUIRED_JSON_VERSION = 16
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'

openpilot/sunnypilot/models/tests/test_tinygrad_ref.py

@@ -1,13 +1,12 @@
 import requests
 
-from openpilot.common.params import Params
 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():
-  fetcher = ModelFetcher(Params())
-  response = requests.get(fetcher.model_url, timeout=10)
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
   response.raise_for_status()
   json_data = response.json()
   return json_data.get("tinygrad_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

@@ -136,9 +136,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
-    "ToyotaTSS2Long",
-    "ToyotaEnhancedBsm",
-    "ToyotaAutoHold",
   ])
 
   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/lib/accel_controller/accel_controller.py

@@ -1,107 +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.common.realtime import DT_MDL
-from openpilot.sunnypilot import get_sanitize_int_param
-
-AccelProfile = custom.LongitudinalPlanSP.AccelController.Profile
-
-MAX_ACCEL_PROFILES = {
-  AccelProfile.eco:    [1.45, 1.40, 1.20, 0.65, 0.48, 0.36, 0.22, 0.085, 0.055, 0.045],
-  AccelProfile.normal: [2.00, 1.95, 1.80, 1.06, 0.81, 0.69, 0.42, 0.160, 0.10, 0.08],
-  AccelProfile.sport:  [2.00, 1.99, 1.95, 1.45, 1.10, 0.82, 0.53, 0.240, 0.13, 0.09],
-}
-MAX_ACCEL_BREAKPOINTS = [0., 3., 5., 8., 12., 18., 24., 32., 42., 55.]
-
-MIN_ACCEL_PROFILES = {
-  AccelProfile.eco:    [-0.90, -0.95, -1.00, -1.10, -1.2],
-  AccelProfile.normal: [-1.00, -1.05, -1.10, -1.20, -1.3],
-  AccelProfile.sport:  [-1.10, -1.15, -1.20, -1.30, -1.4],
-}
-MIN_ACCEL_BREAKPOINTS = [3., 4.5, 7., 9., 25.]
-
-ACCEL_SMOOTH_ALPHA = 0.90
-DECEL_SMOOTH_ALPHA = 0.40
-
-LEAD_GAP_WIDEN_PROFILES = {
-  AccelProfile.eco:    0.30,
-  AccelProfile.normal: 0.20,
-  AccelProfile.sport:  0.10,
-}
-LEAD_DECEL_FOR_MAX_WIDEN = 3.0  # m/s^2, lead decel that saturates the widen amount
-GAP_WIDEN_ONSET_ALPHA = 0.15
-GAP_WIDEN_RELEASE_ALPHA = 0.08
-# Taper out below city speed so the lever only shapes higher-speed anticipation.
-GAP_WIDEN_TAPER_LOW_SPEED = 3.0  # m/s, widen fully tapered out at/below this speed
-GAP_WIDEN_TAPER_HIGH_SPEED = 8.0  # m/s, widen fully active at/above this speed
-
-
-class AccelController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.last_t_follow_widen = 0.0
-    self._last_t_follow_multiplier = 1.0
-    self.first_run = True
-    self._profile = get_sanitize_int_param("AccelPersonality", AccelProfile.eco, AccelProfile.sport, self.params)
-    self._enabled = self.params.get_bool("AccelPersonalityEnabled")
-
-  def update(self, sm=None) -> None:
-    self.frame += 1
-    if self.frame % int(1.0 / DT_MDL) == 0:
-      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) -> float:
-    v_ego = max(0.0, v_ego)
-    target_max = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self._profile])
-
-    if self.first_run:
-      self.last_max_accel = target_max
-      self.first_run = False
-      return float(target_max)
-
-    self.last_max_accel = ACCEL_SMOOTH_ALPHA * target_max + (1 - ACCEL_SMOOTH_ALPHA) * self.last_max_accel
-    return float(self.last_max_accel)
-
-  def get_min_accel(self, v_ego: float) -> float:
-    v_ego = max(0.0, v_ego)
-    target_min = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self._profile])
-    self.last_min_accel = DECEL_SMOOTH_ALPHA * target_min + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel
-    self.last_min_accel = min(self.last_min_accel, self.last_max_accel - 0.1)
-    return float(self.last_min_accel)
-
-  def get_t_follow_multiplier(self, lead_present: bool, lead_accel: float, v_ego: float) -> float:
-    max_widen = LEAD_GAP_WIDEN_PROFILES[self._profile]
-    if lead_present and lead_accel < 0.0:
-      target_widen = min(-lead_accel / LEAD_DECEL_FOR_MAX_WIDEN, 1.0) * max_widen
-    else:
-      target_widen = 0.0
-
-    alpha = GAP_WIDEN_ONSET_ALPHA if target_widen > self.last_t_follow_widen else GAP_WIDEN_RELEASE_ALPHA
-    self.last_t_follow_widen += alpha * (target_widen - self.last_t_follow_widen)
-
-    taper = np.clip((v_ego - GAP_WIDEN_TAPER_LOW_SPEED) / (GAP_WIDEN_TAPER_HIGH_SPEED - GAP_WIDEN_TAPER_LOW_SPEED), 0.0, 1.0)
-    self._last_t_follow_multiplier = 1.0 + self.last_t_follow_widen * taper
-    return self._last_t_follow_multiplier
-
-  @property
-  def t_follow_multiplier(self) -> float:
-    return self._last_t_follow_multiplier

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

@@ -1,325 +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.
-
-Scope is deliberately narrow: a v_ego-keyed acceleration ceiling and decel floor per
-profile, plus one pre-solve lead-follow lever (widening the MPC's own t_follow when a
-lead is braking). The floor only ever softens the no-lead cruise candidate (slowing for
-a lower cruise speed, a curve, a speed limit) -- it is excluded during forceDecel and
-e2e, and min() against the untouched mpc_accel candidate means a real lead can always
-still force full ACCEL_MIN braking regardless. Lead-relevance checks, an SLC-shaped
-floor beyond that, and controller-internal Params writes are NOT ported from the
-reference designs this was built from - do not backfill them here without revisiting
-scope.
-
-Ceiling vs floor apply on different policies: ACC (non-e2e) uses the controller's
-ceiling AND floor; blended (e2e) uses the controller's ceiling but always the stock
-floor (A_CRUISE_MIN), never the controller's -- final, don't try to make the floor
-work under blended again.
-"""
-import unittest
-
-import numpy as np
-
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import (
-  AccelController, AccelProfile, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES,
-  LEAD_GAP_WIDEN_PROFILES, LEAD_DECEL_FOR_MAX_WIDEN,
-)
-
-
-class TestAccelControllerCeiling(OpenpilotTestCase):
-  def setUp(self):
-    self.params = Params()
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    self.params.put("AccelPersonality", AccelProfile.normal, block=True)
-    self.controller = AccelController()
-
-  def test_first_call_snaps_to_table_with_no_smoothing_lag(self):
-    max_a = self.controller.get_max_accel(20.0)
-    expected_max = np.interp(20.0, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[AccelProfile.normal])
-    self.assertAlmostEqual(max_a, expected_max, places=6)
-
-  def test_table_lookup_matches_breakpoints_per_profile(self):
-    for profile, table in MAX_ACCEL_PROFILES.items():
-      self.params.put("AccelPersonality", profile, block=True)
-      controller = AccelController()
-      for v_ego, expected in zip(MAX_ACCEL_BREAKPOINTS, table, strict=True):
-        controller.first_run = True
-        max_a = controller.get_max_accel(v_ego)
-        self.assertAlmostEqual(max_a, expected, places=3)
-
-  def test_smoothing_moves_gradually_not_instantly_on_profile_switch(self):
-    v_ego = 8.0  # breakpoint where eco/normal/sport ceilings differ
-    self.controller.get_max_accel(v_ego)  # settle first_run on normal
-    start = self.controller.last_max_accel
-    self.params.put("AccelPersonality", AccelProfile.sport, block=True)
-    self.controller.frame = int(1.0 / DT_MDL) - 1  # force the 1s refresh boundary on next update()
-    self.controller.update()
-    max_a = self.controller.get_max_accel(v_ego)
-    target = MAX_ACCEL_PROFILES[AccelProfile.sport][MAX_ACCEL_BREAKPOINTS.index(v_ego)]
-    self.assertNotEqual(start, target)
-    self.assertGreater(max_a, start)
-    self.assertLess(max_a, target)
-
-  def test_eco_is_selectable_not_treated_as_falsy(self):
-    self.params.put("AccelPersonality", AccelProfile.eco, block=True)
-    controller = AccelController()
-    self.assertEqual(controller.profile, AccelProfile.eco)
-    max_a = controller.get_max_accel(0.0)
-    self.assertAlmostEqual(max_a, MAX_ACCEL_PROFILES[AccelProfile.eco][0], places=3)
-
-  def test_min_accel_never_stronger_than_stock_a_cruise_min(self):
-    for v_ego in [0., 3., 4.5, 7., 9., 15., 25., 40.]:
-      for _ in range(60):
-        min_a = self.controller.get_min_accel(v_ego)
-      self.assertGreaterEqual(min_a, -1.4)  # softer or equal to the softest stock-adjacent floor, never harsher
-      self.assertLess(min_a, 0.0)
-
-  def test_min_accel_ramps_to_stock_strength_by_highway_speed(self):
-    for _ in range(200):
-      min_a = self.controller.get_min_accel(25.0)
-    self.assertAlmostEqual(min_a, MIN_ACCEL_PROFILES[AccelProfile.normal][-1], places=2)
-
-  def test_min_accel_profile_ordering_eco_softest_sport_strongest(self):
-    settled = {}
-    for profile in (AccelProfile.eco, AccelProfile.normal, AccelProfile.sport):
-      self.params.put("AccelPersonality", profile, block=True)
-      controller = AccelController()
-      for _ in range(60):
-        settled[profile] = controller.get_min_accel(4.5)
-    self.assertGreater(settled[AccelProfile.eco], settled[AccelProfile.normal])
-    self.assertGreater(settled[AccelProfile.normal], settled[AccelProfile.sport])
-
-  def test_min_accel_never_inverts_above_max_accel(self):
-    # Both feed the same np.clip call in get_cruise_accel -- independent smoothing must
-    # never let the floor drift above the ceiling.
-    for v_ego in [0., 3., 8., 20., 45.]:
-      max_a = self.controller.get_max_accel(v_ego)
-      min_a = self.controller.get_min_accel(v_ego)
-      self.assertLessEqual(min_a, max_a - 0.05)
-
-  def test_params_refresh_only_at_one_second_boundary(self):
-    self.controller.frame = 0
-    self.params.put("AccelPersonality", AccelProfile.sport, block=True)
-    self.controller.update()  # frame=1, not a boundary
-    self.assertEqual(self.controller.profile, AccelProfile.normal)
-    self.controller.frame = int(1.0 / DT_MDL) - 1
-    self.controller.update()  # crosses the boundary
-    self.assertEqual(self.controller.profile, AccelProfile.sport)
-
-  def test_enabled_reflects_params(self):
-    self.params.put_bool("AccelPersonalityEnabled", False, block=True)
-    controller = AccelController()
-    self.assertFalse(controller.is_enabled())
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    controller.frame = int(1.0 / DT_MDL) - 1
-    controller.update()
-    self.assertTrue(controller.is_enabled())
-
-  def test_max_accel_never_exceeds_profile_ceiling(self):
-    for v_ego in [0., 5., 10., 20., 30., 45., 60.]:
-      max_a = self.controller.get_max_accel(v_ego)
-      table_max = max(max(table) for table in MAX_ACCEL_PROFILES.values())
-      self.assertLessEqual(max_a, table_max + 1e-6)
-
-
-class TestOffEqualsStock(OpenpilotTestCase):
-  def setUp(self):
-    self.params = Params()
-    self.params.put_bool("AccelPersonalityEnabled", False, block=True)
-
-  def test_disabled_controller_is_enabled_returns_false(self):
-    controller = AccelController()
-    self.assertFalse(controller.is_enabled())
-
-  def test_get_cruise_accel_with_none_override_matches_no_kwarg(self):
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
-    args = (False, 10.0, 8.0, 0.5, 0.0, _fake_cp(), DT_MDL, 1.0, True)
-    self.assertEqual(get_cruise_accel(*args), get_cruise_accel(*args, max_accel_override=None, min_accel_override=None))
-
-  def test_v_ego_filtered_none_matches_no_kwarg(self):
-    # Regression guard: v_ego_filtered defaults to None and must not change any existing caller's output.
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
-    args = (False, 10.0, 8.0, 0.5, 0.0, _fake_cp(), DT_MDL, 1.0, True)
-    self.assertEqual(get_cruise_accel(*args), get_cruise_accel(*args, v_ego_filtered=None))
-
-  def test_v_ego_filtered_replaces_raw_v_ego_in_the_cruise_error_only(self):
-    # The cruise-hold term (v_cruise - v_ego) is the only thing that should move; turn/coast
-    # derating still has to react to the real, unfiltered v_ego (see get_cruise_accel's comment).
-    # dt=1.0 opens the jerk-limit window wide so it can't mask the v_ego_filtered swap below.
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
-    raw = get_cruise_accel(False, 8.6, 8.5, 0.1, 0.0, _fake_cp(), 1.0, 1.0, True)
-    filtered = get_cruise_accel(False, 8.6, 8.5, 0.1, 0.0, _fake_cp(), 1.0, 1.0, True, v_ego_filtered=8.3)
-    self.assertAlmostEqual(raw, 0.1, places=6)
-    self.assertAlmostEqual(filtered, 0.3, places=6)
-
-  def test_disabled_min_accel_override_is_none(self):
-    planner = _bare_planner()
-    self.assertIsNone(planner.get_min_accel_override(v_ego=5.0, e2e=False, force_decel=False))
-
-  def test_disabled_max_accel_override_is_none(self):
-    planner = _bare_planner()
-    self.assertIsNone(planner.get_max_accel_override(v_ego=5.0))
-
-  def test_force_decel_excludes_min_accel_override_even_when_enabled(self):
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    planner = _bare_planner()
-    self.assertIsNone(planner.get_min_accel_override(v_ego=5.0, e2e=False, force_decel=True))
-
-  def test_e2e_excludes_min_accel_override_even_when_enabled(self):
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    planner = _bare_planner()
-    self.assertIsNone(planner.get_min_accel_override(v_ego=5.0, e2e=True, force_decel=False))
-
-  def test_enabled_min_accel_override_returns_a_float(self):
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    planner = _bare_planner()
-    override = planner.get_min_accel_override(v_ego=5.0, e2e=False, force_decel=False)
-    self.assertIsNotNone(override)
-    self.assertLess(override, 0.0)
-
-  def test_enabled_max_accel_override_applies_in_acc_and_blended(self):
-    # Policy: max ceiling comes from AccelController in both ACC and blended (e2e) modes --
-    # only the min floor is blended-vs-stock. get_max_accel_override no longer takes an e2e
-    # arg because of this; the caller applies it unconditionally.
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    planner = _bare_planner()
-    override = planner.get_max_accel_override(v_ego=5.0)
-    self.assertIsNotNone(override)
-    self.assertGreater(override, 0.0)
-
-  def test_blended_min_accel_uses_stock_not_controller(self):
-    # e2e/blended braking floor is deliberately left at stock's A_CRUISE_MIN, never the
-    # controller's floor -- this is the "acc policy = controller min+max, blended policy =
-    # controller max + stock min" split, final per product decision.
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel, A_CRUISE_MIN
-    args = dict(v_cruise=-100.0, v_ego=20.0, a_cruise_prev=0.0, angle_steers=0.0, CP=_fake_cp(),
-                dt=DT_MDL, accel_coast=1.0, allow_throttle=True)
-    target = get_cruise_accel(True, **args, min_accel_override=-0.3)
-    self.assertAlmostEqual(target, A_CRUISE_MIN, places=6)
-
-  def test_blended_max_accel_uses_controller_override(self):
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
-    args = dict(v_cruise=100.0, v_ego=20.0, a_cruise_prev=0.0, angle_steers=0.0, CP=_fake_cp(),
-                dt=DT_MDL, accel_coast=1.0, allow_throttle=True)
-    target = get_cruise_accel(True, **args, max_accel_override=0.4)
-    self.assertAlmostEqual(target, 0.4, places=6)
-
-
-class TestLeadGapWiden(OpenpilotTestCase):
-  def setUp(self):
-    self.params = Params()
-    self.params.put_bool("AccelPersonalityEnabled", True, block=True)
-    self.params.put("AccelPersonality", AccelProfile.normal, block=True)
-    self.controller = AccelController()
-
-  def test_no_lead_never_widens(self):
-    for _ in range(50):
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=False, lead_accel=-5.0, v_ego=20.0)
-    self.assertEqual(multiplier, 1.0)
-
-  def test_accelerating_lead_never_widens(self):
-    for _ in range(50):
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=1.5, v_ego=20.0)
-    self.assertEqual(multiplier, 1.0)
-
-  def test_braking_lead_widens_and_saturates(self):
-    for _ in range(200):
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=-LEAD_DECEL_FOR_MAX_WIDEN * 2, v_ego=20.0)
-    self.assertAlmostEqual(multiplier, 1.0 + LEAD_GAP_WIDEN_PROFILES[AccelProfile.normal], places=2)
-
-  def test_widen_never_shrinks_below_stock(self):
-    for lead_accel in [-0.5, -1.5, -3.0, -6.0, 0.5, 0.0]:
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=lead_accel, v_ego=20.0)
-      self.assertGreaterEqual(multiplier, 1.0)
-
-  def test_onset_is_faster_than_release(self):
-    for _ in range(5):
-      self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=-LEAD_DECEL_FOR_MAX_WIDEN, v_ego=20.0)
-    onset_multiplier = self.controller.t_follow_multiplier
-    for _ in range(5):
-      self.controller.get_t_follow_multiplier(lead_present=False, lead_accel=0.0, v_ego=20.0)
-    release_multiplier = self.controller.t_follow_multiplier
-    onset_progress = onset_multiplier - 1.0
-    release_progress = (1.0 + LEAD_GAP_WIDEN_PROFILES[AccelProfile.normal]) - onset_multiplier
-    self.assertGreater(onset_progress, 0.0)
-    self.assertLess(release_multiplier, onset_multiplier)
-    self.assertGreater(release_progress, 0.0)
-
-  def test_profile_scales_max_widen(self):
-    controllers = {}
-    for profile in (AccelProfile.eco, AccelProfile.normal, AccelProfile.sport):
-      self.params.put("AccelPersonality", profile, block=True)
-      controllers[profile] = AccelController()
-    for profile, controller in controllers.items():
-      for _ in range(500):
-        multiplier = controller.get_t_follow_multiplier(lead_present=True, lead_accel=-LEAD_DECEL_FOR_MAX_WIDEN * 2, v_ego=20.0)
-      self.assertAlmostEqual(multiplier, 1.0 + LEAD_GAP_WIDEN_PROFILES[profile], places=2)
-    self.assertGreater(LEAD_GAP_WIDEN_PROFILES[AccelProfile.eco], LEAD_GAP_WIDEN_PROFILES[AccelProfile.normal])
-    self.assertGreater(LEAD_GAP_WIDEN_PROFILES[AccelProfile.normal], LEAD_GAP_WIDEN_PROFILES[AccelProfile.sport])
-
-  def test_widen_tapers_out_at_low_speed(self):
-    # Widening t_follow only matters for higher-speed anticipation -- the MPC's own
-    # comfort-distance reference collapses to a t_follow-independent floor as v_ego -> 0,
-    # so widening during the final stopping approach only forces a bigger gap to close
-    # later and settles the car closer, not farther. Confirmed empirically via closed-loop
-    # scoring (sunnypilot/selfdrive/test/longitudinal_maneuvers/): must taper to a no-op
-    # at low speed even under hard lead braking.
-    for _ in range(500):
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=-LEAD_DECEL_FOR_MAX_WIDEN * 2, v_ego=2.0)
-    self.assertEqual(multiplier, 1.0)
-
-  def test_widen_scales_between_taper_speeds(self):
-    for _ in range(500):
-      multiplier = self.controller.get_t_follow_multiplier(lead_present=True, lead_accel=-LEAD_DECEL_FOR_MAX_WIDEN * 2, v_ego=5.5)
-    full_speed_widen = LEAD_GAP_WIDEN_PROFILES[AccelProfile.normal]
-    self.assertGreater(multiplier, 1.0)
-    self.assertLess(multiplier, 1.0 + full_speed_widen)
-
-  def test_mpc_update_none_multiplier_matches_no_kwarg(self):
-    from unittest import mock
-    from openpilot.cereal import log
-    from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, get_T_FOLLOW
-    radarstate = log.RadarState.new_message()
-    mpc = LongitudinalMpc()
-    with mock.patch.object(mpc, "run", return_value=None):
-      mpc.update(radarstate, personality=log.LongitudinalPersonality.standard)
-      t_follow_no_kwarg = mpc.params[0, 4]
-      mpc.update(radarstate, personality=log.LongitudinalPersonality.standard, t_follow_multiplier=None)
-      t_follow_explicit_none = mpc.params[0, 4]
-    self.assertEqual(t_follow_no_kwarg, t_follow_explicit_none)
-    self.assertAlmostEqual(t_follow_no_kwarg, get_T_FOLLOW(log.LongitudinalPersonality.standard), places=6)
-
-  def test_mpc_update_multiplier_scales_t_follow(self):
-    from unittest import mock
-    from openpilot.cereal import log
-    from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, get_T_FOLLOW
-    radarstate = log.RadarState.new_message()
-    mpc = LongitudinalMpc()
-    with mock.patch.object(mpc, "run", return_value=None):
-      mpc.update(radarstate, personality=log.LongitudinalPersonality.standard, t_follow_multiplier=1.5)
-    stock_t_follow = get_T_FOLLOW(log.LongitudinalPersonality.standard)
-    self.assertAlmostEqual(mpc.params[0, 4], stock_t_follow * 1.5, places=6)
-
-
-def _fake_cp():
-  class _CP:
-    steerRatio = 15.0
-    wheelbase = 2.7
-  return _CP()
-
-
-def _bare_planner():
-  from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
-  planner.accel_controller = AccelController()
-  return planner
-
-
-if __name__ == "__main__":
-  unittest.main()

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

@@ -1,101 +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 typing import cast
-
-from opendbc.car import DT_CTRL
-
-STOPPING_DISTANCE = 0.75
-STOPPING_TIME = 2.5
-STOPPING_ACCEL_TOLERANCE = 0.1
-STOPPING_SPEED_TOLERANCE = 0.05
-STOPPING_SETTLE_FRAMES = 30
-STOPPING_HOLD_ACCEL = -1.2
-STOPPING_HOLD_MARGIN = 0.6
-STOPPING_HOLD_SPEED_TOLERANCE = 0.01
-
-
-class LongControlSP:
-  def __init__(self):
-    self._stopping_settle_frames: int | None = None
-    self._stopping_hold_accel: float | None = None
-
-  def _hold_supported(self) -> bool:
-    return self.CP.openpilotLongitudinalControl and not self.CP.notCar and self.CP.stopAccel < 0.0
-
-  def update_state(self, stopping: bool, active: bool, CS) -> None:
-    if not active:
-      self._stopping_settle_frames = None
-      self._stopping_hold_accel = None
-      return
-
-    invalid_speed = not all(math.isfinite(speed) for speed in (CS.vEgo, CS.vEgoRaw))
-    moving = max(abs(CS.vEgo), abs(CS.vEgoRaw)) > STOPPING_SPEED_TOLERANCE
-    if invalid_speed or (not stopping and moving):
-      self._stopping_hold_accel = None
-    elif (self._hold_supported() and math.isfinite(self.last_output_accel)
-          and self.last_output_accel <= self.CP.stopAccel):
-      previous_hold = self._stopping_hold_accel if self._stopping_hold_accel is not None else self.last_output_accel
-      self._stopping_hold_accel = min(self.last_output_accel, previous_hold)
-    if not stopping:
-      self._stopping_settle_frames = None
-      if self._stopping_hold_accel is not None and math.isfinite(self.last_output_accel):
-        self._stopping_hold_accel = min(self.last_output_accel, self._stopping_hold_accel)
-
-  def stopping_accel(self, output_accel: float, CS) -> float:
-    if self._stopping_hold_accel is not None and math.isfinite(CS.vEgo) and abs(CS.vEgo) <= STOPPING_SPEED_TOLERANCE:
-      return min(output_accel, self._stopping_hold_accel)
-    return output_accel
-
-  def stopping_decel_rate(self, CS, a_target: float, output_accel: float) -> float:
-    if not all(math.isfinite(value) for value in (output_accel, a_target, CS.vEgo, CS.vEgoRaw, CS.aEgo)):
-      return 1.0
-    hold_supported = self._hold_supported()
-    preserving_hold = self._stopping_hold_accel is not None
-    can_hold = output_accel <= 0.0 and a_target >= output_accel
-    terminal_speed = (0.0 <= CS.vEgo <= STOPPING_SPEED_TOLERANCE
-                      or CS.standstill and abs(CS.vEgo) <= STOPPING_SPEED_TOLERANCE)
-    positive_stop_entry = self.last_output_accel > 0.0 and output_accel == 0.0
-    if output_accel > 0.0 or positive_stop_entry or CS.vEgo < 0.0 and not terminal_speed:
-      return 1.0
-    if terminal_speed and self._stopping_settle_frames is None:
-      if not preserving_hold and (not can_hold or output_accel > -STOPPING_ACCEL_TOLERANCE or CS.aEgo >= -STOPPING_ACCEL_TOLERANCE):
-        return 1.0
-      self._stopping_settle_frames = 0
-
-    time_decel = 0.0 if self._stopping_settle_frames is not None else CS.vEgo / STOPPING_TIME
-    required_decel = max(time_decel, CS.vEgo ** 2 / (2.0 * STOPPING_DISTANCE), 1e-3)
-    adequacy = min(max(-CS.aEgo / required_decel, 0.0), 1.0)
-    planner_need = min(max((output_accel - a_target) / max(required_decel, STOPPING_ACCEL_TOLERANCE), 0.0), 1.0)
-    if not terminal_speed and self._stopping_settle_frames is None and can_hold and adequacy >= 1.0:
-      self._stopping_settle_frames = 0
-      if hold_supported:
-        self._stopping_hold_accel = output_accel
-
-    motion_need = 1.0 - adequacy ** 2
-    terminal_need = 0.0
-    if terminal_speed or self._stopping_settle_frames not in (None, 0):
-      settle_frames = cast(int, self._stopping_settle_frames)
-      self._stopping_settle_frames = min(settle_frames + 1, STOPPING_SETTLE_FRAMES)
-      terminal_need = (self._stopping_settle_frames / STOPPING_SETTLE_FRAMES) ** 2
-
-    if preserving_hold and self._stopping_hold_accel is not None:
-      self._stopping_hold_accel = min(output_accel, self._stopping_hold_accel)
-      if terminal_speed:
-        minimum_hold = min(STOPPING_HOLD_ACCEL, self.CP.stopAccel + STOPPING_HOLD_MARGIN)
-        hold_target = max(self.CP.stopAccel, min(minimum_hold, self._stopping_hold_accel))
-        if CS.aEgo > STOPPING_ACCEL_TOLERANCE or abs(CS.vEgoRaw) > STOPPING_HOLD_SPEED_TOLERANCE:
-          return 1.0
-        hold_rate = max(planner_need, terminal_need)
-        if CS.vEgoRaw == 0.0 and abs(CS.vEgo) <= STOPPING_HOLD_SPEED_TOLERANCE:
-          if output_accel <= hold_target:
-            return planner_need
-          hold_rate = max(planner_need, min(hold_rate, (output_accel - hold_target) / DT_CTRL))
-        return hold_rate
-
-    return max(motion_need, planner_need, terminal_need)

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

@@ -9,7 +9,6 @@ from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import AccelController
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
@@ -24,8 +23,8 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
-    self.accel_controller = AccelController()
     self.events_sp = EventsSP()
+    self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
@@ -44,22 +43,6 @@ class LongitudinalPlannerSP:
 
     return experimental_mode and self.dec.mode() == "blended"
 
-  def get_max_accel_override(self, v_ego: float) -> float | None:
-    if not self.accel_controller.is_enabled():
-      return None
-    return self.accel_controller.get_max_accel(v_ego)
-
-  def get_min_accel_override(self, v_ego: float, e2e: bool, force_decel: bool) -> float | None:
-    if e2e or force_decel or not self.accel_controller.is_enabled():
-      return None
-    return self.accel_controller.get_min_accel(v_ego)
-
-  def get_t_follow_multiplier(self, sm: messaging.SubMaster, v_ego: float) -> float | None:
-    if not self.accel_controller.is_enabled():
-      return None
-    lead = sm['radarState'].leadOne
-    return self.accel_controller.get_t_follow_multiplier(lead.present, lead.aLeadK, v_ego)
-
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
     CS = sm['carState']
     v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
@@ -91,7 +74,6 @@ class LongitudinalPlannerSP:
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
-    self.accel_controller.update(sm)
     self.events_sp.clear()
     self.dec.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
@@ -113,12 +95,6 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
-    accel_controller = longitudinalPlanSP.accelController
-    accel_controller.enabled = self.accel_controller.is_enabled()
-    accel_controller.active = self.accel_controller_active
-    accel_controller.profile = self.accel_controller.profile
-    accel_controller.tFollowMultiplier = float(self.accel_controller.t_follow_multiplier)
-
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl
     # Vision Control

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py

@@ -4,8 +4,6 @@ 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
 from typing import Any
 
 import numpy as np
@@ -17,23 +15,8 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP, LongitudinalPlanSource
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
-
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import (
-  _A_LAT_REG_MAX,
-  _BELOW_EGO_TARGET_RELEASE_RATE,
-  _ENTERING_PRED_LAT_ACC_TH,
-  _MIN_ACTIVATION_SPEED,
-  _RELIEF_CONFIRMATION_FRAMES,
-  _TARGET_RELEASE_CONFIRMATION_FRAMES,
-  _TARGET_RELEASE_RATE,
-  _TARGET_TIGHTEN_CONFIRMATION_FRAMES,
-  _TARGET_TIGHTEN_RATE,
-  _TURNING_LAT_ACC_TH,
-  _URGENT_PRED_LAT_ACC_TH,
-  SmartCruiseControlVision,
-)
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
 from openpilot.common.test import OpenpilotTestCase
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
@@ -124,6 +107,7 @@ def generate_controlsState():
 
 
 class TestSmartCruiseControlVision(OpenpilotTestCase):
+
   def setup_method(self):
     self.params = Params()
     self.reset_params()
@@ -137,377 +121,36 @@ class TestSmartCruiseControlVision(OpenpilotTestCase):
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlVision", True, block=True)
 
-  def assert_approx(self, actual, expected):
-    self.assertAlmostEqual(actual, expected, delta=max(1e-12, abs(expected) * 1e-6))
-
-  def set_lat_accels(self, current: float, predicted: float, v_ego: float = 20.0, model_speed: float = 20.0) -> None:
-    self.sm['controlsState'].curvature = current / v_ego**2
-    self.sm['modelV2'].velocity.x = [model_speed] * len(ModelConstants.T_IDXS)
-    self.sm['modelV2'].orientationRate.z = [predicted / model_speed] * len(ModelConstants.T_IDXS)
-
-  def update_lat_accels(
-    self, current: float, predicted: float, cruise: float = 30.0, a_ego: float = 0.0, v_ego: float = 20.0, model_speed: float = 20.0
-  ) -> None:
-    self.set_lat_accels(current, predicted, v_ego, model_speed)
-    self.scc_v.update(self.sm, True, False, v_ego, a_ego, cruise)
-
-  def enter_curve(self, predicted: float = 2.2) -> None:
-    self.update_lat_accels(0.5, predicted)
-    self.update_lat_accels(0.5, predicted)
-    assert self.scc_v.state == VisionState.entering
-
   def test_initial_state(self):
     assert self.scc_v.state == VisionState.disabled
     assert not self.scc_v.is_active
     assert self.scc_v.output_v_target == V_CRUISE_UNSET
-    assert self.scc_v.output_a_target == 0.0
+    assert self.scc_v.output_a_target == 0.
 
   def test_system_disabled(self):
     self.params.put_bool("SmartCruiseControlVision", False, block=True)
     self.scc_v.enabled = self.params.get_bool("SmartCruiseControlVision")
 
-    for _ in range(int(10.0 / DT_MDL)):
-      self.scc_v.update(self.sm, True, False, 0.0, 0.0, 0.0)
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.disabled
     assert not self.scc_v.is_active
 
   def test_disabled(self):
-    for _ in range(int(10.0 / DT_MDL)):
-      self.scc_v.update(self.sm, False, False, 0.0, 0.0, 0.0)
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, False, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.disabled
 
   def test_transition_disabled_to_enabled(self):
-    for _ in range(int(10.0 / DT_MDL)):
-      self.scc_v.update(self.sm, True, False, 0.0, 0.0, 0.0)
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.enabled
 
-  def test_unconfirmed_release_holds_but_urgent_reentry_tightens(self):
-    self.enter_curve()
-    targets = [self.scc_v.output_v_target]
-
-    self.update_lat_accels(2.0, 2.2, a_ego=-0.8)
-    assert self.scc_v.state == VisionState.turning
-    assert self.scc_v.output_a_target == -0.8
-    turning_demand = self.scc_v._v_demand()
-    targets.append(self.scc_v.output_v_target)
-
-    self.update_lat_accels(1.2, 1.2, a_ego=0.3)
-    assert self.scc_v.state == VisionState.leaving
-    assert self.scc_v.output_a_target == 0.3
-    targets.append(self.scc_v.output_v_target)
-
-    self.update_lat_accels(1.0, 3.0, a_ego=-1.2)
-    assert self.scc_v.state == VisionState.entering
-    assert self.scc_v.output_a_target == -1.2
-    reentry_demand = self.scc_v._v_demand()
-    targets.append(self.scc_v.output_v_target)
-
-    entering, turning, leaving, reentering = targets
-    assert turning < entering
-    self.assert_approx(turning, turning_demand)
-    self.assert_approx(leaving, turning)
-    assert reentering < leaving
-    self.assert_approx(reentering, reentry_demand)
-
-  def test_new_curve_interrupts_confirmed_release_immediately(self):
-    self.enter_curve()
-    for _ in range(_RELIEF_CONFIRMATION_FRAMES + 1):
-      self.update_lat_accels(0.8, 0.8)
-    releasing_v_target = self.scc_v.output_v_target
-    assert self.scc_v.state == VisionState.leaving
-
-    self.update_lat_accels(0.8, 3.0, a_ego=-0.7)
-    assert self.scc_v.state == VisionState.entering
-    assert self.scc_v.output_v_target < releasing_v_target
-    assert self.scc_v.output_a_target == -0.7
-
-  @parameterized.expand([(-2.0,), (-0.5,), (0.0,), (0.8,)])
-  def test_planner_acceleration_passes_through_exactly(self, planner_accel):
-    self.enter_curve()
-    self.update_lat_accels(0.5, 2.2, a_ego=planner_accel)
-    assert self.scc_v.output_a_target == planner_accel
-
-  def test_planner_acceleration_passes_through_all_states(self):
-    cases = (
-      (False, False, 0.5, 2.2, -0.2, VisionState.disabled),
-      (True, False, 0.5, 0.8, 0.1, VisionState.enabled),
-      (True, False, 0.5, 2.2, -0.4, VisionState.entering),
-      (True, False, 2.0, 2.2, -0.8, VisionState.turning),
-      (True, False, 1.2, 1.2, 0.3, VisionState.leaving),
-      (True, True, 1.2, 1.2, 0.6, VisionState.overriding),
-    )
-    for long_enabled, override, current, predicted, planner_accel, state in cases:
-      self.set_lat_accels(current, predicted)
-      self.scc_v.update(self.sm, long_enabled, override, 20.0, planner_accel, 30.0)
-      assert self.scc_v.state == state
-      assert self.scc_v.output_a_target == planner_accel
-
-  def test_jitter_requires_confirmed_relief_then_releases_smoothly(self):
-    self.enter_curve()
-    previous_v_target = self.scc_v.output_v_target
-
-    for frame in range(_RELIEF_CONFIRMATION_FRAMES * 2):
-      self.update_lat_accels(1.0, 1.05 if frame % 2 == 0 else 1.15)
-      assert self.scc_v.state == VisionState.entering
-      assert self.scc_v.output_v_target >= previous_v_target
-      assert self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
-      previous_v_target = self.scc_v.output_v_target
-
-    for _ in range(_RELIEF_CONFIRMATION_FRAMES):
-      self.update_lat_accels(1.15, 0.8)
-      assert self.scc_v.state == VisionState.entering
-      assert 0.0 <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
-      previous_v_target = self.scc_v.output_v_target
-
-    release_cruise = 30.0
-    for _ in range(_RELIEF_CONFIRMATION_FRAMES - 1):
-      self.update_lat_accels(0.8, 0.8, release_cruise)
-      assert self.scc_v.state == VisionState.entering
-      assert 0.0 <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
-      previous_v_target = self.scc_v.output_v_target
-
-    active_v_targets = [previous_v_target]
-    for _ in range(int((release_cruise - previous_v_target) / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
-      self.update_lat_accels(0.8, 0.8, release_cruise)
-      if not self.scc_v.is_active:
-        break
-      assert self.scc_v.state == VisionState.leaving
-      assert self.scc_v.output_v_target != V_CRUISE_UNSET
-      active_v_targets.append(self.scc_v.output_v_target)
-
-    assert self.scc_v.state == VisionState.enabled
-    assert self.scc_v.output_v_target == V_CRUISE_UNSET
-    self.assert_approx(active_v_targets[-1], release_cruise)
-    assert np.all((np.diff(active_v_targets) >= 0.0) & (np.diff(active_v_targets) <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9))
-
-  def test_target_release_waits_for_relief_above_ego_speed(self):
-    self.enter_curve()
-    held_v_target = self.scc_v.output_v_target
-    self.assert_approx(held_v_target, self.scc_v.v_ego)
-
-    for _ in range(_RELIEF_CONFIRMATION_FRAMES + _TARGET_RELEASE_CONFIRMATION_FRAMES - 2):
-      self.update_lat_accels(0.8, 0.8)
-      self.assert_approx(self.scc_v.output_v_target, held_v_target)
-
-    self.update_lat_accels(0.8, 0.8)
-    rise = self.scc_v.output_v_target - held_v_target
-    assert 0.0 < rise <= _TARGET_RELEASE_RATE * DT_MDL + 1e-9
-
-  def test_curve_target_is_independent_of_ego_speed(self):
-    model_speed = 24.0
-    predicted_yaw_rate = 0.12
-    predicted_lat_accel = model_speed * predicted_yaw_rate
-    expected_v_target = (_A_LAT_REG_MAX / (predicted_yaw_rate / model_speed)) ** 0.5
-    targets = []
-
-    for v_ego in (18.0, 28.0):
-      controller = SmartCruiseControlVision()
-      self.set_lat_accels(0.5, predicted_lat_accel, v_ego, model_speed)
-      controller.update(self.sm, True, False, v_ego, 0.0, 30.0)
-      controller.update(self.sm, True, False, v_ego, 0.0, 30.0)
-      assert controller.state == VisionState.entering
-      targets.append(controller.v_target)
-
-    self.assert_approx(targets[0], expected_v_target)
-    self.assert_approx(targets[1], expected_v_target)
-
-  def test_curve_target_respects_minimum_speed_floor(self):
-    model_speed = 10.0
-    predicted_yaw_rate = 2.0
-    self.set_lat_accels(0.5, model_speed * predicted_yaw_rate, model_speed=model_speed)
-    self.scc_v.update(self.sm, True, False, 20.0, 0.0, 30.0)
-    self.scc_v.update(self.sm, True, False, 20.0, 0.0, 30.0)
-
-    assert self.scc_v.state == VisionState.entering
-    assert self.scc_v.v_target < MIN_V
-    self.assert_approx(self.scc_v.output_v_target, MIN_V)
-
-  @parameterized.expand(
-    [([], []), ([np.nan] * len(ModelConstants.T_IDXS), [np.nan] * len(ModelConstants.T_IDXS)), ([20.0] * 5, [0.1] * 3)],
-    names=["velocities", "yaw_rates"],
-  )
-  def test_model_vector_edges_remain_finite(self, velocities, yaw_rates):
-    self.sm['modelV2'].velocity.x = velocities
-    self.sm['modelV2'].orientationRate.z = yaw_rates
-    self.scc_v.update(self.sm, True, False, 20.0, 0.0, 30.0)
-    self.scc_v.update(self.sm, True, False, 20.0, 0.0, 30.0)
-
-    assert all(
-      np.isfinite(value)
-      for value in (
-        self.scc_v.current_lat_acc,
-        self.scc_v.max_pred_lat_acc,
-        self.scc_v.v_target,
-        self.scc_v.output_v_target,
-        self.scc_v.output_a_target,
-      )
-    )
-
-  @parameterized.expand([(5.75,), (9.9,), (_MIN_ACTIVATION_SPEED,)])
-  def test_vision_control_does_not_steal_launch(self, launch_speed):
-    self.set_lat_accels(0.5, 3.0, launch_speed)
-    self.scc_v.update(self.sm, True, False, launch_speed, 0.0, 30.0)
-    self.scc_v.update(self.sm, True, False, launch_speed, 0.0, 30.0)
-
-    assert launch_speed <= _MIN_ACTIVATION_SPEED
-    assert self.scc_v.state == VisionState.enabled
-    assert not self.scc_v.is_active
-    assert self.scc_v.output_v_target == V_CRUISE_UNSET
-
-  def test_vision_control_can_activate_above_launch_range(self):
-    speed = _MIN_ACTIVATION_SPEED + 0.01
-    self.set_lat_accels(0.5, 3.0, speed)
-    self.scc_v.update(self.sm, True, False, speed, 0.0, 30.0)
-    self.scc_v.update(self.sm, True, False, speed, 0.0, 30.0)
-
-    assert self.scc_v.state == VisionState.entering
-    assert self.scc_v.is_active
-
-  def test_nonurgent_activation_has_no_target_cliff(self):
-    v_ego = _MIN_ACTIVATION_SPEED + 0.01
-    model_speed = 8.0
-    self.update_lat_accels(0.5, 2.0, v_ego=v_ego, model_speed=model_speed)
-    self.update_lat_accels(0.5, 2.0, v_ego=v_ego, model_speed=model_speed)
-
-    self.assert_approx(self.scc_v.v_target, 8.0)
-    self.assert_approx(self.scc_v.output_v_target, v_ego)
-
-  def test_nonurgent_tightening_is_confirmed_and_rate_limited(self):
-    self.enter_curve()
-    initial_v_target = self.scc_v.output_v_target
-
-    for _ in range(_TARGET_TIGHTEN_CONFIRMATION_FRAMES - 1):
-      self.update_lat_accels(0.5, 2.8)
-      self.assert_approx(self.scc_v.output_v_target, initial_v_target)
-
-    self.update_lat_accels(0.5, 2.8)
-    drop = initial_v_target - self.scc_v.output_v_target
-    assert 0.0 < drop <= _TARGET_TIGHTEN_RATE * DT_MDL + 1e-9
-
-  def test_one_frame_curve_prediction_does_not_pulse_target(self):
-    self.enter_curve()
-    for _ in range(10):
-      self.update_lat_accels(0.5, 2.2)
-    stable_v_target = self.scc_v.output_v_target
-
-    self.update_lat_accels(0.5, 2.8)
-    self.assert_approx(self.scc_v.output_v_target, stable_v_target)
-    self.update_lat_accels(0.5, 2.2)
-
-    self.assert_approx(self.scc_v.output_v_target, stable_v_target)
-
-  def test_one_frame_release_does_not_reverse_target(self):
-    self.enter_curve(_URGENT_PRED_LAT_ACC_TH)
-    stable_v_target = self.scc_v.output_v_target
-
-    self.update_lat_accels(0.5, 2.2)
-    self.assert_approx(self.scc_v.output_v_target, stable_v_target)
-    self.update_lat_accels(0.5, _URGENT_PRED_LAT_ACC_TH)
-
-    self.assert_approx(self.scc_v.output_v_target, stable_v_target)
-
-  def test_urgent_predicted_curve_is_not_delayed(self):
-    self.enter_curve()
-    self.update_lat_accels(0.5, _URGENT_PRED_LAT_ACC_TH)
-
-    self.assert_approx(self.scc_v.output_v_target, self.scc_v._v_demand())
-
-  def test_current_curve_is_not_delayed(self):
-    self.enter_curve()
-    self.update_lat_accels(_TURNING_LAT_ACC_TH, 2.8)
-
-    self.assert_approx(self.scc_v.output_v_target, self.scc_v._v_demand())
-
-  def test_sequential_curve_confirms_release_and_tightens_urgently(self):
-    self.enter_curve(3.0)
-    for _ in range(20):
-      self.update_lat_accels(0.5, 3.0)
-    restrictive_v_target = self.scc_v.output_v_target
-
-    self.update_lat_accels(0.5, 1.4, a_ego=0.4)
-    assert self.scc_v.state == VisionState.entering
-    self.assert_approx(self.scc_v.output_v_target, restrictive_v_target)
-    assert self.scc_v.output_a_target == 0.4
-
-    for _ in range(_TARGET_RELEASE_CONFIRMATION_FRAMES - 2):
-      self.update_lat_accels(0.5, 1.4)
-      self.assert_approx(self.scc_v.output_v_target, restrictive_v_target)
-
-    self.update_lat_accels(0.5, 1.4)
-    released_v_target = self.scc_v.output_v_target
-    assert 0.0 < released_v_target - restrictive_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
-
-    self.update_lat_accels(0.5, 3.0, a_ego=-0.6)
-    assert self.scc_v.state == VisionState.entering
-    self.assert_approx(self.scc_v.output_v_target, restrictive_v_target)
-    assert self.scc_v.output_a_target == -0.6
-
-    for _ in range(4):
-      self.update_lat_accels(0.5, 1.4)
-      self.assert_approx(self.scc_v.output_v_target, restrictive_v_target)
-      self.update_lat_accels(0.5, 3.0)
-      self.assert_approx(self.scc_v.output_v_target, restrictive_v_target)
-
-  def test_acceleration_is_continuous_through_planner_arbitration(self):
-    car_control = messaging.new_message('carControl')
-    car_control.carControl.enabled = True
-    car_control.carControl.cruiseControl.override = False
-    self.sm['carControl'] = car_control.carControl
-    self.sm['carState'].vCruiseCluster = 108.0
-
-    planner: Any = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
-    planner.scc = SimpleNamespace(
-      vision=self.scc_v,
-      map=SimpleNamespace(output_v_target=V_CRUISE_UNSET, output_a_target=0.0),
-      update=lambda sm, enabled, override, v_ego, a_ego, v_cruise: self.scc_v.update(sm, enabled, override, v_ego, a_ego, v_cruise),
-    )
-    planner.resolver = SimpleNamespace(
-      speed_limit_valid=False,
-      speed_limit_last_valid=False,
-      speed_limit=0.0,
-      speed_limit_final_last=0.0,
-      distance=0.0,
-      update=lambda _v_ego, _sm: None,
-    )
-    planner.sla = SimpleNamespace(
-      output_v_target=V_CRUISE_UNSET,
-      output_a_target=0.0,
-      update=lambda *_args: None,
-    )
-    planner.events_sp = SimpleNamespace()
-
-    self.set_lat_accels(0.5, 2.2)
-    planner.update_targets(self.sm, 20.0, -0.8, 30.0)
-    planner.update_targets(self.sm, 20.0, -0.8, 30.0)
-    assert planner.source == LongitudinalPlanSource.sccVision
-    assert planner.output_a_target == -0.8
-
-    for planner_accel in (-2.0, 0.5, -0.2):
-      planner.update_targets(self.sm, 20.0, planner_accel, 30.0)
-      assert planner.source == LongitudinalPlanSource.sccVision
-      assert planner.output_a_target == planner_accel
-
-    self.set_lat_accels(0.8, 0.8)
-    for _ in range(int(30.0 / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
-      planner.update_targets(self.sm, 20.0, 0.4, 30.0)
-      assert planner.output_a_target == 0.4
-      if planner.source == LongitudinalPlanSource.cruise:
-        break
-    else:
-      self.fail("SCC Vision did not release to cruise")
-
-    planner.update_targets(self.sm, 20.0, 0.4, 30.0)
-    assert self.scc_v.state == VisionState.enabled
-    assert planner.source == LongitudinalPlanSource.cruise
-
-  @parameterized.expand(
-    [
+  @parameterized.expand([
       ("p97_just_above_threshold", True),
       ("single_spike_filtered", False),
       ("persistent_high_values", True),
-    ],
-    names=["case", "should_enter"],
-  )
+    ], names=["case", "should_enter"])
   def test_max_pred_lat_acc_uses_p97_and_threshold(self, case, should_enter):
     n = len(ModelConstants.T_IDXS)
     th = float(_ENTERING_PRED_LAT_ACC_TH)

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller_closed_loop.py

@@ -1,110 +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 gc
-from contextlib import ExitStack
-from unittest import mock
-
-import numpy as np
-
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanSource
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import _A_LAT_REG_MAX
-
-
-def _run_constant_curve(*, scc_enabled: bool, cruise: float, duration: float = 70.0) -> dict[str, np.ndarray]:
-  gc.collect()
-  curvature = 0.005
-  plant = Plant(lead_relevancy=False, speed=30.0)
-  planner = plant.planner
-  planner.dec._enabled = False
-  planner.scc.map.enabled = False
-  planner.scc.vision.enabled = scc_enabled
-  solver_failures = 0
-
-  with ExitStack() as patches:
-    patches.enter_context(mock.patch.object(planner.dec, "_read_params", return_value=None))
-    patches.enter_context(mock.patch.object(planner.scc.map, "update_params", return_value=None))
-    patches.enter_context(mock.patch.object(planner.scc.vision, "_update_params", return_value=None))
-
-    original_mpc_reset = planner.mpc.reset
-
-    def record_mpc_reset(*args, **kwargs):
-      nonlocal solver_failures
-      solver_failures += int(planner.mpc.solution_status != 0)
-      return original_mpc_reset(*args, **kwargs)
-
-    patches.enter_context(mock.patch.object(planner.mpc, "reset", side_effect=record_mpc_reset))
-
-    if scc_enabled:
-      original_update_calculations = planner.scc.vision._update_calculations
-
-      def inject_constant_curvature(sm):
-        velocities = np.asarray(sm['modelV2'].velocity.x, dtype=float)
-        sm['modelV2'].orientationRate.z = (curvature * velocities).tolist()
-        sm['controlsState'].curvature = curvature
-        original_update_calculations(sm)
-
-      patches.enter_context(mock.patch.object(planner.scc.vision, "_update_calculations", side_effect=inject_constant_curvature))
-
-    original_update = planner.update
-
-    def enable_longitudinal(sm):
-      sm['carControl'].enabled = True
-      sm['carControl'].longActive = True
-      original_update(sm)
-
-    patches.enter_context(mock.patch.object(planner, "update", side_effect=enable_longitudinal))
-    rows = []
-    while plant.current_time < duration:
-      output = plant.step(v_cruise=cruise)
-      rows.append(
-        (
-          plant.current_time,
-          output['speed'],
-          output['should_stop'],
-          planner.scc.vision.is_active,
-          planner.source == LongitudinalPlanSource.sccVision,
-          planner.scc.vision.output_v_target,
-        )
-      )
-
-  data = np.asarray(rows, dtype=float)
-  gc.collect()
-  return {
-    'time': data[:, 0],
-    'speed': data[:, 1],
-    'should_stop': data[:, 2],
-    'active': data[:, 3],
-    'scc_source': data[:, 4],
-    'target': data[:, 5],
-    'solver_failures': np.asarray(solver_failures),
-  }
-
-
-class TestVisionControllerClosedLoop(OpenpilotTestCase):
-  def test_constant_curve_recovers_like_stock_speed_cap(self):
-    target = (_A_LAT_REG_MAX / 0.005) ** 0.5
-    scc = _run_constant_curve(scc_enabled=True, cruise=30.0)
-    stock = _run_constant_curve(scc_enabled=False, cruise=target)
-    scc_final = scc['speed'][scc['time'] >= 60.0]
-    stock_final = stock['speed'][stock['time'] >= 60.0]
-
-    # The generated solver can report platform-specific failures for the
-    # synthetic no-lead plant. The feature must not make that stock baseline
-    # worse; requiring an absolute zero would hide a harness difference as a
-    # controller regression.
-    assert scc['solver_failures'] <= stock['solver_failures']
-    assert not scc['should_stop'].any()
-    assert np.all(scc['active'][scc['time'] >= 60.0])
-    assert np.all(scc['scc_source'][scc['time'] >= 60.0])
-    assert np.allclose(scc['target'][scc['time'] >= 60.0], target)
-    assert scc_final.min() >= target - 1.0
-    assert abs(scc_final.mean() - stock_final.mean()) < 0.5
-    assert abs(scc_final.min() - stock_final.min()) < 1.0
-    assert abs(scc_final.max() - stock_final.max()) < 1.0

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py

@@ -23,21 +23,25 @@ _ENTERING_PRED_LAT_ACC_TH = 1.3  # Predicted Lat Acc threshold to trigger enteri
 _ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1  # Predicted Lat Acc threshold to abort entering state if speed drops.
 
 _TURNING_LAT_ACC_TH = 1.6  # Lat Acc threshold to trigger turning state.
-_URGENT_PRED_LAT_ACC_TH = 3.  # Predicted Lat Acc threshold that requires an immediate speed reduction.
 
 _LEAVING_LAT_ACC_TH = 1.3  # Lat Acc threshold to trigger leaving turn state.
 _FINISH_LAT_ACC_TH = 1.1  # Lat Acc threshold to trigger the end of the turn cycle.
 
 _A_LAT_REG_MAX = 2.  # Maximum lateral acceleration
 
-_RELIEF_CONFIRMATION_FRAMES = max(1, int(round(0.5 / DT_MDL)))
-_TARGET_TIGHTEN_CONFIRMATION_FRAMES = max(1, int(round(0.1 / DT_MDL)))
-_TARGET_RELEASE_CONFIRMATION_FRAMES = max(1, int(round(0.15 / DT_MDL)))
-_TARGET_TIGHTEN_RATE = 5.  # m/s^2
-_TARGET_RELEASE_RATE = 1.  # m/s^2
-_BELOW_EGO_TARGET_RELEASE_RATE = 3.  # m/s^2
-_MIN_PRED_SPEED = 1.  # m/s
-_MIN_ACTIVATION_SPEED = 10.  # m/s
+_NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
+
+# Lookup table for the minimum smooth deceleration during the ENTERING state
+# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
+_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
+_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
+
+# Lookup table for the acceleration for the TURNING state
+# depending on the current lateral acceleration of the vehicle.
+_TURNING_ACC_V = [0.5, 0., -0.4]  # acc value
+_TURNING_ACC_BP = [1.5, 2.3, 3.]  # absolute value of current lat acc
+
+_LEAVING_ACC = 0.5  # Conformable acceleration to regain speed while leaving a turn.
 
 
 class SmartCruiseControlVision:
@@ -61,62 +65,14 @@ class SmartCruiseControlVision:
     self.state = VisionState.disabled
     self.current_lat_acc = 0.
     self.max_pred_lat_acc = 0.
-    self.relief_frames = 0
-    self.tighten_frames = 0
-    self.release_frames = 0
-
-  def _v_demand(self) -> float:
-    return max(MIN_V, min(self.v_target, self.v_cruise_setpoint))
-
-  def _curve_is_urgent(self) -> bool:
-    return self.current_lat_acc >= _TURNING_LAT_ACC_TH or self.max_pred_lat_acc >= _URGENT_PRED_LAT_ACC_TH
-
-  def _filtered_v_target(self) -> float:
-    demand = self._v_demand()
-
-    if self.output_v_target == V_CRUISE_UNSET:
-      self.tighten_frames = 0
-      self.release_frames = 0
-      if self._curve_is_urgent():
-        return demand
-      return max(demand, min(self.v_ego, self.v_cruise_setpoint))
-
-    if demand < self.output_v_target:
-      self.release_frames = 0
-      if self._curve_is_urgent():
-        self.tighten_frames = 0
-        return demand
-
-      self.tighten_frames += 1
-      if self.tighten_frames < _TARGET_TIGHTEN_CONFIRMATION_FRAMES:
-        return self.output_v_target
-      return max(demand, self.output_v_target - _TARGET_TIGHTEN_RATE * DT_MDL)
-
-    self.tighten_frames = 0
-    releasing_brake = self.output_v_target < min(self.v_ego, demand)
-    if not releasing_brake and self.relief_frames < _RELIEF_CONFIRMATION_FRAMES:
-      self.release_frames = 0
-      return self.output_v_target
-
-    if demand > self.output_v_target:
-      self.release_frames += 1
-      if self.release_frames < _TARGET_RELEASE_CONFIRMATION_FRAMES:
-        return self.output_v_target
-    else:
-      self.release_frames = 0
-
-    release_rate = _BELOW_EGO_TARGET_RELEASE_RATE if releasing_brake else _TARGET_RELEASE_RATE
-    return min(demand, self.output_v_target + release_rate * DT_MDL)
 
   def get_a_target_from_control(self) -> float:
-    return self.a_ego
+    return self.a_target
 
   def get_v_target_from_control(self) -> float:
     if self.is_active:
-      return self._filtered_v_target()
+      return max(self.v_target, MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
 
-    self.tighten_frames = 0
-    self.release_frames = 0
     return V_CRUISE_UNSET
 
   def _update_params(self) -> None:
@@ -126,27 +82,25 @@ class SmartCruiseControlVision:
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
     if not self.long_enabled:
       return
+    else:
+      rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z))
+      vel_plan = np.array(sm['modelV2'].velocity.x)
 
-    rate_plan = np.asarray(np.abs(sm['modelV2'].orientationRate.z), dtype=float)
-    vel_plan = np.asarray(sm['modelV2'].velocity.x, dtype=float)
-    size = min(len(rate_plan), len(vel_plan))
-    rate_plan, vel_plan = rate_plan[:size], vel_plan[:size]
-    valid = np.isfinite(rate_plan) & np.isfinite(vel_plan) & (vel_plan >= _MIN_PRED_SPEED)
+      self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
 
-    self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
-    self.max_pred_lat_acc = 0.
-    self.v_target = V_CRUISE_UNSET
-    if np.any(valid):
-      self.max_pred_lat_acc = float(np.percentile(rate_plan[valid] * vel_plan[valid], 97))
-      max_pred_curvature = float(np.percentile(rate_plan[valid] / vel_plan[valid], 97))
-      if max_pred_curvature > 0.:
-        self.v_target = min(float((_A_LAT_REG_MAX / max_pred_curvature) ** 0.5), V_CRUISE_UNSET)
+      # get the maximum lat accel from the model
+      predicted_lat_accels = rate_plan * vel_plan
+      self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
+
+      # get the maximum curve based on the current velocity
+      v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations
+      max_curve = self.max_pred_lat_acc / (v_ego**2)
+
+      # Get the target velocity for the maximum curve
+      self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
 
   def _update_state_machine(self) -> tuple[bool, bool]:
     # ENABLED, ENTERING, TURNING, LEAVING, OVERRIDING
-    relief = self.current_lat_acc < _FINISH_LAT_ACC_TH and self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH
-    self.relief_frames = self.relief_frames + 1 if self.state in ACTIVE_STATES and relief else 0
-
     if self.state != VisionState.disabled:
       # longitudinal and feature disable always have priority in a non-disabled state
       if not self.long_enabled or not self.enabled:
@@ -158,7 +112,7 @@ class SmartCruiseControlVision:
         # ENABLED
         if self.state == VisionState.enabled:
           # Do not enter a turn control cycle if the speed is low.
-          if self.v_ego <= _MIN_ACTIVATION_SPEED:
+          if self.v_ego <= MIN_V:
             pass
           # If significant lateral acceleration is predicted ahead, then move to Entering turn state.
           elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
@@ -174,26 +128,23 @@ class SmartCruiseControlVision:
           # Transition to Turning if current lateral acceleration is over the threshold.
           if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
             self.state = VisionState.turning
-          # Begin releasing only after both current and predicted lateral acceleration stay clear.
-          elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES:
-            self.state = VisionState.leaving
+          # Abort if the predicted lateral acceleration drops
+          elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.enabled
 
         # TURNING
         elif self.state == VisionState.turning:
-          # Transition out of Turning if current lateral acceleration drops below a threshold.
+          # Transition to Leaving if current lateral acceleration drops below a threshold.
           if self.current_lat_acc <= _LEAVING_LAT_ACC_TH:
-            self.state = VisionState.entering if self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH else VisionState.leaving
+            self.state = VisionState.leaving
 
         # LEAVING
         elif self.state == VisionState.leaving:
           # Transition back to Turning if current lateral acceleration goes back over the threshold.
           if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
             self.state = VisionState.turning
-          # Start a new turn cycle immediately if another curve is predicted.
-          elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
-            self.state = VisionState.entering
-          # Finish after confirmed relief and a gradual release to the cruise setpoint.
-          elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES and self.output_v_target >= self.v_cruise_setpoint:
+          # Finish if current lateral acceleration goes below a threshold.
+          elif self.current_lat_acc < _FINISH_LAT_ACC_TH:
             self.state = VisionState.enabled
 
     # DISABLED
@@ -206,11 +157,32 @@ class SmartCruiseControlVision:
 
     enabled = self.state in ENABLED_STATES
     active = self.state in ACTIVE_STATES
-    if not active:
-      self.relief_frames = 0
 
     return enabled, active
 
+  def _update_solution(self) -> float:
+    # DISABLED, ENABLED, OVERRIDING
+    if self.state not in ACTIVE_STATES:
+      # when not overshooting, calculate v_turn as the speed at the prediction horizon when following
+      # the smooth deceleration.
+      a_target = self.a_ego
+    # ENTERING
+    elif self.state == VisionState.entering:
+      # when not overshooting, target a smooth deceleration in preparation for a sharp turn to come.
+      a_target = np.interp(self.max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V)
+    # TURNING
+    elif self.state == VisionState.turning:
+      # When turning, we provide a target acceleration that is comfortable for the lateral acceleration felt.
+      a_target = np.interp(self.current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V)
+    # LEAVING
+    elif self.state == VisionState.leaving:
+      # When leaving, we provide a comfortable acceleration to regain speed.
+      a_target = _LEAVING_ACC
+    else:
+      raise NotImplementedError(f"SCC-V state not supported: {self.state}")
+
+    return a_target
+
   def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float,
              v_cruise_setpoint: float) -> None:
     self.long_enabled = long_enabled
@@ -223,7 +195,7 @@ class SmartCruiseControlVision:
     self._update_calculations(sm)
 
     self.is_enabled, self.is_active = self._update_state_machine()
-    self.a_target = self.a_ego
+    self.a_target = self._update_solution()
 
     self.output_v_target = self.get_v_target_from_control()
     self.output_a_target = self.get_a_target_from_control()

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_longcontrol_sp.py

@@ -1,642 +0,0 @@
-import numpy as np
-from unittest import mock
-
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from openpilot.common.parameterized import parameterized
-from openpilot.common.test import OpenpilotTestCase
-from opendbc.car.body.values import CAR as BODY
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.ford.values import CAR as FORD
-from opendbc.car.gm.values import CAR as GM
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.hyundai.values import CAR as HYUNDAI
-from opendbc.car.rivian.values import CAR as RIVIAN
-from opendbc.car.subaru.values import CAR as SUBARU
-from opendbc.car.tesla.values import CAR as TESLA
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
-from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
-from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState
-from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import (
-  STOPPING_HOLD_ACCEL, STOPPING_HOLD_MARGIN, STOPPING_SETTLE_FRAMES, STOPPING_SPEED_TOLERANCE,
-)
-from openpilot.sunnypilot.selfdrive.test.longitudinal_maneuvers.plant import PRIUS_TSS2_ROUTE_MODEL, PlantSP
-
-
-PRESERVED_HOLD_VEHICLES = (
-  FORD.FORD_ESCAPE_MK4,
-  GM.CHEVROLET_VOLT,
-  GM.CHEVROLET_BOLT_EUV,
-  HONDA.HONDA_CIVIC_2022,
-  HYUNDAI.HYUNDAI_SONATA,
-  SUBARU.SUBARU_ASCENT,
-  TESLA.TESLA_MODEL_3,
-  TOYOTA.TOYOTA_RAV4_TSS2,
-  VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1,
-)
-STOP_ACCEL_VEHICLES = (*PRESERVED_HOLD_VEHICLES, RIVIAN.RIVIAN_R1)
-SETTLE_VEHICLES = (TOYOTA.TOYOTA_RAV4_TSS2, HONDA.HONDA_CIVIC_2022, VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1)
-UNSUPPORTED_HOLD_VEHICLES = (
-  (BODY.COMMA_BODY, True),
-  (SUBARU.SUBARU_OUTBACK, True),
-  (HYUNDAI.HYUNDAI_SONATA, False),
-  (RIVIAN.RIVIAN_R1, True),
-)
-ROUTE_STOP_ONSETS = (
-  (0.280, -0.290, -0.220, -0.220),
-  (0.290, -0.497, -0.270, -0.302),
-  (0.464, -0.223, -0.264, -0.292),
-  (0.467, -0.582, -0.316, -0.359),
-  (0.530, -0.311, -0.309, -0.333),
-  (0.581, -0.467, -0.312, -0.352),
-  (0.398, -0.557, -0.311, -0.348),
-  (0.517, -0.290, -0.301, -0.327),
-  (0.312, -0.420, -0.271, -0.304),
-  (0.474, -0.509, -0.303, -0.347),
-  (0.241, -0.554, -0.573, -0.617),
-  (0.292, -0.154, -0.302, -0.326),
-)
-GRADE_HOLD_CASES = (
-  (-0.49, -1.40),
-  (0.00, -1.40),
-  (0.49, -1.40),
-  (0.75, -1.40),
-  (0.98, -1.65),
-  (1.25, -2.00),
-  (1.47, -2.00),
-)
-
-
-def get_car_params(candidate, experimental_long=True):
-  fingerprint = gen_empty_fingerprint()
-  interface = interfaces[candidate]
-  CP = interface.get_params(candidate, fingerprint, [], experimental_long, False, False)
-  return CP, interface.get_params_sp(CP, candidate, fingerprint, [], experimental_long, False, False)
-
-
-def make_car_state(v_ego=0.2, a_ego=0.0, standstill=False, v_ego_raw=None) -> structs.CarState:
-  raw_speed = v_ego if v_ego_raw is None else v_ego_raw
-  state = structs.CarState(vEgo=float(v_ego), vEgoRaw=float(raw_speed), aEgo=float(a_ego), standstill=standstill)
-  state.cruiseState.standstill = standstill
-  return state
-
-
-def make_control(candidate, initial_accel=-0.33, experimental_long=True):
-  CP, CP_SP = get_car_params(candidate, experimental_long)
-  control = LongControl(CP, CP_SP)
-  control.long_control_state = LongCtrlState.pid
-  control.last_output_accel = initial_accel
-  return CP, control
-
-
-def stock_stopping_output(output_accel, stop_accel):
-  return min(output_accel, 0.0) - DT_CTRL if output_accel > stop_accel else output_accel
-
-
-def expected_hold_accel(CP, initial_accel=-0.33):
-  minimum_hold = min(STOPPING_HOLD_ACCEL, CP.stopAccel + STOPPING_HOLD_MARGIN)
-  return min(initial_accel, max(CP.stopAccel, minimum_hold))
-
-
-def settle_preserved_hold(control):
-  control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-  CS = make_car_state(0.0, 0.0, standstill=True)
-  for _ in range(round(4.0 / DT_CTRL)):
-    control.update(True, CS, -0.1, True, (-3.5, 2.0))
-
-
-class TestLongControlSP(OpenpilotTestCase):
-  def test_stop_threshold_matches_the_shared_helper(self):
-    assert should_stop(0.29, 0.0)
-    assert not should_stop(0.3, 0.0)
-    assert not should_stop(0.29, 0.1)
-
-  def test_hold_scope_matches_every_car_interface(self):
-    for candidate in interfaces:
-      for experimental_long in (False, True):
-        with self.subTest(candidate=candidate, experimental_long=experimental_long):
-          CP, control = make_control(candidate, experimental_long=experimental_long)
-          output = control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-          supported = CP.openpilotLongitudinalControl and not CP.notCar and CP.stopAccel < 0.0
-
-          self.assertAlmostEqual(output, -0.33)
-          assert (control._stopping_hold_accel is not None) == supported
-
-  @parameterized.expand(UNSUPPORTED_HOLD_VEHICLES, names=("candidate", "experimental_long"))
-  def test_unsupported_hold_semantics_keep_the_cache_disabled(self, candidate, experimental_long):
-    _, control = make_control(candidate, experimental_long=experimental_long)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-
-    assert control._stopping_hold_accel is None
-
-  @parameterized.expand(ROUTE_STOP_ONSETS, names=("v_ego", "a_ego", "a_target", "initial_accel"))
-  def test_logged_stop_onsets_hold_the_existing_brake(self, v_ego, a_ego, a_target, initial_accel):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, initial_accel)
-    output = control.update(True, make_car_state(v_ego, a_ego), a_target, True, (-3.5, 2.0))
-    assert control.long_control_state == LongCtrlState.stopping
-    self.assertAlmostEqual(output, initial_accel)
-
-  @parameterized.expand(ROUTE_STOP_ONSETS, names=("v_ego", "a_ego", "a_target", "initial_accel"))
-  def test_logged_stop_onsets_preserve_a_settled_hold(self, v_ego, a_ego, a_target, initial_accel):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, initial_accel)
-    control.update(True, make_car_state(v_ego, a_ego), a_target, True, (-3.5, 2.0))
-    CS = make_car_state(0.0, 0.0, standstill=True)
-    outputs = [control.update(True, CS, a_target, True, (-3.5, 2.0)) for _ in range(round(10.0 / DT_CTRL))]
-
-    hold_floor = expected_hold_accel(CP, initial_accel)
-    self.assertAlmostEqual(outputs[-1], hold_floor)
-    np.testing.assert_allclose(outputs[-100:], outputs[-1], rtol=0.0, atol=1e-12)
-    assert all(current <= previous for previous, current in zip(outputs[:-1], outputs[1:], strict=True))
-
-  @parameterized.expand(PRESERVED_HOLD_VEHICLES, names=("candidate",))
-  def test_preserved_hold_does_not_change_the_moving_approach(self, candidate):
-    CP, control = make_control(candidate)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    moving = [control.update(True, make_car_state(0.25, -0.25), -0.22, True, (-3.5, 2.0)) for _ in range(20)]
-    CS = make_car_state(0.0, 0.0, standstill=True)
-    terminal = [control.update(True, CS, -0.1, True, (-3.5, 2.0)) for _ in range(round(4.0 / DT_CTRL))]
-
-    np.testing.assert_allclose(moving, -0.33, rtol=0.0, atol=1e-12)
-    self.assertAlmostEqual(terminal[-1], expected_hold_accel(CP))
-
-  def test_glide_hold_survives_a_soft_deceleration_sample(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.166)
-    samples = ((0.388, -0.201, -0.164), (0.330, -0.120, -0.140), (0.283, -0.0675, -0.120))
-    outputs = [control.update(True, make_car_state(v_ego, a_ego), a_target, True, (-3.5, 2.0)) for v_ego, a_ego, a_target in samples]
-
-    np.testing.assert_allclose(outputs, [-0.166] * len(samples), rtol=1e-6, atol=1e-12)
-
-  def test_glide_response_reaches_the_stock_rate_when_deceleration_stops(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.166)
-    control.update(True, make_car_state(0.388, -0.201), -0.164, True, (-3.5, 2.0))
-    output = control.update(True, make_car_state(0.330, -0.01), -0.140, True, (-3.5, 2.0))
-
-    assert -0.176 < output < -0.175
-
-  def test_glide_response_increases_with_stopping_distance_error(self):
-    _, nominal = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.166)
-    _, distance_error = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.166)
-    for control in (nominal, distance_error):
-      control.update(True, make_car_state(0.388, -0.201), -0.164, True, (-3.5, 2.0))
-    nominal_output = nominal.update(True, make_car_state(0.330, -0.050), -0.140, True, (-3.5, 2.0))
-    distance_error_output = distance_error.update(True, make_car_state(0.400, -0.050), -0.140, True, (-3.5, 2.0))
-
-    assert -0.176 < distance_error_output < nominal_output
-
-  @parameterized.expand(((1.0, 0.0), (0.75, 0.4375), (0.5, 0.75), (0.0, 1.0)), names=("decel_fraction", "expected_rate"))
-  def test_stopping_rate_scales_with_realized_deceleration(self, decel_fraction, expected_rate):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    output = control.update(True, make_car_state(0.3, -0.12 * decel_fraction), 0.0, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual((-0.33 - output) / DT_CTRL, expected_rate, delta=1e-6)
-
-  def test_stopping_rate_scales_with_planner_demand(self):
-    _, gentle = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    _, urgent = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-
-    gentle_output = gentle.update(True, make_car_state(0.3, -0.12), -0.34, True, (-3.5, 2.0))
-    urgent_output = urgent.update(True, make_car_state(0.3, -0.12), -1.0, True, (-3.5, 2.0))
-
-    assert -0.331 < gentle_output < -0.33
-    self.assertAlmostEqual(urgent_output, -0.34)
-
-  def test_glide_hold_yields_to_stronger_planner_braking(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.166)
-    control.update(True, make_car_state(0.388, -0.201), -0.164, True, (-3.5, 2.0))
-    output = control.update(True, make_car_state(0.330, -0.120), -1.0, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, stock_stopping_output(-0.166, CP.stopAccel))
-
-  @parameterized.expand(STOP_ACCEL_VEHICLES, names=("candidate",))
-  def test_urgent_braking_matches_the_stock_ramp(self, candidate):
-    CP, control = make_control(candidate)
-    CS = make_car_state(0.8, -0.1)
-    output = control.last_output_accel
-
-    for _ in range(round(1.0 / DT_CTRL)):
-      output = control.update(True, CS, -3.0, True, (-3.5, 2.0))
-
-    expected = -0.33
-    for _ in range(round(1.0 / DT_CTRL)):
-      expected = stock_stopping_output(expected, CP.stopAccel)
-    self.assertAlmostEqual(output, expected)
-
-  @parameterized.expand(STOP_ACCEL_VEHICLES, names=("candidate",))
-  def test_stronger_planner_brake_matches_the_stock_ramp(self, candidate):
-    CP, control = make_control(candidate)
-    outputs = [control.update(True, make_car_state(0.3, -0.3), -1.0, True, (-3.5, 2.0)) for _ in range(10)]
-    expected = []
-    output = -0.33
-    for _ in range(10):
-      output = stock_stopping_output(output, CP.stopAccel)
-      expected.append(output)
-    np.testing.assert_allclose(outputs, expected, rtol=1e-6, atol=1e-12)
-
-  @parameterized.expand(STOP_ACCEL_VEHICLES, names=("candidate",))
-  def test_insufficient_deceleration_uses_most_of_the_stock_ramp(self, candidate):
-    CP, control = make_control(candidate)
-    output = control.update(True, make_car_state(0.6, -0.1), -0.1, True, (-3.5, 2.0))
-    if -0.33 > CP.stopAccel:
-      assert -0.34 < output < -0.338
-    else:
-      self.assertAlmostEqual(output, -0.33)
-
-  def test_deceleration_noise_cannot_release_the_brake(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    outputs = [control.update(True, make_car_state(0.3, -0.3 if frame % 2 else 0.0), -0.1, True, (-3.5, 2.0)) for frame in range(40)]
-    assert all(current <= previous for previous, current in zip(outputs[:-1], outputs[1:], strict=True))
-
-  def test_planner_noise_cannot_release_the_brake(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    outputs = [control.update(True, make_car_state(0.3, -0.3), -1.0 if frame % 2 else -0.1, True, (-3.5, 2.0)) for frame in range(40)]
-    assert all(current <= previous for previous, current in zip(outputs[:-1], outputs[1:], strict=True))
-
-  @parameterized.expand(
-    (
-      (float("nan"), -0.3, -0.1),
-      (0.3, float("nan"), -0.1),
-      (0.3, -0.3, float("nan")),
-      (float("inf"), -0.3, -0.1),
-      (0.3, -float("inf"), -0.1),
-      (0.3, -0.3, float("inf")),
-    ),
-    names=("v_ego", "a_ego", "a_target"),
-  )
-  def test_invalid_state_uses_the_stock_ramp(self, v_ego, a_ego, a_target):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    output = control.update(True, make_car_state(v_ego, a_ego), a_target, True, (-3.5, 2.0))
-    self.assertAlmostEqual(output, stock_stopping_output(-0.33, CP.stopAccel))
-
-  @parameterized.expand(
-    (
-      (0.24, 0.0, -0.49, 0.15, 0.0),
-      (0.53, -0.31, -0.49, 0.35, 0.1),
-      (0.24, 0.0, 0.0, 0.15, 0.0),
-      (0.464, -0.223, 0.0, 0.25, 0.05),
-      (0.53, -0.31, 0.0, 0.35, 0.1),
-      (0.24, 0.0, 0.49, 0.15, 0.0),
-      (0.53, -0.31, 0.49, 0.25, 0.05),
-      (0.6, -0.3, 0.49, 0.35, 0.1),
-      (0.6, -0.3, 0.49, 0.5, 0.1),
-    ),
-    names=("speed", "initial_accel", "grade_accel", "actuator_lag", "actuator_delay"),
-  )
-  def test_smooth_stop_distance_is_bounded(self, speed, initial_accel, grade_accel, actuator_lag, actuator_delay):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, initial_accel)
-    applied_accel = initial_accel
-    delay = [initial_accel] * round(actuator_delay / DT_CTRL)
-    distance = 0.0
-    outputs = []
-
-    for _ in range(round(4.0 / DT_CTRL)):
-      command = control.update(True, make_car_state(speed, applied_accel), -0.1, True, (-3.5, 2.0))
-      outputs.append(command)
-      delayed_command = command
-      if delay:
-        delay.append(command)
-        delayed_command = delay.pop(0)
-      applied_accel += DT_CTRL / actuator_lag * (delayed_command + grade_accel - applied_accel)
-      speed = max(0.0, speed + applied_accel * DT_CTRL)
-      distance += speed * DT_CTRL
-      if speed == 0.0:
-        break
-
-    assert speed == 0.0
-    assert distance < 1.0
-    assert all(current <= previous for previous, current in zip(outputs[:-1], outputs[1:], strict=True))
-
-  @parameterized.expand(STOP_ACCEL_VEHICLES, names=("candidate",))
-  def test_standstill_uses_the_stock_ramp(self, candidate):
-    CP, control = make_control(candidate)
-    control.long_control_state = LongCtrlState.off
-    CS = make_car_state(0.0, 0.0, standstill=True)
-    outputs = [control.update(True, CS, 0.0, False, (-3.5, 2.0)) for _ in range(round(2.0 / DT_CTRL))]
-    expected = -0.33
-    for _ in range(round(2.0 / DT_CTRL)):
-      expected = stock_stopping_output(expected, CP.stopAccel)
-    self.assertAlmostEqual(outputs[0], stock_stopping_output(-0.33, CP.stopAccel))
-    self.assertAlmostEqual(outputs[-1], expected)
-
-  @parameterized.expand(PRESERVED_HOLD_VEHICLES, names=("candidate",))
-  def test_preserved_hold_yields_to_stronger_planner_braking(self, candidate):
-    CP, control = make_control(candidate)
-    settle_preserved_hold(control)
-    previous = control.last_output_accel
-    output = control.update(True, make_car_state(0.0, 0.0, standstill=True), CP.stopAccel, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, stock_stopping_output(previous, CP.stopAccel))
-
-  def test_false_departure_restores_a_stronger_preserved_hold(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    settle_preserved_hold(control)
-    stronger_hold = control.update(True, make_car_state(0.0, 0.0, standstill=True), CP.stopAccel, True, (-3.5, 2.0))
-    departure_state = make_car_state(0.0, 0.0, standstill=True)
-    departure_state.cruiseState.standstill = False
-    control.update(True, departure_state, 0.6, False, (-3.5, 2.0))
-    restored = control.update(True, make_car_state(0.0, 0.0, standstill=True), -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(restored, stronger_hold)
-
-  @parameterized.expand(SETTLE_VEHICLES, names=("candidate",))
-  def test_false_departure_restores_a_command_at_the_stop_limit(self, candidate):
-    CP, control = make_control(candidate)
-    strong_hold = max(CP.stopAccel - 0.2, -3.5)
-    control.last_output_accel = strong_hold
-    held = control.update(True, make_car_state(0.0, 0.0, standstill=True), -0.1, True, (-3.5, 2.0))
-    departure_state = make_car_state(0.0, 0.0, standstill=True)
-    departure_state.cruiseState.standstill = False
-    control.update(True, departure_state, 0.6, False, (-3.5, 2.0))
-    restored = control.update(True, make_car_state(0.0, 0.0, standstill=True), -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(restored, held)
-
-  @parameterized.expand(SETTLE_VEHICLES, names=("candidate",))
-  def test_false_departure_after_reaching_the_stop_limit_restores_braking(self, candidate):
-    CP, control = make_control(candidate)
-    CS = make_car_state(0.0, 0.0, standstill=True)
-    while control.last_output_accel > CP.stopAccel:
-      reached = control.update(True, CS, -0.1, True, (-3.5, 2.0))
-
-    departure_state = make_car_state(0.0, 0.0, standstill=True)
-    departure_state.cruiseState.standstill = False
-    control.update(True, departure_state, 0.6, False, (-3.5, 2.0))
-    restored = control.update(True, CS, -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(restored, reached)
-
-  @parameterized.expand(PRESERVED_HOLD_VEHICLES, names=("candidate",))
-  def test_inadequate_preserved_hold_uses_the_stock_ramp(self, candidate):
-    for v_ego, a_ego, standstill in ((0.0, 0.2, True), (-0.1, 0.0, False)):
-      with self.subTest(v_ego=v_ego, a_ego=a_ego, standstill=standstill):
-        CP, control = make_control(candidate)
-        settle_preserved_hold(control)
-        output = control.last_output_accel
-        expected = output
-        for _ in range(round(4.0 / DT_CTRL)):
-          output = control.update(True, make_car_state(v_ego, a_ego, standstill), -0.1, True, (-3.5, 2.0))
-          expected = max(stock_stopping_output(expected, CP.stopAccel), -3.5)
-
-        self.assertAlmostEqual(output, expected)
-
-  @parameterized.expand(PRESERVED_HOLD_VEHICLES, names=("candidate",))
-  def test_false_departure_restores_the_preserved_hold(self, candidate):
-    _, control = make_control(candidate)
-    settle_preserved_hold(control)
-    hold_accel = control.last_output_accel
-    departure_state = make_car_state(0.0, 0.0, standstill=True)
-    departure_state.cruiseState.standstill = False
-    departure = control.update(True, departure_state, 0.6, False, (-3.5, 2.0))
-    restored = control.update(True, make_car_state(0.0, 0.0, standstill=True), -0.1, True, (-3.5, 2.0))
-
-    assert departure > 0.0
-    self.assertAlmostEqual(restored, hold_accel)
-
-  @parameterized.expand(
-    ((True, 0.0, 0.0, True), (False, 0.06, 0.06, False), (False, 0.0, 0.06, False)),
-    names=("inactive", "v_ego", "v_ego_raw", "standstill"),
-  )
-  def test_preserved_hold_clears_after_inactive_or_real_motion(self, inactive, v_ego, v_ego_raw, standstill):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    settle_preserved_hold(control)
-    control.update(not inactive, make_car_state(v_ego, 0.0, standstill=standstill, v_ego_raw=v_ego_raw), 0.6, False, (-3.5, 2.0))
-    output = control.update(True, make_car_state(0.0, 0.0, standstill=True), -0.1, True, (-3.5, 2.0))
-
-    assert control._stopping_hold_accel is None
-    self.assertAlmostEqual(output, stock_stopping_output(0.0, CP.stopAccel))
-
-  @parameterized.expand(((float("nan"), 0.0), (0.0, float("nan"))), names=("v_ego", "v_ego_raw"))
-  def test_invalid_speed_clears_the_preserved_hold(self, v_ego, v_ego_raw):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    settle_preserved_hold(control)
-    previous = control.last_output_accel
-    output = control.update(True, make_car_state(v_ego, 0.0, standstill=True, v_ego_raw=v_ego_raw), -0.1, True, (-3.5, 2.0))
-
-    assert control._stopping_hold_accel is None
-    self.assertAlmostEqual(output, previous - DT_CTRL)
-
-  @parameterized.expand(((0.005, True), (-0.005, True), (0.02, True), (-0.02, False)), names=("v_ego_raw", "standstill"))
-  def test_raw_wheel_motion_keeps_building_brake(self, v_ego_raw, standstill):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    settle_preserved_hold(control)
-    previous = control.last_output_accel
-    CS = make_car_state(0.0, 0.0, standstill=standstill, v_ego_raw=v_ego_raw)
-    output = control.update(True, CS, -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, previous - DT_CTRL)
-
-  def test_preserved_hold_removes_launch_brake_backlog(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    CS = make_car_state(0.0, 0.0, standstill=True)
-    for _ in range(round(3.0 / DT_CTRL)):
-      control.update(True, CS, -0.1, True, (-3.5, 2.0))
-    preserved_hold = control.last_output_accel
-
-    CS.cruiseState.standstill = False
-    requested_accels = [control.update(True, CS, min(0.15 + frame * DT_CTRL, 1.2), False, (-3.5, 2.0)) for frame in range(round(1.0 / DT_CTRL))]
-
-    def release_time(initial_accel):
-      applied_accel = initial_accel
-      for frame, requested_accel in enumerate(requested_accels):
-        accel_step = PRIUS_TSS2_ROUTE_MODEL.command_rate_limit * DT_CTRL
-        applied_accel += np.clip(requested_accel - applied_accel, -accel_step, accel_step)
-        if applied_accel >= 0.0:
-          return (frame + 1) * DT_CTRL
-      raise AssertionError("brake command did not release")
-
-    stock_release = release_time(CP.stopAccel)
-    preserved_release = release_time(preserved_hold)
-    self.assertAlmostEqual(preserved_hold, expected_hold_accel(CP))
-    assert stock_release >= 0.45
-    assert preserved_release <= 0.37
-    assert stock_release - preserved_release >= 0.14
-
-  @parameterized.expand(GRADE_HOLD_CASES, names=("grade_accel", "expected_hold"))
-  def test_preserved_hold_adapts_to_grade_without_creep(self, grade_accel, expected_hold):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -0.3)
-    speed = 0.6
-    actuator_accel = -0.3
-    physical_accel = actuator_accel + grade_accel
-    stopped_frames = 0
-    max_post_stop_speed = 0.0
-
-    for _ in range(round(16.0 / DT_CTRL)):
-      standstill = bool(speed <= 1e-6)
-      measured_accel = max(physical_accel, 0.0) if standstill else physical_accel
-      output = control.update(True, make_car_state(speed, measured_accel, standstill), -0.1, True, (-3.5, 2.0))
-      actuator_accel += DT_CTRL / 0.25 * (output - actuator_accel)
-      physical_accel = actuator_accel + grade_accel
-      speed = max(0.0, speed + physical_accel * DT_CTRL) if speed > 0.0 or physical_accel > 0.0 else 0.0
-
-      if stopped_frames:
-        max_post_stop_speed = max(max_post_stop_speed, speed)
-        stopped_frames += 1
-      elif speed == 0.0:
-        stopped_frames = 1
-      if stopped_frames >= round(8.0 / DT_CTRL):
-        break
-
-    assert stopped_frames >= round(8.0 / DT_CTRL)
-    assert max_post_stop_speed == 0.0
-    self.assertAlmostEqual(output, expected_hold, delta=0.03)
-
-  @parameterized.expand(SETTLE_VEHICLES, names=("candidate",))
-  def test_final_stop_builds_brake_smoothly_while_vehicle_settles(self, candidate):
-    _, control = make_control(candidate)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    outputs = [control.update(True, make_car_state(0.0006, a_ego, standstill=True), -0.032, True, (-3.5, 2.0)) for a_ego in (-1.098, -0.950, -0.609, -0.286)]
-    changes = -np.diff([-0.33, *outputs])
-    assert np.all(changes > 0.0)
-    assert np.all(np.diff(changes) > 0.0)
-    assert changes[-1] < 0.001
-
-  @parameterized.expand((-0.09, 0.0, 0.1), names=("a_ego",))
-  def test_settled_vehicle_uses_the_stock_hold_ramp(self, a_ego):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    output = control.update(True, make_car_state(0.0, a_ego, standstill=True), -0.1, True, (-3.5, 2.0))
-    self.assertAlmostEqual(output, stock_stopping_output(-0.33, CP.stopAccel))
-
-  @parameterized.expand(SETTLE_VEHICLES, names=("candidate",))
-  def test_direct_terminal_entry_builds_brake_smoothly(self, candidate):
-    _, control = make_control(candidate)
-    CS = make_car_state(0.0006, -0.3, standstill=True)
-    outputs = [control.update(True, CS, -0.1, True, (-3.5, 2.0)) for _ in range(4)]
-
-    rates = -np.diff([-0.33, *outputs]) / DT_CTRL
-    np.testing.assert_allclose(rates, [(frame / STOPPING_SETTLE_FRAMES) ** 2 for frame in range(1, 5)], rtol=1e-6, atol=1e-12)
-
-  def test_direct_terminal_entry_keeps_urgent_stock_braking(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    output = control.update(True, make_car_state(0.0006, -0.3, standstill=True), -1.0, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, stock_stopping_output(-0.33, CP.stopAccel))
-
-  @parameterized.expand((0.0, -0.05), names=("initial_accel",))
-  def test_direct_terminal_entry_first_builds_meaningful_brake(self, initial_accel):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, initial_accel)
-    output = control.update(True, make_car_state(0.0006, -0.3, standstill=True), 0.0, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, stock_stopping_output(initial_accel, CP.stopAccel))
-
-  @parameterized.expand(SETTLE_VEHICLES, names=("candidate",))
-  def test_final_settling_ramp_is_bounded(self, candidate):
-    _, control = make_control(candidate)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    CS = make_car_state(0.0, -0.3, standstill=True)
-    outputs = [control.update(True, CS, -0.1, True, (-3.5, 2.0)) for _ in range(STOPPING_SETTLE_FRAMES + 1)]
-
-    rates = -np.diff([-0.33, *outputs]) / DT_CTRL
-    expected = [(frame / STOPPING_SETTLE_FRAMES) ** 2 for frame in range(1, STOPPING_SETTLE_FRAMES + 1)] + [1.0]
-    np.testing.assert_allclose(rates, expected, rtol=1e-6, atol=1e-12)
-
-  @parameterized.expand(((0.6, -0.1, False), (0.0, 0.0, True)), names=("v_ego", "a_ego", "standstill"))
-  def test_stopping_never_releases_a_stronger_command(self, v_ego, a_ego, standstill):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2, -3.0)
-    output = control.update(True, make_car_state(v_ego, a_ego, standstill), 0.0, True, (-3.5, 2.0))
-    self.assertAlmostEqual(output, -3.0)
-
-  def test_reported_standstill_while_moving_can_hold_the_brake(self):
-    _, control = make_control(GM.CHEVROLET_BOLT_EUV)
-    control.long_control_state = LongCtrlState.off
-    output = control.update(True, make_car_state(0.3, -0.3, standstill=True), -0.1, False, (-3.5, 2.0))
-    self.assertAlmostEqual(output, -0.33)
-
-  @parameterized.expand((-0.1, 0.09), names=("a_target",))
-  def test_stopping_removes_positive_acceleration_immediately(self, a_target):
-    _, control = make_control(HYUNDAI.HYUNDAI_SONATA, 0.2)
-    output = control.update(True, make_car_state(0.2, -0.2), a_target, True, (-3.5, 2.0))
-    self.assertAlmostEqual(output, -DT_CTRL)
-
-  def test_rollback_uses_the_stock_ramp(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    output = control.update(True, make_car_state(-0.1, 0.1), -0.1, True, (-3.5, 2.0))
-    self.assertAlmostEqual(output, stock_stopping_output(-0.33, CP.stopAccel))
-
-  def test_rollback_after_settling_arms_uses_the_stock_ramp(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    control.update(True, make_car_state(0.01, -0.3), -0.1, True, (-3.5, 2.0))
-    previous = control.last_output_accel
-    output = control.update(True, make_car_state(-0.04, -0.3), -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, previous - DT_CTRL)
-
-  def test_small_velocity_noise_does_not_trigger_the_stock_rate(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    output = control.update(True, make_car_state(-0.04, -0.3, standstill=True, v_ego_raw=0.0), -0.1, True, (-3.5, 2.0))
-    assert -0.331 < output < -0.33
-
-  def test_terminal_speed_chatter_cannot_extend_settling_ramp(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    outputs = [
-      control.update(True, make_car_state(0.049 if frame % 2 == 0 else 0.051, -0.3, v_ego_raw=0.0), -0.1, True, (-3.5, 2.0))
-      for frame in range(STOPPING_SETTLE_FRAMES + 2)
-    ]
-
-    rates = -np.diff([-0.33, *outputs]) / DT_CTRL
-    np.testing.assert_allclose(
-      rates[:STOPPING_SETTLE_FRAMES], [(frame / STOPPING_SETTLE_FRAMES) ** 2 for frame in range(1, STOPPING_SETTLE_FRAMES + 1)], rtol=1e-6, atol=1e-12
-    )
-    np.testing.assert_allclose(rates[-2:], [1.0, 1.0], rtol=1e-6, atol=1e-12)
-
-  def test_terminal_speed_plateau_cannot_extend_settling_ramp(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    CS = make_car_state(0.03, -0.3, v_ego_raw=0.0)
-    outputs = [control.update(True, CS, -0.1, True, (-3.5, 2.0)) for _ in range(STOPPING_SETTLE_FRAMES + 1)]
-
-    rates = -np.diff([-0.33, *outputs]) / DT_CTRL
-    np.testing.assert_allclose(rates[-2:], [1.0, 1.0], rtol=1e-6, atol=1e-12)
-
-  def test_interrupted_stop_cannot_reuse_settling_hold(self):
-    CP, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.update(True, make_car_state(0.28, -0.29), -0.22, True, (-3.5, 2.0))
-    control.update(False, make_car_state(0.0, 0.0, standstill=True), 0.0, False, (-3.5, 2.0))
-    output = control.update(True, make_car_state(0.0, -0.3, standstill=True), -0.1, True, (-3.5, 2.0))
-
-    self.assertAlmostEqual(output, stock_stopping_output(0.0, CP.stopAccel))
-
-  def test_departure_uses_the_stock_pid_path(self):
-    _, control = make_control(TOYOTA.TOYOTA_RAV4_TSS2)
-    control.long_control_state = LongCtrlState.stopping
-    output = control.update(True, make_car_state(0.0), 0.6, False, (-3.5, 2.0))
-    assert control.long_control_state == LongCtrlState.pid
-    assert output > 0.0
-
-  def test_planner_mpc_and_longcontrol_complete_a_smooth_stop(self):
-    plant = PlantSP(
-      lead_relevancy=True,
-      speed=0.6,
-      distance_lead=3.6,
-      run_long_control=True,
-      actuator_model=PRIUS_TSS2_ROUTE_MODEL,
-    )
-    plant.planner.accel_controller._enabled = True
-    plant.planner.dec._enabled = False
-    commands = []
-    speeds = []
-    states = []
-    solver_statuses = []
-
-    with (
-      mock.patch.object(plant.planner.accel_controller, "update", return_value=None),
-      mock.patch.object(plant.planner.dec, "_read_params", return_value=None),
-    ):
-      while plant.current_time < 5.0:
-        result = plant.step(v_lead=0.0, v_cruise=8.0)
-        commands.append(result["actuator_command"])
-        speeds.append(result["speed"])
-        states.append(result["long_control_state"])
-        solver_statuses.append(plant.planner.mpc.solution_status)
-
-    stopping = states.index(LongCtrlState.stopping)
-    moving_stop_commands = [
-      command for command, state, speed in zip(commands, states, speeds, strict=True) if state == LongCtrlState.stopping and speed > STOPPING_SPEED_TOLERANCE
-    ]
-    assert all(current <= previous + 1e-9 for previous, current in zip(commands[stopping:-1], commands[stopping + 1 :], strict=True))
-    assert len(moving_stop_commands) > 1 and max(moving_stop_commands) - min(moving_stop_commands) < 1e-9
-    assert plant.speed == 0.0 and plant.distance < 1.0
-    assert plant.distance_lead - plant.distance > 3.0
-    assert all(status == 0 for status in solver_statuses)

openpilot/sunnypilot/selfdrive/test/longitudinal_maneuvers/plant.py

@@ -1,395 +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 import deque
-from collections.abc import Callable
-from dataclasses import dataclass
-import math
-import time
-from typing import Any
-
-import numpy as np
-
-from openpilot.cereal import log, messaging
-from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
-from openpilot.common.realtime import DT_CTRL, DT_MDL, Ratekeeper
-from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
-from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant, PlannerSM
-
-
-LeadObservation = dict[str, Any]
-LeadObservationFn = Callable[[float, str, LeadObservation], LeadObservation | None]
-ModelActionFn = Callable[[float, float, float], tuple[float, bool]]
-EgoObservationFn = Callable[[float, float, float], tuple[float, float]]
-
-
-@dataclass(frozen=True)
-class ActuatorModel:
-  planner_delay: float
-  transport_delay: float
-  actuator_lag: float
-  command_rate_limit: float
-  stopping_acceleration: float
-  standstill_breakaway_acceleration: float
-  standstill_breakaway_time: float
-
-  def __post_init__(self):
-    nonnegative_fields = {
-      "planner_delay": self.planner_delay,
-      "transport_delay": self.transport_delay,
-      "actuator_lag": self.actuator_lag,
-      "standstill_breakaway_acceleration": self.standstill_breakaway_acceleration,
-      "standstill_breakaway_time": self.standstill_breakaway_time,
-    }
-    if any(not math.isfinite(value) or value < 0.0 for value in nonnegative_fields.values()):
-      raise ValueError(f"ActuatorModel fields must be finite and non-negative: {nonnegative_fields}")
-    if not math.isfinite(self.command_rate_limit) or self.command_rate_limit <= 0.0:
-      raise ValueError("command_rate_limit must be finite and positive")
-    if not math.isfinite(self.stopping_acceleration) or self.stopping_acceleration > 0.0:
-      raise ValueError("stopping_acceleration must be finite and non-positive")
-
-
-# Conservative Prius TSS2 actuator model.
-PRIUS_TSS2_ROUTE_MODEL = ActuatorModel(
-  planner_delay=0.05,
-  transport_delay=0.0,
-  actuator_lag=0.20,
-  command_rate_limit=4.0,
-  stopping_acceleration=-2.0,
-  standstill_breakaway_acceleration=1.0,
-  standstill_breakaway_time=0.05,
-)
-
-
-class PlantSP(Plant):
-  """Closed-loop plant with configurable observations and actuator response."""
-
-  def __init__(
-    self,
-    lead_relevancy=False,
-    speed=0.0,
-    distance_lead=2.0,
-    enabled=True,
-    only_lead2=False,
-    only_radar=False,
-    e2e=False,
-    personality=0,
-    force_decel=False,
-    lead_observation_fn: LeadObservationFn | None = None,
-    model_action_fn: ModelActionFn | None = None,
-    ego_observation_fn: EgoObservationFn | None = None,
-    actuator_delay: float | None = None,
-    actuator_lag: float = 0.0,
-    actuator_model: ActuatorModel | None = None,
-    run_long_control: bool = False,
-  ):
-    if actuator_delay is not None and (not math.isfinite(actuator_delay) or actuator_delay < 0.0):
-      raise ValueError("actuator_delay must be finite and non-negative")
-    if not math.isfinite(actuator_lag) or actuator_lag < 0.0:
-      raise ValueError("actuator_lag must be finite and non-negative")
-
-    self.rate = 1.0 / DT_MDL
-
-    if not Plant.messaging_initialized:
-      Plant.radar = messaging.pub_sock('radarState')
-      Plant.controls_state = messaging.pub_sock('controlsState')
-      Plant.selfdrive_state = messaging.pub_sock('selfdriveState')
-      Plant.car_state = messaging.pub_sock('carState')
-      Plant.plan = messaging.sub_sock('longitudinalPlan')
-      Plant.messaging_initialized = True
-
-    self.v_lead_prev = 0.0
-
-    self.distance = 0.0
-    self.speed = speed
-    self.should_stop = False
-    self.acceleration = 0.0
-    self.a_target = 0.0
-    self.actuator_command = 0.0
-    self.applied_actuator_command = 0.0
-    self.breakaway_confirmed = False
-    self._breakaway_timer = 0.0
-
-    # lead car
-    self.lead_relevancy = lead_relevancy
-    self.distance_lead = distance_lead
-    self.enabled = enabled
-    self.only_lead2 = only_lead2
-    self.only_radar = only_radar
-    self.e2e = e2e
-    self.personality = personality
-    self.force_decel = force_decel
-    self.lead_observation_fn = lead_observation_fn
-    self.model_action_fn = model_action_fn
-    self.ego_observation_fn = ego_observation_fn
-    self.actuator_model = actuator_model
-    self.actuator_delay = actuator_model.planner_delay if actuator_model is not None else actuator_delay
-    self.transport_delay = actuator_model.transport_delay if actuator_model is not None else actuator_delay
-    self.actuator_lag = actuator_model.actuator_lag if actuator_model is not None else actuator_lag
-    self.publish_realized_a_ego = any((lead_observation_fn is not None, model_action_fn is not None, ego_observation_fn is not None,
-                                      actuator_delay is not None, actuator_lag > 0.0, actuator_model is not None, run_long_control))
-
-    self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
-    self.ts = 1.0 / self.rate
-    time.sleep(0.1)
-    self.sm = messaging.SubMaster(['longitudinalPlan'])
-
-    from opendbc.car.honda.values import CAR
-    from opendbc.car.honda.interface import CarInterface
-
-    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    if self.actuator_delay is not None:
-      CP.longitudinalActuatorDelay = self.actuator_delay
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
-    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
-    self.long_control = LongControl(CP, CP_SP) if run_long_control else None
-
-    if self.actuator_model is not None and self.speed >= 0.01:
-      self.breakaway_confirmed = True
-    self.integration_dt = DT_CTRL if run_long_control else self.ts
-    delay_steps = 0 if self.transport_delay is None else round(self.transport_delay / self.integration_dt)
-    self._actuator_delay_queue = deque([self.acceleration] * delay_steps)
-
-  @staticmethod
-  def _lead_message(observation: LeadObservation):
-    lead = log.RadarState.LeadData.new_message()
-    for field, value in observation.items():
-      setattr(lead, field, value)
-    return lead
-
-  def _observe_lead(self, lead_name: str, truth: LeadObservation, present_by_default: bool) -> LeadObservation | None:
-    if self.lead_observation_fn is None:
-      return dict(truth) if present_by_default else None
-
-    observed = self.lead_observation_fn(self.current_time, lead_name, dict(truth))
-    if observed is None:
-      return None
-
-    complete_observation = dict(truth)
-    complete_observation.update(observed)
-    return complete_observation
-
-  def _update_actuator(self, command: float) -> tuple[float, float]:
-    if self._actuator_delay_queue:
-      self._actuator_delay_queue.append(command)
-      delayed_command = self._actuator_delay_queue.popleft()
-    else:
-      delayed_command = command
-
-    if self.actuator_model is not None:
-      max_command_delta = self.actuator_model.command_rate_limit * self.integration_dt
-      self.applied_actuator_command = float(np.clip(delayed_command,
-                                                   self.applied_actuator_command - max_command_delta,
-                                                   self.applied_actuator_command + max_command_delta))
-
-      if self.speed < 0.01:
-        if self.applied_actuator_command <= 0.0:
-          self.breakaway_confirmed = False
-          self._breakaway_timer = 0.0
-        elif not self.breakaway_confirmed:
-          breakaway_ready = self.applied_actuator_command + 1e-9 >= self.actuator_model.standstill_breakaway_acceleration
-          if breakaway_ready:
-            self._breakaway_timer += self.integration_dt
-          else:
-            self._breakaway_timer = 0.0
-
-          self.breakaway_confirmed = breakaway_ready and self._breakaway_timer + 1e-9 >= self.actuator_model.standstill_breakaway_time
-        if not self.breakaway_confirmed:
-          self.acceleration = 0.0
-          return delayed_command, self.acceleration
-      else:
-        self.breakaway_confirmed = True
-
-      response_command = self.applied_actuator_command
-    else:
-      self.applied_actuator_command = delayed_command
-      response_command = delayed_command
-
-    if self.actuator_lag > 0.0:
-      alpha = 1.0 - math.exp(-self.integration_dt / self.actuator_lag)
-      self.acceleration += alpha * (response_command - self.acceleration)
-    else:
-      self.acceleration = response_command
-    return delayed_command, self.acceleration
-
-  def _integrate_ego(self, dt: float, stop_at_standstill: bool = False) -> None:
-    self.speed += self.acceleration * dt
-    if self.speed <= 0.0 or stop_at_standstill and self.speed < 0.01 and self.actuator_command <= 0.0:
-      self.speed = self.acceleration = 0.0
-    self.distance += self.speed * dt
-
-  def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50.0, pitch=0.0, prob_throttle=1.0):
-    # ******** publish a fake model going straight and fake calibration ********
-    # note that this is worst case for MPC, since model will delay long mpc by one time step
-    radar = messaging.new_message('radarState')
-    control = messaging.new_message('controlsState')
-    ss = messaging.new_message('selfdriveState')
-    car_state = messaging.new_message('carState')
-    vehicle_parameters = messaging.new_message('vehicleParameters')
-    car_control = messaging.new_message('carControl')
-    model = messaging.new_message('modelV2')
-    car_state_sp = messaging.new_message('carStateSP')
-    live_map_data_sp = messaging.new_message('liveMapDataSP')
-    gps_data = messaging.new_message('gpsLocation')
-    a_lead = (v_lead - self.v_lead_prev) / self.ts
-    self.v_lead_prev = v_lead
-
-    if self.lead_relevancy:
-      d_rel = np.maximum(0.0, self.distance_lead - self.distance)
-      v_rel = v_lead - self.speed
-      if self.only_radar:
-        status = True
-      elif prob_lead > 0.5:
-        status = True
-      else:
-        status = False
-    else:
-      d_rel = 200.0
-      v_rel = 0.0
-      prob_lead = 0.0
-      status = False
-
-    truth_lead: LeadObservation = {
-      "dRel": float(d_rel),
-      "yRel": 0.0,
-      "vRel": float(v_rel),
-      "vLead": float(v_lead),
-      "vLeadK": float(v_lead),
-      "aLeadK": float(a_lead),
-      "present": bool(status),
-      # TODO use real radard logic for this
-      "aLeadTau": float(_LEAD_ACCEL_TAU),
-      "modelProb": float(prob_lead),
-      "radar": bool(self.only_radar),
-      "radarTrackId": -1,
-    }
-    lead_one_observation = self._observe_lead("leadOne", truth_lead, not self.only_lead2)
-    lead_two_observation = self._observe_lead("leadTwo", truth_lead, True)
-    if lead_one_observation is not None:
-      radar.radarState.leadOne = self._lead_message(lead_one_observation)
-    if lead_two_observation is not None:
-      radar.radarState.leadTwo = self._lead_message(lead_two_observation)
-
-    # Simulate model predicting slightly faster speed
-    # this is to ensure lead policy is effective when model
-    # does not predict slowdown in e2e mode
-    position = log.XYZTData.new_message()
-    position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
-    model.modelV2.position = position
-    if self.model_action_fn is None:
-      model_acceleration, model_should_stop = self.acceleration + 0.5, False
-    else:
-      model_acceleration, model_should_stop = self.model_action_fn(self.current_time, self.speed, self.acceleration)
-    model.modelV2.action.desiredAcceleration = float(model_acceleration)
-    model.modelV2.action.shouldStop = bool(model_should_stop)
-    velocity = log.XYZTData.new_message()
-    velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
-    velocity.x[0] = float(self.speed)  # always start at current speed
-    model.modelV2.velocity = velocity
-    acceleration = log.XYZTData.new_message()
-    acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
-    model.modelV2.acceleration = acceleration
-    model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
-
-    control.controlsState.longControlState = self.long_control.long_control_state if self.long_control is not None else (
-      LongCtrlState.pid if self.enabled else LongCtrlState.off)
-    ss.selfdriveState.experimentalMode = self.e2e
-    ss.selfdriveState.personality = self.personality
-    control.controlsState.forceDecel = self.force_decel
-    true_v_ego = self.speed
-    true_a_ego = self.acceleration
-    published_v_ego = true_v_ego
-    published_a_ego = true_a_ego if self.publish_realized_a_ego else 0.0
-    if self.ego_observation_fn is not None:
-      published_v_ego, published_a_ego = self.ego_observation_fn(self.current_time, true_v_ego, true_a_ego)
-    car_state.carState.vEgo = float(published_v_ego)
-    car_state.carState.aEgo = float(published_a_ego)
-    car_state.carState.standstill = bool(self.speed < 0.01)
-    car_state.carState.vCruise = float(v_cruise * 3.6)
-    car_control.carControl.orientationNED = [0.0, float(pitch), 0.0]
-
-    # ******** get controlsState messages for plotting ***
-    sm = PlannerSM(self.rk.frame, {
-      'radarState': radar.radarState,
-      'carState': car_state.carState,
-      'carControl': car_control.carControl,
-      'controlsState': control.controlsState,
-      'selfdriveState': ss.selfdriveState,
-      'vehicleParameters': vehicle_parameters.vehicleParameters,
-      'modelV2': model.modelV2,
-      'carStateSP': car_state_sp.carStateSP,
-      'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-      'gpsLocation': gps_data.gpsLocation,
-    })
-    self.planner.update(sm)
-    self.a_target = self.planner.output_a_target
-    if self.long_control is None:
-      self.actuator_command = self.a_target
-      if self.planner.output_should_stop:
-        stopping_acceleration = -0.5 if self.actuator_model is None else self.actuator_model.stopping_acceleration
-        self.actuator_command = min(stopping_acceleration, self.actuator_command)
-      self._update_actuator(self.actuator_command)
-      self._integrate_ego(self.ts)
-    else:
-      for _ in range(round(self.ts / DT_CTRL)):
-        car_state.carState.vEgo = self.speed
-        car_state.carState.aEgo = self.acceleration
-        car_state.carState.standstill = self.speed < 0.01
-        self.actuator_command = self.long_control.update(
-          self.enabled, car_state.carState, self.a_target, self.planner.output_should_stop, (ACCEL_MIN, ACCEL_MAX),
-        )
-        self._update_actuator(self.actuator_command)
-        self._integrate_ego(DT_CTRL, stop_at_standstill=True)
-    self.should_stop = self.planner.output_should_stop
-    fcw = self.planner.fcw
-    self.distance_lead = self.distance_lead + v_lead * self.ts
-
-    # *** radar model ***
-    if self.lead_relevancy:
-      d_rel = np.maximum(0.0, self.distance_lead - self.distance)
-      v_rel = v_lead - self.speed
-    else:
-      d_rel = 200.0
-      v_rel = 0.0
-
-    # print at 5hz
-    # if (self.rk.frame % (self.rate // 5)) == 0:
-    #   print("%2.2f sec   %6.2f m  %6.2f m/s  %6.2f m/s2   lead_rel: %6.2f m  %6.2f m/s"
-    #         % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel))
-
-    # ******** update prevs ********
-    self.rk.monitor_time()
-
-    return {
-      "distance": self.distance,
-      "speed": self.speed,
-      "acceleration": self.acceleration,
-      "realized_acceleration": self.acceleration,
-      "a_target": self.a_target,
-      "actuator_command": self.actuator_command,
-      "published_a_ego": published_a_ego,
-      "published_v_ego": published_v_ego,
-      "should_stop": self.should_stop,
-      "long_control_state": (int(self.long_control.long_control_state) if self.long_control is not None
-                             else control.controlsState.longControlState.raw),
-      "distance_lead": self.distance_lead,
-      "fcw": fcw,
-      "mpc_source": self.planner.mpc.source,
-      "dec_mode": self.planner.dec.mode(),
-      "controller_active": self.planner.accel_controller_active,
-      "t_follow_multiplier": self.planner.accel_controller.t_follow_multiplier,
-      "model_action": {
-        "desiredAcceleration": float(model_acceleration),
-        "shouldStop": bool(model_should_stop),
-      },
-      "truth_lead": dict(truth_lead),
-      "lead_one_observation": None if lead_one_observation is None else dict(lead_one_observation),
-      "lead_two_observation": None if lead_two_observation is None else dict(lead_two_observation),
-    }

openpilot/sunnypilot/selfdrive/test/longitudinal_maneuvers/tests/test_plant_sp.py

@@ -1,164 +0,0 @@
-from collections.abc import Callable
-import math
-from typing import cast
-
-from openpilot.common.parameterized import parameterized
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
-from openpilot.sunnypilot.selfdrive.test.longitudinal_maneuvers.plant import PlantSP
-
-STOCK_STEP_KEYS = ("distance", "speed", "acceleration", "should_stop", "distance_lead", "fcw")
-
-
-def departing_lead(current_time: float) -> float:
-  return 0.0 if current_time < 1.0 else min(2.0, 2.0 * (current_time - 1.0))
-
-
-def stopped_lead(_current_time: float) -> float:
-  return 0.0
-
-
-PARITY_SCENARIOS = {
-  "approach_stopped_lead": {"lead_relevancy": True, "speed": 15.0, "distance_lead": 60.0, "v_cruise": 20.0, "v_lead": stopped_lead, "steps": 80},
-  "stop_then_depart": {"lead_relevancy": True, "speed": 0.0, "distance_lead": 6.0, "v_cruise": 8.0, "v_lead": departing_lead, "steps": 120},
-}
-
-
-def _drive(cls, *, v_cruise: float, v_lead: Callable[[float], float], steps: int, **kwargs):
-  plant = cls(**kwargs)
-  plant.v_lead_prev = v_lead(0.0)
-  solver_failures = 0
-  original_reset = plant.planner.mpc.reset
-
-  def counting_reset(*args, **kw):
-    nonlocal solver_failures
-    if plant.planner.mpc.solution_status != 0:
-      solver_failures += 1
-    return original_reset(*args, **kw)
-
-  plant.planner.mpc.reset = counting_reset
-  results = []
-  for _ in range(steps):
-    lead_speed = v_lead(plant.current_time)
-    result = plant.step(v_lead=lead_speed, v_cruise=v_cruise)
-    results.append((result, plant.planner.mpc.source, plant.planner.output_a_target))
-  return results, solver_failures
-
-
-class TestPlantSP(OpenpilotTestCase):
-  @parameterized.expand(PARITY_SCENARIOS, names=("scenario",), ids=lambda scenario: scenario)
-  def test_plant_sp_matches_stock_plant_on_shared_kwargs(self, scenario: str):
-    kwargs = dict(PARITY_SCENARIOS[scenario])
-    v_cruise = cast(float, kwargs.pop("v_cruise"))
-    v_lead = cast(Callable[[float], float], kwargs.pop("v_lead"))
-    steps = cast(int, kwargs.pop("steps"))
-
-    stock_results, stock_failures = _drive(Plant, v_cruise=v_cruise, v_lead=v_lead, steps=steps, **kwargs)
-    sp_results, sp_failures = _drive(PlantSP, v_cruise=v_cruise, v_lead=v_lead, steps=steps, **kwargs)
-
-    assert stock_failures == 0, f"stock Plant solver failed {stock_failures} times in {scenario!r}"
-    assert sp_failures == 0, f"PlantSP solver failed {sp_failures} times in {scenario!r}"
-
-    for frame, ((stock_result, stock_source, stock_a_target), (sp_result, sp_source, sp_a_target)) in enumerate(
-      zip(stock_results, sp_results, strict=True),
-    ):
-      for key in STOCK_STEP_KEYS:
-        if isinstance(stock_result[key], float):
-          self.assertAlmostEqual(sp_result[key], stock_result[key], msg=f"{scenario} frame {frame} key {key}")
-        else:
-          assert sp_result[key] == stock_result[key], f"{scenario} frame {frame} key {key}"
-      assert sp_source == stock_source, f"{scenario} frame {frame} mpc.source"
-      self.assertAlmostEqual(sp_a_target, stock_a_target, msg=f"{scenario} frame {frame} output_a_target")
-
-    if scenario == "stop_then_depart":
-      departure_frame = round(1.0 / DT_MDL)
-      for results in (stock_results, sp_results):
-        assert all(result["speed"] < 0.01 for result, _, _ in results[:departure_frame])
-        assert results[departure_frame - 1][0]["should_stop"]
-        assert any(not result["should_stop"] for result, _, _ in results[departure_frame:])
-        assert any(result["speed"] > 0.05 for result, _, _ in results[departure_frame:])
-      stock_release = next(frame for frame, (result, _, _) in enumerate(stock_results)
-                           if frame >= departure_frame and not result["should_stop"])
-      sp_release = next(frame for frame, (result, _, _) in enumerate(sp_results)
-                        if frame >= departure_frame and not result["should_stop"])
-      stock_motion = next(frame for frame, (result, _, _) in enumerate(stock_results)
-                          if frame >= departure_frame and result["speed"] > 0.05)
-      sp_motion = next(frame for frame, (result, _, _) in enumerate(sp_results)
-                       if frame >= departure_frame and result["speed"] > 0.05)
-      assert sp_release == stock_release
-      assert sp_motion == stock_motion
-
-  def test_full_lead_observation_is_independent_from_truth(self):
-    callback_inputs = []
-
-    def observe_lead(current_time, lead_name, truth):
-      callback_inputs.append((current_time, lead_name, truth))
-      if lead_name == "leadOne":
-        return {
-          "dRel": 12.5,
-          "vRel": -4.0,
-          "vLead": 6.0,
-          "vLeadK": 5.5,
-          "aLeadK": -1.25,
-          "aLeadTau": 0.7,
-          "present": True,
-          "modelProb": 0.9,
-          "radarTrackId": 42,
-        }
-      return None
-
-    plant = PlantSP(lead_relevancy=True, speed=10.0, distance_lead=50.0, lead_observation_fn=observe_lead)
-    result = plant.step(v_lead=8.0)
-
-    assert [entry[1] for entry in callback_inputs] == ["leadOne", "leadTwo"]
-    self.assertAlmostEqual(callback_inputs[0][2]["dRel"], 50.0)
-    self.assertAlmostEqual(result["truth_lead"]["dRel"], 50.0)
-    self.assertAlmostEqual(result["lead_one_observation"]["dRel"], 12.5)
-    assert result["lead_one_observation"]["radarTrackId"] == 42
-    assert result["lead_two_observation"] is None
-    self.assertAlmostEqual(result["distance_lead"], 50.0 + 8.0 * DT_MDL)
-
-  def test_model_action_realized_acceleration_and_source_logging(self):
-    def model_action(current_time, v_ego, a_ego):
-      return -1.25, True
-
-    plant = PlantSP(speed=10.0, e2e=True, force_decel=True, model_action_fn=model_action, actuator_lag=0.5)
-    first = plant.step()
-    second = plant.step()
-
-    assert first["model_action"] == {"desiredAcceleration": -1.25, "shouldStop": True}
-    self.assertAlmostEqual(first["published_a_ego"], 0.0)
-    self.assertAlmostEqual(second["published_a_ego"], first["realized_acceleration"])
-    assert first["acceleration"] == first["realized_acceleration"]
-    assert abs(first["realized_acceleration"]) < abs(first["actuator_command"])
-    assert first["mpc_source"] is not None
-    assert first["dec_mode"] in ("acc", "blended")
-    assert "controller_active" in first
-    assert first["lead_one_observation"] is not None
-    assert first["truth_lead"] == first["lead_one_observation"]
-
-  def test_default_model_action_matches_stock_plant(self):
-    result = PlantSP(speed=10.0).step()
-
-    self.assertAlmostEqual(result["model_action"]["desiredAcceleration"], 0.5)
-    assert not result["model_action"]["shouldStop"]
-
-  def test_configurable_transport_delay_and_first_order_lag(self):
-    plant = PlantSP(speed=10.0, actuator_delay=2 * DT_MDL, actuator_lag=0.2)
-
-    self.assertAlmostEqual(plant.planner.CP.longitudinalActuatorDelay, 2 * DT_MDL)
-    delayed_commands = [plant._update_actuator(-1.0) for _ in range(3)]
-    assert [command for command, _ in delayed_commands[:2]] == [0.0, 0.0]
-
-    expected_acceleration = -(1.0 - math.exp(-DT_MDL / 0.2))
-    assert delayed_commands[2][0] == -1.0
-    self.assertAlmostEqual(delayed_commands[2][1], expected_acceleration)
-
-  @parameterized.expand(
-    [(-0.1, 0.0), (float("nan"), 0.0), (float("inf"), 0.0), (None, -0.1), (None, float("nan")), (None, float("inf"))],
-    names=("delay", "lag"),
-  )
-  def test_invalid_actuator_dynamics(self, delay, lag):
-    with self.assertRaises(ValueError):
-      PlantSP(actuator_delay=delay, actuator_lag=lag)

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -652,53 +652,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelPersonalityEnabled",
-              "widget": "toggle",
-              "title": "Enable Accel Controller",
-              "description": "Sets your preferred acceleration ceiling by profile, and gives extra following distance when a lead is braking for an earlier, smoother response. Stock braking and stopping logic remain in control at all times.",
-              "visibility": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
-            {
-              "key": "AccelPersonality",
-              "widget": "multiple_button",
-              "title": "Acceleration Profile",
-              "description": "Select the vehicle acceleration response. Chauffeur braking and stopping behavior remain the same across profiles.",
-              "options": [
-                {
-                  "value": 0,
-                  "label": "Eco"
-                },
-                {
-                  "value": 1,
-                  "label": "Normal"
-                },
-                {
-                  "value": 2,
-                  "label": "Sport"
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -2219,6 +2172,26 @@
       "title": "Hyundai / Kia / Genesis Settings",
       "description": "",
       "items": [
+        {
+          "key": "CustomButtonAction",
+          "widget": "multiple_button",
+          "title": "Steering Custom Button",
+          "description": "Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.",
+          "options": [
+            {
+              "value": 0,
+              "label": "None"
+            },
+            {
+              "value": 1,
+              "label": "Bookmark"
+            },
+            {
+              "value": 3,
+              "label": "Cycle UI"
+            }
+          ]
+        },
         {
           "key": "HyundaiLongitudinalTuning",
           "widget": "multiple_button",
@@ -2349,50 +2322,6 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
-        {
-          "key": "ToyotaAutoHold",
-          "widget": "toggle",
-          "needs_onroad_cycle": true,
-          "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
-          "enablement": [
-            {
-              "type": "not_engaged"
-            }
-          ]
-        },
-        {
-          "key": "ToyotaEnhancedBsm",
-          "widget": "toggle",
-          "needs_onroad_cycle": true,
-          "title": "Toyota: Prius TSS2 BSM and some tssp",
-          "enablement": [
-            {
-              "type": "not_engaged"
-            }
-          ]
-        },
-        {
-          "key": "ToyotaTSS2Long",
-          "widget": "toggle",
-          "needs_onroad_cycle": true,
-          "title": "Toyota: custom longitudinal for TSS2",
-          "enablement": [
-            {
-              "type": "not_engaged"
-            }
-          ]
-        },
-        {
-          "key": "ToyotaDriveMode",
-          "widget": "toggle",
-          "needs_onroad_cycle": true,
-          "title": "Enable drive mode btn link",
-          "enablement": [
-            {
-              "type": "not_engaged"
-            }
-          ]
-        },
         {
           "key": "ToyotaEnforceStockLongitudinal",
           "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -43,29 +43,6 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
-  - key: AccelPersonalityEnabled
-    widget: toggle
-    title: Enable Accel Controller
-    description: Sets your preferred acceleration ceiling by profile, and gives extra following distance when a lead
-      is braking for an earlier, smoother response. Stock braking and stopping logic remain in control at all times.
-    visibility:
-    - $ref: '#/macros/longitudinal'
-    enablement:
-    - $ref: '#/macros/longitudinal'
-  - key: AccelPersonality
-    widget: multiple_button
-    title: Acceleration Profile
-    description: Select the vehicle acceleration response. Chauffeur braking and stopping behavior remain the same across
-      profiles.
-    options:
-    - value: 0
-      label: Eco
-    - value: 1
-      label: Normal
-    - value: 2
-      label: Sport
-    enablement:
-    - $ref: '#/macros/longitudinal'
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -10,6 +10,17 @@ sections:
   title: Hyundai / Kia / Genesis Settings
   description: ''
   items:
+  - key: CustomButtonAction
+    widget: multiple_button
+    title: Steering Custom Button
+    description: Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.
+    options:
+    - value: 0
+      label: None
+    - value: 1
+      label: Bookmark
+    - value: 3
+      label: Cycle UI
   - key: HyundaiLongitudinalTuning
     widget: multiple_button
     title: Custom Longitudinal Tuning
@@ -82,30 +93,6 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
-  - key: ToyotaAutoHold
-    widget: toggle
-    needs_onroad_cycle: true
-    title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
-    enablement:
-    - $ref: '#/macros/not_engaged'
-  - key: ToyotaEnhancedBsm
-    widget: toggle
-    needs_onroad_cycle: true
-    title: 'Toyota: Prius TSS2 BSM and some tssp'
-    enablement:
-    - $ref: '#/macros/not_engaged'
-  - key: ToyotaTSS2Long
-    widget: toggle
-    needs_onroad_cycle: true
-    title: 'Toyota: custom longitudinal for TSS2'
-    enablement:
-    - $ref: '#/macros/not_engaged'
-  - key: ToyotaDriveMode
-    widget: toggle
-    needs_onroad_cycle: true
-    title: Enable drive mode btn link
-    enablement:
-    - $ref: '#/macros/not_engaged'
   - key: ToyotaEnforceStockLongitudinal
     widget: toggle
     needs_onroad_cycle: true

openpilot/sunnypilot/sunnylink/tests/test_capabilities.py

@@ -10,10 +10,9 @@ change and must be intentional. KNOWN_PROTOCOL_VERSIONS pins the set we
 explicitly support — when the constant is bumped, this list must be edited in
 the same commit so the bump shows up in code review.
 """
-
 from __future__ import annotations
 
-from openpilot.common.test import OpenpilotTestCase
+
 from openpilot.sunnypilot.sunnylink.capabilities import (
   CAPABILITY_DEFAULTS,
   CAPABILITY_FIELDS,
@@ -21,23 +20,13 @@ from openpilot.sunnypilot.sunnylink.capabilities import (
   PROTOCOL_VERSION,
   generate_capabilities,
 )
+from openpilot.common.test import OpenpilotTestCase
 
 
 KNOWN_PROTOCOL_VERSIONS = (1,)
 LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
 
 
-class FakeParams:
-  def __init__(self, values=None):
-    self.values = values or {}
-
-  def get(self, key, *args, **kwargs):
-    return self.values.get(key)
-
-  def get_bool(self, key):
-    return bool(self.values.get(key, False))
-
-
 def caps():
   return generate_capabilities()
 
@@ -63,12 +52,14 @@ class TestProtocolVersion(OpenpilotTestCase):
   def test_protocol_version_is_known(self):
     """Sentinel against accidental bumps. Edit KNOWN_PROTOCOL_VERSIONS if intentional."""
     assert PROTOCOL_VERSION in KNOWN_PROTOCOL_VERSIONS, (
-      f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. "
-      + "If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
+      f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. " +
+      "If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
     )
 
   def test_protocol_version_matches_latest_known(self):
-    assert PROTOCOL_VERSION == LATEST_KNOWN, "Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
+    assert PROTOCOL_VERSION == LATEST_KNOWN, (
+      "Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
+    )
 
 
 class TestOpaquePerBrandFlags(OpenpilotTestCase):

openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py

@@ -9,7 +9,6 @@ isolates one of the gating bugs that the design-overhaul branch fixes so a
 future regression is loud and obvious. These tests are intentionally narrow
 and additive — they do not replace the broader test_settings_schema.py.
 """
-
 from __future__ import annotations
 
 import json
@@ -25,13 +24,14 @@ from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
   _load_torque_versions,
   generate_schema,
 )
-from openpilot.sunnypilot.sunnylink.tools.validate_settings_ui import validate as validate_settings_ui
 from openpilot.common.test import OpenpilotTestCase
 
 
+SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
+
+
 def _walk_items(schema: dict[str, Any]):
   """Yield every item dict from the schema."""
-
   def _yield(item: dict[str, Any]):
     yield item
     for sub in item.get("sub_items", []):
@@ -149,13 +149,22 @@ class TestTestManeuversSection(OpenpilotTestCase):
     assert "is_sp_release" in vis_refs
     enablement = section.get("enablement") or []
     enable_refs = json.dumps(enablement)
-    assert "ShowAdvancedControls" in enable_refs, "test_maneuvers must gate ShowAdvancedControls via enablement"
+    assert "ShowAdvancedControls" in enable_refs, \
+      "test_maneuvers must gate ShowAdvancedControls via enablement"
 
 
 class TestValidator(OpenpilotTestCase):
   def test_validator_accepts_real_json(self):
-    """settings_ui.json passes the repository's production schema validator."""
-    self.assertTrue(validate_settings_ui(DEFINITION_PATH))
+    """settings_ui.json validates against settings_ui.schema.json."""
+    try:
+      import jsonschema
+    except ImportError:
+      self.skipTest("jsonschema not installed")
+    with open(DEFINITION_PATH) as f:
+      data = json.load(f)
+    with open(SCHEMA_VALIDATOR_PATH) as f:
+      validator = json.load(f)
+    jsonschema.validate(instance=data, schema=validator)
 
 
 class TestTorqueOptionGeneration(OpenpilotTestCase):
@@ -168,17 +177,16 @@ class TestTorqueOptionGeneration(OpenpilotTestCase):
     assert item.get("options") == expected
 
   def test_torque_versions_path_resolves(self):
-    assert os.path.exists(TORQUE_VERSIONS_PATH), f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
+    assert os.path.exists(TORQUE_VERSIONS_PATH), (
+      f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
+    )
 
 
 class TestReleaseBranchGates(OpenpilotTestCase):
-  @parameterized.expand(
-    [
-      "EnableGithubRunner",
-      "QuickBootToggle",
-    ],
-    names=["key"],
-  )
+  @parameterized.expand([
+    "EnableGithubRunner",
+    "QuickBootToggle",
+  ], names=["key"])
   def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
     """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
     item = _find_item(schema, key)
@@ -200,14 +208,11 @@ class TestSpuriousOffroadGatesDropped(OpenpilotTestCase):
 
 
 class TestNotEngagedReplacement(OpenpilotTestCase):
-  @parameterized.expand(
-    [
-      "AlphaLongitudinalEnabled",
-      "ToyotaEnforceStockLongitudinal",
-      "ToyotaStopAndGoHack",
-    ],
-    names=["key"],
-  )
+  @parameterized.expand([
+    "AlphaLongitudinalEnabled",
+    "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
+  ], names=["key"])
   def test_offroad_only_replaced_with_not_engaged(self, schema, key):
     """These items should use not_engaged, not offroad_only."""
     item = _find_item(schema, key)
@@ -215,5 +220,3 @@ class TestNotEngagedReplacement(OpenpilotTestCase):
     rule_types = _flatten_rule_types(item.get("enablement"))
     assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
     assert "not_engaged" in rule_types, f"{key} missing not_engaged"
-
-

openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py

@@ -276,36 +276,13 @@ class TestKnownPanels(OpenpilotTestCase):
     enhanced_enable_keys = {r.get("key") for r in enhanced.get("enablement", []) if r.get("type") == "param"}
     assert "NeuralNetworkLateralControl" in enhanced_enable_keys
 
-  def test_accel_controller_profile_mapping_and_enablement(self, schema):
-    cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
-    items = {item["key"]: item for item in _iter_panel_items(cruise)}
-
-    assert items["AccelPersonalityEnabled"]["widget"] == "toggle"
-    assert items["AccelPersonality"]["options"] == [
-      {"value": 0, "label": "Eco"},
-      {"value": 1, "label": "Normal"},
-      {"value": 2, "label": "Sport"},
-    ]
-    assert {
-      "type": "capability",
-      "field": "has_longitudinal_control",
-      "equals": True,
-    } in items["AccelPersonalityEnabled"]["enablement"]
-    assert {
-      "type": "capability",
-      "field": "has_longitudinal_control",
-      "equals": True,
-    } in items["AccelPersonality"]["enablement"]
-    profile_enable_keys = {rule.get("key") for rule in items["AccelPersonality"]["enablement"] if rule.get("type") == "param"}
-    assert "AccelPersonalityEnabled" not in profile_enable_keys
-
 
 class TestKnownVehicleSettings(OpenpilotTestCase):
   def test_hyundai_has_longitudinal_tuning(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
     assert "HyundaiLongitudinalTuning" in keys
 
-  def test_toyota_has_enforce_stock_stop_go(self, schema):
+  def test_toyota_has_enforce_stock_and_stop_go(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
     assert "ToyotaEnforceStockLongitudinal" in keys
     assert "ToyotaStopAndGoHack" in keys

openpilot/system/hardware/chestnut/flash.py

@@ -33,7 +33,6 @@ USBDEVFS_SETCONFIGURATION = 0x80045505
 USBDEVFS_CLAIMINTERFACE = 0x8004550F
 USBDEVFS_RESET = 0x5514
 USBDEVFS_CLEAR_HALT = 0x80045515
-MAX_REGISTER_READ_SIZE = 255
 
 _deadline = float("inf")
 
@@ -147,7 +146,6 @@ def claim_interface(path, setup=False):
 class Flash:
   def __init__(self):
     self.fd = -1
-    self.max_register_read_size = MAX_REGISTER_READ_SIZE
 
   def close(self):
     if self.fd >= 0:
@@ -162,9 +160,6 @@ class Flash:
       if in_rom_bootloader(vid_pid, product):
         raise RomFallback("chestnut fell back to the ROM bootloader")
       if path is not None:
-        speed = int(open(path + "/speed").read())
-        # USB2 firmware truncates larger reads to one full packet without a terminating ZLP.
-        self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE
         self.fd = claim_interface(path)
         return
       time.sleep(0.1)
@@ -236,8 +231,8 @@ class Flash:
     while len(out) < length:
       n = min(4096, length - len(out))
       self.transaction(0x03, addr + len(out), max(4096, n))
-      for off in range(0, n, self.max_register_read_size):
-        out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off))
+      for off in range(0, n, 255):
+        out += self.reg_read(0x7000 + off, min(255, n - off))
     return bytes(out)
 
   def erase_sector(self, addr):

openpilot/system/hardware/hardwared.py

@@ -238,8 +238,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = FanController(int(1./DT_HW))
   chestnut = Chestnut()
-  big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) or \
-                        os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest"))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -301,7 +299,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     set_usb_state(msg.deviceState, last_hw_state.usb_state)
     chestnut.update(started_ts is None, last_hw_state.usb_state)
-    set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)
 
     # this subset is only used for offroad
     temp_sources = [

openpilot/system/loggerd/logger.cc

@@ -14,7 +14,7 @@
 #include "sunnypilot/common/version.h"
 
 // ***** log metadata *****
-kj::Array<capnp::word> logger_build_init_data(bool route_log) {
+kj::Array<capnp::word> logger_build_init_data() {
   uint64_t wall_time = nanos_since_epoch();
 
   MessageBuilder msg;
@@ -72,7 +72,7 @@ kj::Array<capnp::word> logger_build_init_data(bool route_log) {
     "df -h",  // usage for all filesystems
   };
 
-  auto hw_logs = Hardware::get_init_logs(route_log);
+  auto hw_logs = Hardware::get_init_logs();
 
   auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
   for (int i = 0; i < log_commands.size(); i++) {
@@ -166,7 +166,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal =
 LoggerState::LoggerState(const std::string &log_root) {
   route_name = logger_get_identifier("RouteCount");
   route_path = log_root + "/" + route_name;
-  init_data = logger_build_init_data(true);
+  init_data = logger_build_init_data();
 }
 
 LoggerState::~LoggerState() {

openpilot/system/loggerd/logger.h

@@ -32,6 +32,6 @@ protected:
   std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };
 
-kj::Array<capnp::word> logger_build_init_data(bool route_log = false);
+kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_identifier(std::string key);
 std::string zstd_decompress(const std::string &in);

openpilot/system/ubloxd/pigeond.py

@@ -3,12 +3,11 @@ import sys
 import time
 import signal
 import struct
-import threading
 import requests
 import urllib.parse
 from datetime import datetime, UTC
 
-from openpilot.cereal import log, messaging
+from openpilot.cereal import messaging
 from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
@@ -47,6 +46,7 @@ def get_assistnow_messages() -> list[bytes]:
   params = Params()
   if token := params.get('AssistNowToken'):
     cloudlog.warning("Downloading AssistNow data directly from u-blox")
+    # TODO: implement adding the last known location
     r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
       'token': token,
       'gnss': 'gps,glo',
@@ -240,6 +240,14 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
         ))
         pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
 
+      # A configured u-blox token takes precedence over comma's AGPS proxy.
+      try:
+        for msg in get_assistnow_messages():
+          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+        cloudlog.warning("AssistNow messages sent")
+      except Exception:
+        cloudlog.warning("failed to get AssistNow messages")
+
       cloudlog.warning("Pigeon GPS on!")
       break
     except TimeoutError:
@@ -279,38 +287,12 @@ def run_receiving(duration: int = 0):
 
   start_time = time.monotonic()
   last_almanac_save = time.monotonic()
-  assist_attempted = False
-  assist_messages = None
-
-  def download_assistnow() -> None:
-    nonlocal assist_messages
-    sm = messaging.SubMaster(['deviceState'])
-    while assist_messages is None:
-      sm.update(1000)
-      if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
-        try:
-          assist_messages = get_assistnow_messages()
-        except Exception:
-          cloudlog.warning("failed to get AssistNow messages")
-      time.sleep(10.)
-  threading.Thread(target=download_assistnow, daemon=True).start()
-
   while (duration == 0) or (time.monotonic() - start_time < duration):
-    if assist_messages is not None and not assist_attempted:
-      assist_attempted = True
-      try:
-        for msg in assist_messages:
-          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
-        cloudlog.warning("AssistNow messages sent")
-      except Exception:
-        cloudlog.warning("failed to send AssistNow messages")
-
     dat = pigeon.receive()
     if len(dat) > 0:
       if dat[0] == 0x00:
         cloudlog.warning("received invalid data from ublox, re-initing!")
         init(pigeon)
-        assist_attempted = False
         continue
 
       # send out to socket

openpilot/system/ui/lib/scroll_panel2.py

@@ -45,9 +45,8 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+  def __init__(self, horizontal: bool = True) -> None:
     self._horizontal = horizontal
-    self._handle_out_of_bounds = handle_out_of_bounds
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
@@ -86,20 +85,6 @@ class GuiScrollPanel2:
     """Returns (max_offset, min_offset) for the given bounds and content size."""
     return 0.0, min(0.0, bounds_size - content_size)
 
-  def _clamp_offset(self, bounds_size: float, content_size: float) -> None:
-    if self._handle_out_of_bounds:
-      return
-
-    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
-    offset = self.get_offset()
-    clamped_offset = max(min_offset, min(max_offset, offset))
-    if clamped_offset == offset:
-      return
-
-    self.set_offset(clamped_offset)
-    if (clamped_offset == max_offset and self._velocity > 0) or (clamped_offset == min_offset and self._velocity < 0):
-      self._velocity = 0.0
-
   def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
@@ -153,8 +138,6 @@ class GuiScrollPanel2:
         factor = 1.0 - math.exp(-SNAP_RATE * dt)
         self.set_offset(self.get_offset() + dist * factor)
 
-    self._clamp_offset(bounds_size, content_size)
-
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)

openpilot/system/ui/widgets/scroller.py

@@ -75,6 +75,7 @@ class _Scroller(Widget):
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
     self._spacing = spacing
     self._pad = pad
 
@@ -190,20 +191,12 @@ class _Scroller(Widget):
     snap_target: float | None = None
     if self._snap_items and visible_items and self._scrolling_to[0] is None:
       # TODO: this doesn't handle two small buttons at the edges well
-      center_pos = (self._rect.x + self._rect.width / 2) if self._horizontal else (self._rect.y + self._rect.height / 2)
-      closest_delta_pos = min(
-        (self._item_center_pos(item) - center_pos for item in visible_items),
-        key=abs,
-      )
+      center_pos = self._rect.x + self._rect.width / 2
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
       snap_target = self.scroll_panel.get_offset() - closest_delta_pos
 
     return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
 
-  def _item_center_pos(self, item: Widget) -> float:
-    if self._horizontal:
-      return item.rect.x + item.rect.width / 2
-    return item.rect.y + item.rect.height / 2
-
   @property
   def moving_items(self) -> bool:
     return len(self._move_animations) > 0 or len(self._move_lift) > 0

openpilot/system/updated/updated.py

@@ -207,10 +207,13 @@ def handle_agnos_update() -> None:
   set_consistent_flag(False)
 
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
+  set_offroad_alert("Offroad_NeosUpdate", True)
 
   manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
+  set_offroad_alert("Offroad_NeosUpdate", False)
+
 
 
 class Updater:

release/ci/model_generator.py

@@ -48,11 +48,6 @@ def create_short_name(full_name: str) -> str:
   return result[:8]
 
 
-def create_pkl_name(full_name: str) -> str:
-  pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower()
-  return pkl
-
-
 def _read_pkl_bytes(pkl_path: Path) -> bytes:
   manifest = Path(f"{pkl_path}.chunkmanifest")
   if manifest.exists():
@@ -159,15 +154,14 @@ if __name__ == "__main__":
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
   _short_name = create_short_name(args.custom_name) if args.custom_name else None
-  _pkl = create_pkl_name(args.custom_name) if args.custom_name else None
 
   _driving_pkl = _find_driving_pkl(_output_dir)
   if not _driving_pkl:
     print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
     sys.exit(1)
 
-  if _pkl:
-    new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
+  if _short_name:
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
     if not new_pkl.exists():
       _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
     else:

tools/release/build_release.sh

@@ -2,14 +2,15 @@
 set -e
 set -x
 
+# git diff --name-status origin/release3-staging | grep "^A" | less
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
 cd $DIR
 
 BUILD_DIR=/data/openpilot
 SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
-export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
-
 if [ -z "$RELEASE_BRANCH" ]; then
   echo "RELEASE_BRANCH is not set"
   exit 1
@@ -22,36 +23,33 @@ BUILD_BRANCH=release-mici-staging
 source $DIR/identity.sh
 
 echo "[-] Setting up repo T=$SECONDS"
-if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
-  rm -rf $BUILD_DIR
-fi
-git -C "$SOURCE_DIR" worktree prune
-git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
 cd $BUILD_DIR
-git update-ref -d "refs/heads/$BUILD_BRANCH"
-git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
-git read-tree --empty
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $BUILD_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
 
 # in the directory
 cd $BUILD_DIR
 
-# use the full CPU available for speeding up the build.
-# openpilot resets the CPU frequencies when test_onroad.py runs below.
-for policy in /sys/devices/system/cpu/cpufreq/policy*; do
-  [ -d "$policy" ] || continue
-  hardware_max="$(cat "$policy/cpuinfo_max_freq")"
-  echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
-done
+rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
 
+VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build and test before launch_chffrplus.sh creates the on-device package
+# symlinks. SConstruct uses the same package roots for build subprocesses.
+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 scons
-if [ -n "$INCLUDE_BIG_MODEL" ]; then
-  test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
-fi
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
@@ -74,6 +72,7 @@ find . -name '*.a' -delete
 find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile tools/release/
 rm -f openpilot/selfdrive/modeld/models/*.onnx*
@@ -89,11 +88,9 @@ git checkout openpilot/third_party/
 # Mark as prebuilt release
 touch prebuilt
 
-VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 # Add built files to git
-# writing larger objects is faster than compressing them on-device
-git -c core.compression=0 add -f .
-git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
 cd $BUILD_DIR
@@ -105,7 +102,6 @@ REFS=()
 for branch in ${RELEASE_BRANCH//,/ }; do
   REFS+=("$BUILD_BRANCH:$branch")
 done
-# uploading the larger pack is faster than spending CPU to optimize it
-git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"
+git push -f origin "${REFS[@]}"
 
 echo "[-] done T=$SECONDS"

tools/release/build_stripped.sh

@@ -30,14 +30,20 @@ git submodule deinit -f --all
 git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
+# cleanup before the copy
+cd $SOURCE_DIR
+git clean -xdff
+git submodule foreach --recursive git clean -xdff
+
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" --
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
 
 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
+rm -f panda/board/obj/panda.bin.signed
 
 find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
 
@@ -51,10 +57,9 @@ echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
 
 echo "[-] committing version $VERSION T=$SECONDS"
-# writing larger objects is faster than compressing them on-device
-git -c core.compression=0 add -f .
+git add -f .
 git status
-git -c core.compression=0 commit -a -m "sunnypilot v$VERSION release
+git commit -a -m "sunnypilot v$VERSION release
 
 date: $DATETIME
 master commit: $GIT_HASH
@@ -78,8 +83,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  # uploading the larger pack is faster than spending CPU to optimize it
-  git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

tools/release/release_files.py

@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 import os
 import re
-import subprocess
-import sys
+from pathlib import Path
 
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = os.path.abspath(os.path.join(HERE, "../.."))
 
 blacklist = [
   ".git/",
-  ".venv/",
   ".github/workflows/",
 
   "matlab.*.md",
 
+  # skip big model for now
+  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
+
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
@@ -29,17 +30,14 @@ whitelist: list[str] = [
 
 
 if __name__ == "__main__":
-  tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0")
-  for tracked_file in tracked_files:
-    if not tracked_file:
+  for f in Path(ROOT).rglob("**/*"):
+    if not (f.is_file() or f.is_symlink()):
       continue
 
-    rf = os.fsdecode(tracked_file)
-    if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"):
-      continue
+    rf = str(f.relative_to(ROOT))
     blacklisted = any(re.search(p, rf) for p in blacklist)
     whitelisted = any(re.search(p, rf) for p in whitelist)
     if blacklisted and not whitelisted:
       continue
 
-    sys.stdout.buffer.write(tracked_file + b"\0")
+    print(rf)

uv.lock

@@ -52,43 +52,24 @@ wheels = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.5.1"
+version = "3.4.9"
 source = { registry = "https://pypi.org/simple" }
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+sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
 wheels = [
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