ci: deprecate GitHub runners (#1933)

* models: add get_default_model resolver for sunnylink

* models: move get_default_model to default_model.py

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

@@ -103,20 +103,25 @@ jobs:
       - 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"
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/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"
+            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
             find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
           fi
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
+            echo "::error::the ONNX files above are still LFS pointers, not real models"
+            exit 1
+          fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
           path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, tici]
+    runs-on: [self-hosted, usbgpu]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -127,7 +132,6 @@ jobs:
           fetch-depth: 1
           submodules: recursive
 
-      - run: git lfs pull
 
       - name: Set environment variables
         id: set-env
@@ -160,7 +164,7 @@ jobs:
           fi
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
@@ -180,6 +184,7 @@ jobs:
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
@@ -187,27 +192,40 @@ jobs:
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
-            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="$TG_FLAGS_QCOM"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
             echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
           # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          VISION_ONNX=""
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+            [ -f "$f" ] && VISION_ONNX="$f" && break
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          done
+
+          POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+            [ -f "$f" ] && POLICY_ONNX="$f" && break
+          done
+
+          OFF_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+          done
+
+          ON_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+          done
+
           SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            if [ -f "$f" ]; then
+            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
-              SUPERCOMBO_ONNX="$f"
-              break
-            fi
           done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""

.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

openpilot/cereal/custom.capnp

@@ -203,16 +203,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelController @8 :AccelController;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;
     active @2 :Bool;
-    decelIntent @3 :Float32;
-    curveDetected @4 :Bool;
-    wantBlended @5 :Bool;
-    leadVeto @6 :Bool;
 
     enum DynamicExperimentalControlState {
       acc @0;
@@ -310,18 +305,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
-
-  struct AccelController {
-    enabled @0 :Bool;
-    active @1 :Bool;
-    profile @2 :Profile;
-    reserved3 @3 :Void;
-    enum Profile {
-      eco @0;
-      normal @1;
-      sport @2;
-    }
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {

openpilot/common/params_keys.h

@@ -187,12 +187,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"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"}},
-
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -240,10 +234,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // Accel Controller profiles (Eco / Normal / Sport)
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
-
     // sunnypilot model params
     {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},

openpilot/common/tests/test_params.py

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

openpilot/selfdrive/car/card.py

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

openpilot/selfdrive/car/cruise.py

@@ -19,7 +19,6 @@ IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding err
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
-TOYOTA_VIRTUAL_CRUISE_LONG_PRESS = 65
 CRUISE_NEAREST_FUNC = {
   ButtonType.accelCruise: math.ceil,
   ButtonType.decelCruise: math.floor,
@@ -44,30 +43,6 @@ class VCruiseHelper(VCruiseHelperSP):
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  @property
-  def software_pcm_cruise_speed(self) -> bool:
-    return self.CP.brand == "toyota" and self.CP.pcmCruise and self.CP.openpilotLongitudinalControl and not self.CP_SP.pcmCruiseSpeed
-
-  @property
-  def cruise_long_press_frames(self) -> int:
-    return TOYOTA_VIRTUAL_CRUISE_LONG_PRESS if self.software_pcm_cruise_speed else CRUISE_LONG_PRESS
-
-  @property
-  def software_pcm_cruise_initialized(self) -> bool:
-    return 0 < self.v_cruise_kph < V_CRUISE_UNSET and 0 < self.v_cruise_cluster_kph < V_CRUISE_UNSET
-
-  def _apply_software_pcm_cruise_delta(self, delta_kph: float, is_metric: bool) -> None:
-    """Move Toyota's planner/display targets together while respecting both targets' bounds."""
-    cluster_min_kph = self.v_cruise_min if is_metric else self.v_cruise_min * CV.MPH_TO_KPH
-    min_delta = max(V_CRUISE_MIN - self.v_cruise_kph, cluster_min_kph - self.v_cruise_cluster_kph)
-    max_delta = min(V_CRUISE_MAX - self.v_cruise_kph, V_CRUISE_MAX - self.v_cruise_cluster_kph)
-    if delta_kph > 0:
-      applied_delta = min(delta_kph, max(0., max_delta))
-    else:
-      applied_delta = max(delta_kph, min(0., min_delta))
-    self.v_cruise_kph = round(self.v_cruise_kph + applied_delta, 1)
-    self.v_cruise_cluster_kph = round(self.v_cruise_cluster_kph + applied_delta, 1)
-
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
@@ -76,21 +51,11 @@ class VCruiseHelper(VCruiseHelperSP):
     _enabled = self.update_enabled_state(CS, enabled)
 
     if CS.cruiseState.available:
-      software_pcm_enabled = not self.CP_SP.pcmCruiseSpeed and _enabled
+      if not self.CP.pcmCruise or (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 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:
+        self.v_cruise_cluster_kph = self.v_cruise_kph
-          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
       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
+    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
-    # software-owned PCM mode, round the value the driver sees and apply the same delta
+      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_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
     else:
-      v_cruise_reference_new = v_cruise_reference + v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
+      self.v_cruise_kph += 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
 
     # 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]
 
@@ -40,9 +39,8 @@ 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
@@ -61,17 +59,16 @@ 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_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,
+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):
+  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
-  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
 
   if not e2e:
     a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
@@ -53,18 +48,11 @@ 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)
 
-  target_accel = np.clip(v_cruise - v_ego, min_accel, max_accel)
+  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
-
-  # An override only counts as "active" if it's the bound that actually determined target_accel here --
-  # turn/coast derating can shrink max_accel back below max_accel_override, and either bound can simply
-  # not be reached if v_cruise - v_ego already sits inside [min_accel, max_accel] on its own.
-  accel_controller_active = bool((max_accel_override is not None and max_accel == max_accel_override and target_accel == max_accel) or
-                                 (min_accel_override is not None and min_accel == min_accel_override and target_accel == min_accel))
-
   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))
 
-  return target_accel, accel_controller_active
+  return target_accel
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
@@ -80,7 +68,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_cruise = init_a
     self.output_a_target = init_a
     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)
@@ -97,8 +84,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
-    force_decel = sm['controlsState'].forceDecel
+    if sm['controlsState'].forceDecel:
-    if force_decel:
       v_cruise = 0.0
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
@@ -111,7 +97,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
     throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
-    self.allow_throttle = self.update_allow_throttle(throttle_prob, low_speed_override=v_ego <= MIN_ALLOW_THROTTLE_SPEED, threshold=ALLOW_THROTTLE_THRESHOLD)
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['vehicleParameters'].angleOffsetDeg
 
@@ -132,7 +118,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
     self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
-    self.update_dec(sm)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -150,17 +135,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                               action_t=action_t)
     output_should_stop_mpc = should_stop(v_ego, output_a_target_mpc)
-    output_should_stop_mpc = self.update_lead_departure(sm, output_a_target_mpc, output_should_stop_mpc, reset_state)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
     is_e2e = self.is_e2e(sm)
 
-    max_accel_override = self.get_max_accel_override(v_ego)
+    self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,
-    min_accel_override = self.get_min_accel_override(v_ego, is_e2e, force_decel)
-    self.a_cruise, self.accel_controller_active = 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)
+                                     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/pandad/spi.cc

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

openpilot/selfdrive/test/longitudinal_maneuvers/plant.py

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

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

@@ -27,13 +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 and cruise-deceleration limits by profile. Lead following, braking, and stopping behavior remain " +
-    "independent of this setting."
-  ),
-  "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

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

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

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

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

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

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

@@ -385,18 +385,13 @@ class BigMultiParamToggle(BigMultiToggle):
     self._load_value()
 
   def _load_value(self):
-    value = self._params.get(self._param, return_default=True)
+    self.set_value(self._options[self._params.get(self._param) or 0])
-    index = value if isinstance(value, int) else 0
-    self.set_value(self._options[max(0, min(index, len(self._options) - 1))])
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
     self._params.put(self._param, new_idx)
 
-  def refresh(self):
-    self._load_value()
-
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):

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

@@ -143,8 +143,7 @@ class CruiseLayout(Widget):
           self.icbm_toggle.show_description(True)
 
       if has_long or has_icbm:
-        software_cruise_speed = has_long and (not ui_state.CP.pcmCruise or not ui_state.CP_SP.pcmCruiseSpeed)
+        self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
-        self.custom_acc_toggle.action_item.set_enabled((software_cruise_speed 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/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/livedelay/helpers.py

@@ -8,7 +8,10 @@ from openpilot.common.params import Params
 
 
 def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
-  if params.get_bool("LagdToggle"):
+# live learning on: use what lagd publishes.
-    return float(params.get("LagdValueCache", return_default=True))
+# off: use the fixed steerActuatorDelay + software delay sum that LagdToggle caches.
 
-  return stock_lat_delay
+  if params.get_bool("LagdToggle"):
+    return stock_lat_delay
+
+  return float(params.get("LagdValueCache", return_default=True))

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -272,18 +272,17 @@ def _parse_size(size_str: str) -> tuple[int, int]:
   return int(width), int(height)
 
 
-def read_file_chunked_to_shm(path):
+def read_file_chunked_to_disk(path):
   if not path:
     return None
   import atexit
   import shutil
   from openpilot.common.file_chunker import open_file_chunked
-  from openpilot.common.hardware.hw import Paths
+  tmp_path = f'{path}.unchunked'
-  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
-  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+    shutil.copyfileobj(src, f)
-  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
+  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
-    shutil.copyfileobj(src, dst)
+  return tmp_path
-  return shm_path
 
 
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
@@ -327,11 +326,11 @@ if __name__ == "__main__":
   model_w, model_h = args.model_size
   output_data = {}
 
-  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
+  args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
-  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
+  args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
-  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
-  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
-  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
+  args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
 
   vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
 

openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py

@@ -5,10 +5,15 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+import os
+import tempfile
+from pathlib import Path
+
 import numpy as np
 from openpilot.common.parameterized import parameterized
 
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key, read_file_chunked_to_disk
 from openpilot.common.test import OpenpilotTestCase
 
 
@@ -160,3 +165,33 @@ class TestOutputSlicePreservation(OpenpilotTestCase):
     policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
     assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
       "vision and policy slices should not overlap in keys"
+
+
+class TestReadFileChunkedToDisk(OpenpilotTestCase):
+  def test_none_passthrough(self):
+    assert read_file_chunked_to_disk(None) is None
+
+  def test_unchunked_source_staged_on_disk(self):
+    with tempfile.TemporaryDirectory() as d:
+      src = Path(d) / "driving_supercombo.onnx"
+      payload = os.urandom(1024)
+      src.write_bytes(payload)
+
+      out = Path(read_file_chunked_to_disk(str(src)))
+
+      assert out.parent == Path(d)
+      assert out.name == "driving_supercombo.onnx.unchunked"
+      assert out.read_bytes() == payload
+
+  def test_chunked_source_reassembled_on_disk(self):
+    with tempfile.TemporaryDirectory() as d:
+      src = Path(d) / "driving_supercombo.onnx"
+      payload = os.urandom(4096)
+      src.write_bytes(payload)
+      chunk_file(str(src), get_chunk_targets(str(src), len(payload)))
+      assert not src.exists()
+
+      out = Path(read_file_chunked_to_disk(str(src)))
+
+      assert out.parent == Path(d)
+      assert out.read_bytes() == payload

openpilot/sunnypilot/models/default_model.py

@@ -4,7 +4,13 @@ import hashlib
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
+from openpilot.selfdrive.modeld.helpers import usbgpu_present
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
+
+
+def get_default_model() -> str:
+  return DEFAULT_BIG_MODEL if usbgpu_present() else DEFAULT_MODEL
+
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
@@ -13,7 +19,6 @@ SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld",
 
 def update_model_hash():
   supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
-
   combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
@@ -22,40 +27,28 @@ def update_model_hash():
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
 
-def get_current_default_model_name():
+def update_default_model_names(default_model_name: str, default_big_model_name: str):
-  print("[GET DEFAULT MODEL NAME]")
+  print("[CHANGE DEFAULT MODEL NAMES]")
-  name = DEFAULT_MODEL
-  print(f'Current default model name: "{name}"')
-
-  return name
-
-
-def update_default_model_name(name: str):
-  print("[CHANGE DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'DEFAULT_MODEL = "{name}"\n')
+    f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
-  print(f'New default model name: "{name}"')
+    f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
+
+  print(f'New default small model name: "{default_model_name}"')
+  print(f'New default big model name: "{default_big_model_name}"')
   print("[DONE]")
 
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Update default model name and hash")
+  parser = argparse.ArgumentParser(description="Update default model names and hash")
-  parser.add_argument("--new_name", type=str, help="New default model name")
+  parser.add_argument("--new_small_model_name", type=str, help="New default small model name")
+  parser.add_argument("--new_big_model_name", type=str, help="New default big model name")
   args = parser.parse_args()
 
-  if not args.new_name:
+  if args.new_small_model_name is None and args.new_big_model_name is None:
-    print("Warning: No new default model name provided. Use --new_name to specify")
+    new_name = input(f'Enter new default small model name (current: "{DEFAULT_MODEL}", leave empty to keep): ').strip()
-    print("Default model name and hash will not be updated! (aborted)")
+    new_big_model_name = input(f'Enter new default big model name (current: "{DEFAULT_BIG_MODEL}", leave empty to keep): ').strip()
-    exit(0)
+  else:
+    new_name, new_big_model_name = args.new_small_model_name, args.new_big_model_name
 
-  current_name = get_current_default_model_name()
+  update_default_model_names(new_name or DEFAULT_MODEL, new_big_model_name or DEFAULT_BIG_MODEL)
-  new_name = args.new_name
-  if current_name == new_name:
-    print(f'Proposed default model name: "{new_name}"')
-    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
-    if confirm != "Y":
-      print("Default model name and hash will not be updated! (aborted)")
-      exit(0)
-
-  update_default_model_name(new_name)
   update_model_hash()

openpilot/sunnypilot/models/model_name.py

@@ -1 +1,2 @@
 DEFAULT_MODEL = "CD210"
+DEFAULT_BIG_MODEL = "Lebowski"

openpilot/sunnypilot/models/tests/test_default_model.py

@@ -20,4 +20,4 @@ class TestDefaultModel(OpenpilotTestCase):
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()
 
-    assert combined_hash == current_hash, "Run sunnypilot/models/default_model.py to update the default model name and hash"
+    assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"

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 V_CRUISE_INITIAL
-from openpilot.selfdrive.car.cruise import TOYOTA_VIRTUAL_CRUISE_LONG_PRESS, VCruiseHelper, V_CRUISE_INITIAL, V_CRUISE_UNSET
 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)
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
-      (45, 5, 50),  # 45 -> 50 (already at 5, increment by 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

@@ -1,106 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import math
-
-import numpy as np
-
-from openpilot.cereal import custom
-from openpilot.common.filter_simple import FirstOrderFilter
-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, 0.85, 0.62, 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
-ALLOW_THROTTLE_FILTER_RC = 0.10
-ALLOW_THROTTLE_HYSTERESIS = 0.05
-
-class AccelController:
-  def __init__(self, dt: float = DT_MDL):
-    self.params = Params()
-    self.frame = 0
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.first_run = True
-    self.min_accel_first_run = True
-    self._profile = get_sanitize_int_param("AccelPersonality", AccelProfile.eco, AccelProfile.sport, self.params)
-    self._enabled = self.params.get_bool("AccelPersonalityEnabled")
-    self._allow_throttle = True
-    self._throttle_prob_filter = FirstOrderFilter(0.0, ALLOW_THROTTLE_FILTER_RC, dt, initialized=False)
-
-  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 update_allow_throttle(self, throttle_prob: float, low_speed_override: bool, threshold: float) -> bool:
-    if low_speed_override:
-      self._allow_throttle = True
-      self._throttle_prob_filter.x = 0.0
-      self._throttle_prob_filter.initialized = False
-      return True
-
-    if not math.isfinite(throttle_prob):
-      self._allow_throttle = False
-      self._throttle_prob_filter.x = 0.0
-      self._throttle_prob_filter.initialized = True
-      return False
-
-    filtered_throttle_prob = self._throttle_prob_filter.update(throttle_prob)
-    allow_threshold = threshold if self._allow_throttle else threshold + ALLOW_THROTTLE_HYSTERESIS
-    self._allow_throttle = bool(filtered_throttle_prob > allow_threshold)
-    return self._allow_throttle
-
-  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])
-
-    if self.min_accel_first_run:
-      self.last_min_accel = target_min
-      self.min_accel_first_run = False
-    else:
-      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)

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

@@ -1,227 +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 cruise-deceleration
-floor per profile. The controller does not modify lead following distance or the MPC lead
-candidate. The floor only ever softens the no-lead cruise candidate (slowing for a lower
-cruise speed, a curve, or a speed limit); it is excluded during forceDecel and e2e, and
-min() against the untouched MPC candidate means a real lead can always still force full
-ACCEL_MIN braking.
-
-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).
-"""
-import unittest
-
-import numpy as np
-
-from openpilot.cereal import messaging
-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,
-)
-
-
-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_min_accel_first_call_snaps_to_table_not_the_neg0p01_seed(self):
-    # Regression guard: get_min_accel used to have no first-run snap (unlike get_max_accel),
-    # so its very first call blended the table target against a hardcoded -0.01 seed and
-    # commanded a much-weaker-than-any-profile floor for the first ~10-15 frames of every drive.
-    min_a = self.controller.get_min_accel(20.0)
-    expected_min = np.interp(20.0, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[AccelProfile.normal])
-    self.assertAlmostEqual(min_a, expected_min, 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_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.
-    # jerk-limiting now applies unconditionally (even in e2e, per upstream's decel-jerk fix), so
-    # dt=10.0 opens the jerk-limit window wide enough that it can't mask the floor/ceiling asserted here.
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel, A_CRUISE_MIN
-    args = {"v_cruise": -100.0, "v_ego": 20.0, "a_cruise_prev": 0.0, "angle_steers": 0.0, "CP": _fake_cp(),
-            "dt": 10.0, "accel_coast": 1.0, "allow_throttle": True}
-    target, active = get_cruise_accel(True, **args, min_accel_override=-0.3)
-    self.assertAlmostEqual(target, A_CRUISE_MIN, places=6)
-    self.assertFalse(active)  # controller's floor was ignored in favor of stock -- not "active"
-
-  def test_blended_max_accel_uses_controller_override(self):
-    # jerk-limiting now applies unconditionally (even in e2e) -- dt=10.0 opens the jerk-limit
-    # window wide enough that it can't mask the override ceiling asserted here.
-    from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel
-    args = {"v_cruise": 100.0, "v_ego": 20.0, "a_cruise_prev": 0.0, "angle_steers": 0.0, "CP": _fake_cp(),
-            "dt": 10.0, "accel_coast": 1.0, "allow_throttle": True}
-    target, active = get_cruise_accel(True, **args, max_accel_override=0.4)
-    self.assertAlmostEqual(target, 0.4, places=6)
-    self.assertTrue(active)
-    self.assertIsInstance(active, bool)
-    plan = messaging.new_message('longitudinalPlanSP')
-    plan.longitudinalPlanSP.accelController.active = active
-
-
-
-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/accel_controller/tests/test_allow_throttle.py

@@ -1,94 +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 openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import AccelController
-
-
-class TestAllowThrottle(OpenpilotTestCase):
-  def setUp(self):
-    self.controller = AccelController()
-
-  def update(self, throttle_prob: float, low_speed_override: bool = False) -> bool:
-    return self.controller.update_allow_throttle(throttle_prob, low_speed_override=low_speed_override, threshold=0.4)
-
-  def test_short_probability_dip(self):
-    self.assertTrue(self.update(1.0))
-    self.assertTrue(self.update(0.0))
-    self.assertTrue(self.update(0.0))
-    self.assertFalse(self.update(0.0))
-
-  def test_probability_chatter(self):
-    self.assertTrue(self.update(1.0))
-    for _ in range(100):
-      self.assertTrue(self.update(0.39))
-      self.assertTrue(self.update(0.46))
-
-    self.controller = AccelController()
-    self.assertFalse(self.update(0.0))
-    for _ in range(100):
-      self.assertFalse(self.update(0.39))
-      self.assertFalse(self.update(0.46))
-
-  def test_sustained_probability_changes(self):
-    self.assertTrue(self.update(1.0))
-    self.assertEqual([self.update(0.0) for _ in range(4)], [True, True, False, False])
-
-    for _ in range(20):
-      self.assertFalse(self.update(0.0))
-    self.assertEqual([self.update(1.0) for _ in range(2)], [False, True])
-
-  def test_threshold_boundaries(self):
-    self.assertFalse(self.update(0.4))
-
-    self.controller._throttle_prob_filter.initialized = False
-    self.assertFalse(self.update(0.45))
-
-    self.controller._throttle_prob_filter.initialized = False
-    self.assertTrue(self.update(math.nextafter(0.45, math.inf)))
-
-  def test_low_speed_override(self):
-    for _ in range(20):
-      self.assertTrue(self.update(0.0, True))
-
-    self.assertTrue(self.update(1.0))
-    self.assertTrue(self.update(math.nan, True))
-    self.assertTrue(self.update(1.0))
-    self.assertTrue(self.update(0.0, True))
-    self.assertFalse(self.update(0.0))
-
-  def test_nonfinite_probability(self):
-    self.assertTrue(self.update(1.0))
-    for value in (math.inf, -math.inf, math.nan):
-      self.assertFalse(self.update(value))
-      self.assertTrue(math.isfinite(self.controller._throttle_prob_filter.x))
-
-    self.assertFalse(self.update(1.0))
-    self.assertTrue(self.update(1.0))
-
-  def test_route_probability_trace(self):
-    probabilities = (0.941, 0.093, 0.070, 0.429, 0.430, 0.083, 0.509, 0.068)
-    states = [self.update(probability) for probability in probabilities]
-    self.assertEqual(states, [True, True, True, True, True, False, False, False])
-
-  def test_filter_updates_once(self):
-    self.assertTrue(self.update(1.0))
-    self.assertTrue(self.update(0.0))
-    self.assertAlmostEqual(self.controller._throttle_prob_filter.x, 2.0 / 3.0)
-
-  def test_profiles_disabled(self):
-    Params().put_bool("AccelPersonalityEnabled", False, block=True)
-    self.controller = AccelController()
-    self.assertFalse(self.controller.is_enabled())
-
-    self.assertTrue(self.update(1.0))
-    self.assertTrue(self.update(0.0))
-    self.assertTrue(self.update(0.0))
-    self.assertFalse(self.update(0.0))

openpilot/sunnypilot/selfdrive/controls/lib/dec/constants.py

@@ -0,0 +1,17 @@
+class WMACConstants:
+  # Lead detection parameters
+  LEAD_WINDOW_SIZE = 6  # Stable detection window
+  LEAD_PROB = 0.45  # Balanced threshold for lead detection
+
+  # Slow down detection parameters
+  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
+  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
+
+  # Optimized slow down distance curve - smooth and progressive
+  SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
+  SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
+
+  # Slowness detection parameters
+  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
+  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
+  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset

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

@@ -4,116 +4,192 @@ Copyright (c) 2021-, rav4kumar, 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 dataclasses import dataclass
+# Version = 2025-6-30
-from typing import Literal
-
-import numpy as np
 
 from openpilot.cereal import messaging
 from opendbc.car import structs
+from numpy import interp
 from openpilot.common.params import Params
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal
 
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15
+
+# Define the valid mode types
 ModeType = Literal['acc', 'blended']
 
-_DECEL_LOOKAHEAD_MIN_T = 1.0
-_DECEL_LOOKAHEAD_MAX_T = 6.0
-_T_IDXS = np.array(ModelConstants.T_IDXS)
-_DECEL_IDX = np.where((_T_IDXS >= _DECEL_LOOKAHEAD_MIN_T) & (_T_IDXS <= _DECEL_LOOKAHEAD_MAX_T))[0]
-_DECEL_INV_T = 1.0 / _T_IDXS[_DECEL_IDX]
 
-DECEL_INTENT_A_HINT = 0.35
+class SmoothKalmanFilter:
-DECEL_INTENT_A_FULL = 1.30
+  """Enhanced Kalman filter with smoothing for stable decision making."""
-DECEL_INTENT_TRIGGER = 0.5
 
-CURVE_Y_MAX = 5.0
+  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+               alpha=1.0, smoothing_factor=0.85):
+    self.x = initial_value
+    self.P = 1.0
+    self.R = measurement_noise
+    self.Q = process_noise
+    self.alpha = alpha
+    self.smoothing_factor = smoothing_factor
+    self.initialized = False
+    self.history = []
+    self.max_history = 10
+    self.confidence = 0.0
 
-LEAD_FUTURE_PROB_VANISH = 0.35
+  def add_data(self, measurement):
+    if len(self.history) >= self.max_history:
+      self.history.pop(0)
+    self.history.append(measurement)
 
-MODEL_DROP_TRUST_FULL = 5.0
+    if not self.initialized:
-MODEL_DROP_TRUST_NONE = 30.0
+      self.x = measurement
-MODEL_TRUST_MIN = 0.5
+      self.initialized = True
+      self.confidence = 0.1
+      return
 
-CREEP_SPEED_ENTER = 2.0
+    self.P = self.alpha * self.P + self.Q
-CREEP_SPEED_EXIT = 3.0
 
-ENTER_FRAMES = 3
+    K = self.P / (self.P + self.R)
-EXIT_FRAMES = 16
+    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
-MIN_BLENDED_FRAMES = 20
 
-PARAM_READ_FRAMES = 5
+    innovation = measurement - self.x
+    self.x = self.x + effective_K * innovation
+    self.P = (1 - effective_K) * self.P
 
-
+    if abs(innovation) < 0.1:
-@dataclass
+      self.confidence = min(1.0, self.confidence + 0.05)
-class DecSignals:
-  decel_intent: float = 0.0
-  curve_detected: bool = False
-  model_trust: float = 1.0
-  creeping: bool = False
-
-
-def should_blend(s: DecSignals) -> bool:
-  degraded = s.model_trust < MODEL_TRUST_MIN
-  slowdown_detected = not degraded and s.decel_intent >= DECEL_INTENT_TRIGGER and not s.curve_detected
-  return slowdown_detected or s.creeping
-
-
-class ModeHysteresis:
-  def __init__(self):
-    self.mode: ModeType = 'acc'
-    self.above = 0
-    self.below = 0
-    self.blended_frames = 0
-
-  def update(self, want_blended: bool, override: bool, veto: bool) -> ModeType:
-    self.above = self.above + 1 if want_blended else 0
-    self.below = 0 if want_blended else self.below + 1
-
-    if override:
-      self.mode, self.blended_frames = 'blended', 0
-    elif veto:
-      self.mode = 'acc'
-    elif self.mode == 'acc':
-      if self.above >= ENTER_FRAMES:
-        self.mode, self.blended_frames = 'blended', 0
     else:
-      self.blended_frames += 1
+      self.confidence = max(0.1, self.confidence - 0.02)
-      if self.blended_frames >= MIN_BLENDED_FRAMES and self.below >= EXIT_FRAMES:
-        self.mode = 'acc'
-    return self.mode
 
-  def reset(self) -> None:
+  def get_value(self):
-    self.mode = 'acc'
+    return self.x if self.initialized else None
-    self.above = 0
+
-    self.below = 0
+  def get_confidence(self):
-    self.blended_frames = 0
+    return self.confidence
+
+  def reset_data(self):
+    self.initialized = False
+    self.history = []
+    self.confidence = 0.0
+
+
+class ModeTransitionManager:
+  """Manages smooth transitions between driving modes with hysteresis."""
+
+  def __init__(self):
+    self.current_mode: ModeType = 'acc'
+    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+    self.transition_timeout = 0
+    self.min_mode_duration = 10
+    self.mode_duration = 0
+    self.emergency_override = False
+
+  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+    # Emergency override for critical situations (stops, collisions)
+    if emergency:
+      self.emergency_override = True
+      self.current_mode = mode
+      self.transition_timeout = SET_MODE_TIMEOUT
+      self.mode_duration = 0
+      return
+
+    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+    for m in self.mode_confidence:
+      if m != mode:
+        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+
+    # Require minimum duration in current mode (unless emergency)
+    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+      return
+
+    # Hysteresis: higher threshold for mode changes
+    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+
+    if self.mode_confidence[mode] > confidence_threshold:
+      if mode != self.current_mode and self.transition_timeout == 0:
+        self.transition_timeout = SET_MODE_TIMEOUT
+        self.current_mode = mode
+        self.mode_duration = 0
+
+  def update(self):
+    if self.transition_timeout > 0:
+      self.transition_timeout -= 1
+    self.mode_duration += 1
+
+    # Reset emergency override after some time
+    if self.emergency_override and self.mode_duration > 20:
+      self.emergency_override = False
+
+    # Gradual confidence decay
+    for mode in self.mode_confidence:
+      self.mode_confidence[mode] *= 0.98
+
+  def get_mode(self) -> ModeType:
+    return self.current_mode
 
 
 class DynamicExperimentalController:
   def __init__(self, CP: structs.CarParams, mpc, params=None):
+    self._CP = CP
     self._mpc = mpc
     self._params = params or Params()
     self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
     self._active: bool = False
     self._frame: int = 0
+    self._urgency = 0.0
 
-    self._hysteresis = ModeHysteresis()
+    self._mode_manager = ModeTransitionManager()
-    self._creeping = False
 
-    self.signals = DecSignals()
+    # Smooth filters for stable decision making with faster response for critical scenarios
-    self.want_blended = False
+    self._lead_filter = SmoothKalmanFilter(
-    self.lead_veto = False
+      measurement_noise=0.15,
+      process_noise=0.05,
+      alpha=1.02,
+      smoothing_factor=0.8
+    )
 
-  def _update_creeping(self, v_ego: float) -> bool:
+    self._slow_down_filter = SmoothKalmanFilter(
-    self._creeping = v_ego < CREEP_SPEED_EXIT if self._creeping else v_ego <= CREEP_SPEED_ENTER
+      measurement_noise=0.1,
-    return self._creeping
+      process_noise=0.1,
+      alpha=1.05,
+      smoothing_factor=0.7
+    )
+
+    self._slowness_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.06,
+      alpha=1.015,
+      smoothing_factor=0.92
+    )
+
+    self._mpc_fcw_filter = SmoothKalmanFilter(
+      measurement_noise=0.2,
+      process_noise=0.1,
+      alpha=1.1,
+      smoothing_factor=0.5
+    )
+    self._has_lead_filtered = False
+    self._has_slow_down = False
+    self._has_slowness = False
+    self._has_mpc_fcw = False
+    self._v_ego_kph = 0.0
+    self._v_cruise_kph = 0.0
+    self._has_standstill = False
+    self._mpc_fcw_crash_cnt = 0
+    self._standstill_count = 0
+    # debug
+    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
+    self._trajectory_valid = False
 
   def _read_params(self) -> None:
-    if self._frame % PARAM_READ_FRAMES == 0:
+    if self._frame % int(1. / DT_MDL) == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
-    return self._hysteresis.mode
+    return self._mode_manager.get_mode()
 
   def enabled(self) -> bool:
     return self._enabled
@@ -121,61 +197,192 @@ class DynamicExperimentalController:
   def active(self) -> bool:
     return self._active
 
-  @staticmethod
+  def set_mpc_fcw_crash_cnt(self) -> None:
-  def _decel_intent(md) -> float:
+    """Set MPC FCW crash count"""
-    v = np.asarray(md.velocity.x)
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-    if len(v) != len(_T_IDXS):
-      return 0.0
-    a_req = float(np.min((v[_DECEL_IDX] - v[0]) * _DECEL_INV_T))
-    return float(np.interp(-a_req, [DECEL_INTENT_A_HINT, DECEL_INTENT_A_FULL], [0.0, 1.0]))
 
-  @staticmethod
+  def _update_calculations(self, sm: messaging.SubMaster) -> None:
-  def _curve_detected(md) -> bool:
+    car_state = sm['carState']
-    y = md.position.y
+    lead_one = sm['radarState'].leadOne
-    if len(y) < 1:
+    md = sm['modelV2']
-      return False
-    return abs(y[-1]) >= CURVE_Y_MAX
 
-  @staticmethod
+    self._v_ego_kph = car_state.vEgo * 3.6
-  def _model_trust(md) -> float:
+    self._v_cruise_kph = car_state.vCruise
-    if len(md.velocity.x) != len(_T_IDXS):
+    self._has_standstill = car_state.standstill
-      return 0.0
-    return float(np.interp(md.frameDropPerc, [MODEL_DROP_TRUST_FULL, MODEL_DROP_TRUST_NONE], [1.0, 0.0]))
 
-  @staticmethod
+    # standstill detection
-  def _lead_veto(radar_state, md) -> bool:
+    if self._has_standstill:
-    lead_one, lead_two = radar_state.leadOne, radar_state.leadTwo
+      self._standstill_count = min(20, self._standstill_count + 1)
-    lead_now = lead_one.present or lead_two.present
+    else:
-    probs = md.leadsV3
+      self._standstill_count = max(0, self._standstill_count - 1)
-    future = min(probs[1].prob, probs[2].prob) if len(probs) >= 3 else 1.0
+
-    return bool(lead_now and future > LEAD_FUTURE_PROB_VANISH)
+    # Lead detection
+    self._lead_filter.add_data(float(lead_one.present))
+    lead_value = self._lead_filter.get_value() or 0.0
+    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
+
+    # MPC FCW detection
+    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+    self._has_mpc_fcw = fcw_filtered_value > 0.5
+
+    # Slow down detection
+    self._calculate_slow_down(md)
+
+    # Slowness detection
+    if not (self._standstill_count > 5) and not self._has_slow_down:
+      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      self._slowness_filter.add_data(current_slowness)
+      slowness_value = self._slowness_filter.get_value() or 0.0
+
+      # Hysteresis for slowness
+      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+      self._has_slowness = slowness_value > threshold
+
+  def _calculate_slow_down(self, md):
+    """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+    # Reset to safe defaults
+    urgency = 0.0
+    self._endpoint_x = float('inf')
+    self._trajectory_valid = False
+
+    #Require exact trajectory size
+    position_valid = len(md.position.x) == TRAJECTORY_SIZE
+    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+    if not (position_valid and orientation_valid):
+      # Invalid trajectory - this itself might indicate a stop scenario
+      # Apply moderate urgency for incomplete trajectories at speed
+      if self._v_ego_kph > 20.0:
+        urgency = 0.3
+
+      self._slow_down_filter.add_data(urgency)
+      urgency_filtered = self._slow_down_filter.get_value() or 0.0
+      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+      self._urgency = urgency_filtered
+      return
+
+    # We have a valid full trajectory
+    self._trajectory_valid = True
+
+    # Use the exact endpoint (33rd point, index 32)
+    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+    self._endpoint_x = endpoint_x
+
+    # Get expected distance based on current speed using tuned constants
+    expected_distance = interp(self._v_ego_kph,
+                               WMACConstants.SLOW_DOWN_BP,
+                               WMACConstants.SLOW_DOWN_DIST)
+    self._expected_distance = expected_distance
+
+    # Calculate urgency based on trajectory shortage
+    if endpoint_x < expected_distance:
+      shortage = expected_distance - endpoint_x
+      shortage_ratio = shortage / expected_distance
+
+      # Base urgency on shortage ratio
+      urgency = min(1.0, shortage_ratio * 2.0)
+
+      # Increase urgency for very short trajectories (imminent stops)
+      critical_distance = expected_distance * 0.3
+      if endpoint_x < critical_distance:
+        urgency = min(1.0, urgency * 2.0)
+
+      # Speed-based urgency adjustment
+      if self._v_ego_kph > 25.0:
+        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+        urgency = min(1.0, urgency * speed_factor)
+
+    # Apply filtering but with less smoothing for stops
+    self._slow_down_filter.add_data(urgency)
+    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+
+    # Update state with lower threshold for better stop detection
+    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+    self._urgency = urgency_filtered
+
+  def _radarless_mode(self) -> None:
+    """Radarless mode decision logic with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
+    if self._has_mpc_fcw:
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      return
+
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
+      return
+
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
+    if self._has_slow_down:
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.5)
+        self._mode_manager.request_mode('blended', confidence=confidence)
+      return
+
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return
+
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
+
+  def _radar_mode(self) -> None:
+    """Radar mode with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
+    if self._has_mpc_fcw:
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      return
+
+    # If lead detected and not in standstill: always use ACC
+    if self._has_lead_filtered and not (self._standstill_count > 3):
+      self._mode_manager.request_mode('acc', confidence=1.0)
+      return
+
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
+    if self._has_slow_down:
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.3)
+        self._mode_manager.request_mode('blended', confidence=confidence)
+      return
+
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
+      return
+
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return
+
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
 
-    car_state = sm['carState']
+    self.set_mpc_fcw_crash_cnt()
-    md = sm['modelV2']
-    radar_state = sm['radarState']
 
-    is_creeping = self._update_creeping(car_state.vEgo)
+    self._update_calculations(sm)
-    self.lead_veto = self._lead_veto(radar_state, md)
 
-    self.signals = DecSignals(
+    if self._CP.radarUnavailable:
-      decel_intent=self._decel_intent(md),
+      self._radarless_mode()
-      curve_detected=self._curve_detected(md),
-      model_trust=self._model_trust(md),
-      creeping=is_creeping,
-    )
-    self.want_blended = should_blend(self.signals)
-
-    crash_override = self._mpc.crash_cnt >= 1
-    hard_brake_override = bool(md.meta.hardBrakePredicted)
-    override = (crash_override or hard_brake_override) and not self.lead_veto
-
-    if self._enabled:
-      self._hysteresis.update(self.want_blended, override, self.lead_veto)
     else:
-      self._hysteresis.reset()
+      self._radar_mode()
 
+    self._mode_manager.update()
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
     self._frame += 1

openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py

@@ -1,285 +1,91 @@
-import numpy as np
-
-from openpilot.cereal import messaging
-from opendbc.car import structs
 from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import (
-  DecSignals,
-  DynamicExperimentalController,
-  ModeHysteresis,
-  should_blend,
-  ENTER_FRAMES,
-  MIN_BLENDED_FRAMES,
-)
 
-T_IDXS = np.array(ModelConstants.T_IDXS)
+class MockLeadOne:
+  def __init__(self, present=0.0):
+    self.present = present
 
+class MockRadarState:
+  def __init__(self, present=0.0):
+    self.leadOne = MockLeadOne(present=present)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+class MockModelData:
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
 
 class MockParams:
-  def __init__(self, enabled=True):
-    self._enabled = enabled
-
   def get_bool(self, name):
-    return self._enabled
+    return True
 
-
+def default_sm():
-class MockMpc:
+  sm = {
-  def __init__(self, crash_cnt=0):
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
-    self.crash_cnt = crash_cnt
+    'radarState': MockRadarState(present=1.0),
-
+    'modelV2': MockModelData(valid=True),
-
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
-def flat_velocity(v):
-  return [float(v)] * len(T_IDXS)
-
-
-def decel_velocity(v0, a):
-  return [float(max(0.0, v0 + a * t)) for t in T_IDXS]
-
-
-def make_car_state(v_ego=10.0, v_cruise=20.0):
-  msg = messaging.new_message('carState')
-  msg.carState.vEgo = v_ego
-  msg.carState.vCruise = v_cruise
-  return msg.carState.as_reader()
-
-
-def make_selfdrive_state(experimental_mode=True):
-  msg = messaging.new_message('selfdriveState')
-  msg.selfdriveState.experimentalMode = experimental_mode
-  return msg.selfdriveState.as_reader()
-
-
-def make_radar_state(lead_present=False, lead_radar=False, lead_two_present=False):
-  msg = messaging.new_message('radarState')
-  msg.radarState.leadOne.present = lead_present
-  msg.radarState.leadOne.radar = lead_radar
-  msg.radarState.leadTwo.present = lead_two_present
-  return msg.radarState.as_reader()
-
-
-def make_model_v2(velocity=None, position_y=None, hard_brake=False, lead_probs=None, frame_drop_perc=0.0):
-  msg = messaging.new_message('modelV2')
-  msg.modelV2.velocity.x = velocity if velocity is not None else flat_velocity(0.0)
-  msg.modelV2.position.y = position_y if position_y is not None else [0.0] * len(T_IDXS)
-  msg.modelV2.frameDropPerc = frame_drop_perc
-  msg.modelV2.meta.hardBrakePredicted = hard_brake
-  if lead_probs is not None:
-    msg.modelV2.init('leadsV3', 3)
-    for i, (prob, prob_time) in enumerate(zip(lead_probs, (0.0, 2.0, 4.0), strict=True)):
-      msg.modelV2.leadsV3[i].prob = prob
-      msg.modelV2.leadsV3[i].probTime = prob_time
-  return msg.modelV2.as_reader()
-
-
-def make_sm(v_ego=10.0, v_cruise=20.0, velocity=None, position_y=None, hard_brake=False,
-            lead_present=False, lead_radar=False, lead_two_present=False, lead_probs=None,
-            frame_drop_perc=0.0, experimental_mode=True):
-  return {
-    'carState': make_car_state(v_ego, v_cruise),
-    'radarState': make_radar_state(lead_present, lead_radar, lead_two_present),
-    'modelV2': make_model_v2(velocity, position_y, hard_brake, lead_probs, frame_drop_perc),
-    'selfdriveState': make_selfdrive_state(experimental_mode),
   }
+  return sm
 
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
 
-def make_controller(cp=None, mpc=None, enabled=True):
+def mock_mpc():
-  return DynamicExperimentalController(cp or structs.CarParams(), mpc or MockMpc(), params=MockParams(enabled))
+  class MPC:
+    crash_cnt = 0
+  return MPC()
 
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
 
 class TestDynamicExperimentalController(OpenpilotTestCase):
-  def test_initial_mode_is_acc(self):
+  def test_initial_mode_is_acc(self, mock_cp, mock_mpc):
-    controller = make_controller()
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
     assert controller.mode() == "acc"
 
-  def test_flat_plan_never_blends_at_any_speed(self):
+  def test_standstill_triggers_blended(self, mock_cp, mock_mpc, default_sm):
-    for v_ego in (2.5, 5.6, 8.3, 13.9, 22.2, 30.6):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-      controller = make_controller()
+    default_sm['carState'].standstill = True
-      sm = make_sm(v_ego=v_ego, velocity=flat_velocity(v_ego))
-      for _ in range(100):
-        controller.update(sm)
-      assert controller.mode() == "acc", f"false blend on a flat plan at v_ego={v_ego}"
-
-  def test_highway_slowdown_without_lead_blends(self):
-    v0 = 110 / 3.6
-    a = (70 / 3.6 - v0) / 6.0
-    controller = make_controller()
-    sm = make_sm(v_ego=v0, velocity=decel_velocity(v0, a))
     for _ in range(10):
-      controller.update(sm)
+      controller.update(default_sm)
     assert controller.mode() == "blended"
 
-  def test_curve_exclusion_prevents_false_blend(self):
+  def test_emergency_blended_on_fcw(self, mock_cp, mock_mpc, default_sm):
-    controller = make_controller()
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-    sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -2.0), position_y=[6.0] * len(T_IDXS))
+    mock_mpc.crash_cnt = 1  # simulate FCW
-    for _ in range(30):
+    for _ in range(2):
-      controller.update(sm)
+      controller.update(default_sm)
-    assert controller.mode() == "acc"
-
-  def test_any_lead_forces_acc_even_with_strong_model_signal(self):
-    for lead_radar in (True, False):
-      controller = make_controller()
-      sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -2.0),
-                   lead_present=True, lead_radar=lead_radar, lead_probs=[1.0, 1.0, 1.0])
-      for _ in range(60):
-        controller.update(sm)
-        assert controller.mode() == "acc"
-
-  def test_veto_releases_without_rebuild_lag(self):
-    controller = make_controller()
-    lead_sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -2.0),
-                       lead_present=True, lead_probs=[1.0, 1.0, 1.0])
-    for _ in range(30):
-      controller.update(lead_sm)
-    assert controller.mode() == "acc"
-    assert controller.lead_veto
-
-    no_lead_sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -2.0), lead_present=False)
-    for _ in range(ENTER_FRAMES + 2):
-      controller.update(no_lead_sm)
-      if controller.mode() == "blended":
-        break
     assert controller.mode() == "blended"
 
-  def test_lead_gone_with_no_underlying_slowdown_stays_acc(self):
+  def test_radarless_slowdown_triggers_blended(self, mock_cp, mock_mpc, default_sm):
-    controller = make_controller()
+    mock_cp.radarUnavailable = True
-    lead_sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), lead_present=True, lead_probs=[1.0, 1.0, 1.0])
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-    for _ in range(30):
-      controller.update(lead_sm)
-    assert controller.mode() == "acc"
 
-    no_lead_sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), lead_present=False)
+    # Force conditions to simulate slowdown
-    for _ in range(20):
+    controller._slow_down_filter = FakeKalman(value=1.0)  # ty: ignore[invalid-assignment]
-      controller.update(no_lead_sm)
+    controller._v_ego_kph = 35.0
-    assert controller.mode() == "acc"
+    default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
 
-  def test_creep_does_not_release_lead_veto(self):
+    for _ in range(3):
-    controller = make_controller()
+      controller.update(default_sm)
-    sm = make_sm(v_ego=1.0, velocity=flat_velocity(1.0), lead_present=True, lead_probs=[1.0, 1.0, 1.0])
-    for _ in range(10):
-      controller.update(sm)
-    assert controller.mode() == "acc"
-    assert controller.lead_veto
 
-  def test_creep_hysteresis_band_without_lead(self):
-    controller = make_controller()
-    controller.update(make_sm(v_ego=1.5, velocity=flat_velocity(1.5)))
-    assert controller.signals.creeping
-
-    controller.update(make_sm(v_ego=2.5, velocity=flat_velocity(2.5)))
-    assert controller.signals.creeping, "a small excursion above CREEP_SPEED_ENTER should not exit creeping"
-
-    controller.update(make_sm(v_ego=5.0, velocity=flat_velocity(5.0)))
-    assert not controller.signals.creeping, "should exit creeping once genuinely above CREEP_SPEED_EXIT"
-
-  def test_crash_cnt_override_inert_while_lead_present(self):
-    mpc = MockMpc(crash_cnt=0)
-    controller = make_controller(mpc=mpc)
-    sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), lead_present=True, lead_probs=[1.0, 1.0, 1.0])
-    for _ in range(30):
-      controller.update(sm)
-    assert controller.mode() == "acc"
-
-    mpc.crash_cnt = 1
-    controller.update(sm)
-    assert controller.mode() == "acc"
-
-  def test_crash_cnt_blends_within_one_frame_without_lead(self):
-    mpc = MockMpc(crash_cnt=1)
-    controller = make_controller(mpc=mpc)
-    sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), lead_present=False)
-    controller.update(sm)
     assert controller.mode() == "blended"
-
-  def test_hard_brake_predicted_blends_within_one_frame_without_lead(self):
-    controller = make_controller()
-    sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), hard_brake=True, lead_present=False)
-    controller.update(sm)
-    assert controller.mode() == "blended"
-
-  def test_hard_brake_override_inert_while_lead_present(self):
-    controller = make_controller()
-    sm = make_sm(v_ego=20.0, velocity=flat_velocity(20.0), hard_brake=True,
-                 lead_present=True, lead_probs=[1.0, 1.0, 1.0])
-    controller.update(sm)
-    assert controller.mode() == "acc"
-
-  def test_degraded_model_does_not_blend(self):
-    controller = make_controller()
-    sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -3.0), frame_drop_perc=60.0)
-    for _ in range(30):
-      controller.update(sm)
-    assert controller.mode() == "acc"
-
-  def test_short_plan_arrays_do_not_blend(self):
-    controller = make_controller()
-    sm = make_sm(v_ego=20.0, velocity=[20.0] * 5)
-    for _ in range(30):
-      controller.update(sm)
-    assert controller.mode() == "acc"
-
-  def test_disabled_param_holds_acc(self):
-    controller = make_controller(enabled=False)
-    sm = make_sm(v_ego=20.0, velocity=decel_velocity(20.0, -3.0))
-    for _ in range(30):
-      controller.update(sm)
-    assert controller.mode() == "acc"
-
-
-class TestModeHysteresis(OpenpilotTestCase):
-  def test_entry_requires_enter_frames(self):
-    h = ModeHysteresis()
-    for _ in range(ENTER_FRAMES - 1):
-      assert h.update(want_blended=True, override=False, veto=False) == "acc"
-    assert h.update(want_blended=True, override=False, veto=False) == "blended"
-
-  def test_override_beats_veto(self):
-    h = ModeHysteresis()
-    assert h.update(want_blended=False, override=True, veto=True) == "blended"
-
-  def test_veto_forces_acc_even_when_reason_active(self):
-    h = ModeHysteresis()
-    for _ in range(ENTER_FRAMES + 5):
-      assert h.update(want_blended=True, override=False, veto=True) == "acc"
-
-  def test_counter_accumulates_under_veto_then_releases_instantly(self):
-    h = ModeHysteresis()
-    for _ in range(ENTER_FRAMES + 5):
-      h.update(want_blended=True, override=False, veto=True)
-    assert h.mode == "acc"
-    assert h.update(want_blended=True, override=False, veto=False) == "blended"
-
-  def test_exit_requires_min_dwell_and_sustained_absence(self):
-    h = ModeHysteresis()
-    for _ in range(ENTER_FRAMES):
-      h.update(want_blended=True, override=False, veto=False)
-    assert h.mode == "blended"
-    for _ in range(MIN_BLENDED_FRAMES - 1):
-      assert h.update(want_blended=False, override=False, veto=False) == "blended"
-    assert h.update(want_blended=False, override=False, veto=False) == "acc"
-
-  def test_no_flapping_on_alternating_reason(self):
-    h = ModeHysteresis()
-    changes = 0
-    prev = h.mode
-    for i in range(200):
-      mode = h.update(want_blended=i % 2 == 0, override=False, veto=False)
-      changes += mode != prev
-      prev = mode
-    assert changes == 0
-
-
-class TestShouldBlend(OpenpilotTestCase):
-  def test_slowdown_detected_triggers(self):
-    assert should_blend(DecSignals(decel_intent=1.0))
-    assert not should_blend(DecSignals(decel_intent=0.0))
-
-  def test_curve_exclusion_suppresses_slowdown(self):
-    assert not should_blend(DecSignals(decel_intent=1.0, curve_detected=True))
-
-  def test_degraded_model_suppresses_model_based_reasons(self):
-    s = DecSignals(decel_intent=1.0, model_trust=0.0)
-    assert not should_blend(s)
-
-  def test_creep_bypasses_everything(self):
-    assert should_blend(DecSignals(model_trust=0.0, creeping=True))

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

@@ -1,115 +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
-import math
-from typing import Any
-
-from openpilot.cereal import log
-from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-
-
-LEAD_DEPARTURE_MIN_SPEED = 0.3
-LEAD_DEPARTURE_CONFIRM_FRAMES = 3
-LEAD_DEPARTURE_MIN_DISTANCE = 0.03
-LEAD_DEPARTURE_MAX_EGO_SPEED = 0.3
-
-MpcPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
-
-
-class LeadDepartureController:
-  def __init__(self, enabled: bool):
-    self.enabled = enabled
-    self._track_id: int | None = None
-    self._distances: deque[float] = deque(maxlen=LEAD_DEPARTURE_CONFIRM_FRAMES)
-    self._active = False
-
-  @property
-  def active(self) -> bool:
-    return self._active
-
-  def reset(self) -> None:
-    self._track_id = None
-    self._distances.clear()
-    self._active = False
-
-  @staticmethod
-  def _selected_lead(radar_state: Any, source: Any) -> Any | None:
-    if source == MpcPlanSource.lead0:
-      return radar_state.leadOne
-    if source == MpcPlanSource.lead1:
-      return radar_state.leadTwo
-    return None
-
-  @staticmethod
-  def _radar_has_errors(radar_state: Any) -> bool:
-    errors = radar_state.radarErrors
-    return errors.canError or errors.radarFault or errors.wrongConfig or errors.radarUnavailableTemporary
-
-  def update(self, sm: Any, source: Any, a_target: float, should_stop: bool, reset: bool, radar_valid: bool) -> bool:
-    CS = sm['carState']
-    CC = sm['carControl']
-    controls_state = sm['controlsState']
-    radar_state = sm['radarState']
-
-    blocked = (
-      not self.enabled
-      or reset
-      or not CC.longActive
-      or CC.cruiseControl.override
-      or CS.gasPressed
-      or CS.brakePressed
-      or controls_state.forceDecel
-      or controls_state.longControlState == LongCtrlState.off
-      or not radar_valid
-      or self._radar_has_errors(radar_state)
-    )
-    if blocked or not math.isfinite(CS.vEgo) or CS.vEgo >= LEAD_DEPARTURE_MAX_EGO_SPEED or not math.isfinite(a_target):
-      self.reset()
-      return should_stop
-
-    lead = self._selected_lead(radar_state, source)
-    lead_valid = (
-      lead is not None
-      and lead.present
-      and lead.radar
-      and lead.radarTrackId >= 0
-      and all(math.isfinite(value) for value in (lead.dRel, lead.vLeadK, lead.vRel))
-      and lead.dRel > 0.0
-      and lead.vLeadK >= LEAD_DEPARTURE_MIN_SPEED
-      and lead.vRel >= LEAD_DEPARTURE_MIN_SPEED
-      and a_target >= 0.0
-    )
-    if not lead_valid:
-      self.reset()
-      return should_stop
-
-    track_id = int(lead.radarTrackId)
-    if self._active:
-      if track_id != self._track_id:
-        self.reset()
-        return should_stop
-      return False
-
-    if not should_stop:
-      self.reset()
-      return False
-
-    if controls_state.longControlState != LongCtrlState.stopping:
-      self.reset()
-      return should_stop
-
-    if track_id != self._track_id:
-      self._track_id = track_id
-      self._distances.clear()
-    self._distances.append(float(lead.dRel))
-
-    if len(self._distances) == LEAD_DEPARTURE_CONFIRM_FRAMES and self._distances[-1] - self._distances[0] >= LEAD_DEPARTURE_MIN_DISTANCE:
-      self._active = True
-      return False
-
-    return should_stop

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

@@ -9,10 +9,8 @@ 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.lead_departure_controller import LeadDepartureController
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
@@ -25,9 +23,8 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
-    self.accel_controller = AccelController(mpc.dt)
-    self.lead_departure_controller = LeadDepartureController(CP.openpilotLongitudinalControl and CP.autoResumeSng and not CP.notCar)
     self.events_sp = EventsSP()
+    self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
@@ -46,23 +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 update_allow_throttle(self, throttle_prob: float, low_speed_override: bool, threshold: float) -> bool:
-    return self.accel_controller.update_allow_throttle(throttle_prob, low_speed_override=low_speed_override, threshold=threshold)
-
-  def update_lead_departure(self, sm: messaging.SubMaster, a_target: float, should_stop: bool, reset: bool) -> bool:
-    radar_valid = sm.valid.get('radarState', False) and getattr(sm, 'alive', {}).get('radarState', False)
-    return self.lead_departure_controller.update(sm, self.mpc.source, a_target, should_stop, reset, radar_valid)
-
   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)
@@ -94,12 +74,9 @@ 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.e2e_alerts_helper.update(sm, self.events_sp)
-
-  def update_dec(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
+    self.e2e_alerts_helper.update(sm, self.events_sp)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -117,15 +94,6 @@ class LongitudinalPlannerSP:
     dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
-    dec.decelIntent = float(self.dec.signals.decel_intent)
-    dec.curveDetected = bool(self.dec.signals.curve_detected)
-    dec.wantBlended = bool(self.dec.want_blended)
-    dec.leadVeto = bool(self.dec.lead_veto)
-
-    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
 
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl

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 SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
-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.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)):
+    for _ in range(int(10. / DT_MDL)):
-      self.scc_v.update(self.sm, True, False, 0.0, 0.0, 0.0)
+      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)):
+    for _ in range(int(10. / DT_MDL)):
-      self.scc_v.update(self.sm, False, False, 0.0, 0.0, 0.0)
+      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)):
+    for _ in range(int(10. / DT_MDL)):
-      self.scc_v.update(self.sm, True, False, 0.0, 0.0, 0.0)
+      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):
+  @parameterized.expand([
-    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(
-    [
       ("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)))
+_NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
-_TARGET_TIGHTEN_CONFIRMATION_FRAMES = max(1, int(round(0.1 / DT_MDL)))
+
-_TARGET_RELEASE_CONFIRMATION_FRAMES = max(1, int(round(0.15 / DT_MDL)))
+# Lookup table for the minimum smooth deceleration during the ENTERING state
-_TARGET_TIGHTEN_RATE = 5.  # m/s^2
+# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
-_TARGET_RELEASE_RATE = 1.  # m/s^2
+_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
-_BELOW_EGO_TARGET_RELEASE_RATE = 3.  # m/s^2
+_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
-_MIN_PRED_SPEED = 1.  # m/s
+
-_MIN_ACTIVATION_SPEED = 10.  # m/s
+# 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)
+      self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
-    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)
+      # get the maximum lat accel from the model
-    self.max_pred_lat_acc = 0.
+      predicted_lat_accels = rate_plan * vel_plan
-    self.v_target = V_CRUISE_UNSET
+      self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
-    if np.any(valid):
+
-      self.max_pred_lat_acc = float(np.percentile(rate_plan[valid] * vel_plan[valid], 97))
+      # get the maximum curve based on the current velocity
-      max_pred_curvature = float(np.percentile(rate_plan[valid] / vel_plan[valid], 97))
+      v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations
-      if max_pred_curvature > 0.:
+      max_curve = self.max_pred_lat_acc / (v_ego**2)
-        self.v_target = min(float((_A_LAT_REG_MAX / max_pred_curvature) ** 0.5), V_CRUISE_UNSET)
+
+      # 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.
+          # Abort if the predicted lateral acceleration drops
-          elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES:
+          elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
-            self.state = VisionState.leaving
+            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.
+          # Finish if current lateral acceleration goes below a threshold.
-          elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
+          elif self.current_lat_acc < _FINISH_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:
             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_lead_departure_controller.py

@@ -1,266 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from types import SimpleNamespace
-from unittest import mock
-
-from openpilot.cereal import log
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.sunnypilot.selfdrive.controls.lib.lead_departure_controller import LeadDepartureController
-from openpilot.sunnypilot.selfdrive.test.longitudinal_maneuvers.plant import PRIUS_TSS2_ROUTE_MODEL, PlantSP
-
-
-MpcPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
-
-
-def make_lead(*, d_rel: float = 4.0, v_lead: float = 0.5, v_rel: float = 0.5, present: bool = True, radar: bool = True, track_id: int = 7):
-  return SimpleNamespace(dRel=d_rel, vLeadK=v_lead, vRel=v_rel, present=present, radar=radar, radarTrackId=track_id)
-
-
-def make_sm(
-  *,
-  lead_one=None,
-  lead_two=None,
-  v_ego: float = 0.0,
-  long_active: bool = True,
-  long_state=LongCtrlState.stopping,
-  gas: bool = False,
-  brake: bool = False,
-  override: bool = False,
-  force_decel: bool = False,
-  radar_error: str | None = None,
-):
-  errors = SimpleNamespace(canError=False, radarFault=False, wrongConfig=False, radarUnavailableTemporary=False)
-  if radar_error is not None:
-    setattr(errors, radar_error, True)
-  return {
-    'carState': SimpleNamespace(vEgo=v_ego, gasPressed=gas, brakePressed=brake),
-    'carControl': SimpleNamespace(longActive=long_active, cruiseControl=SimpleNamespace(override=override)),
-    'controlsState': SimpleNamespace(longControlState=long_state, forceDecel=force_decel),
-    'radarState': SimpleNamespace(leadOne=lead_one or make_lead(), leadTwo=lead_two or make_lead(track_id=8), radarErrors=errors),
-  }
-
-
-def update(controller, sm, *, source=MpcPlanSource.lead0, a_target: float = 0.05, should_stop: bool = True, reset: bool = False, radar_valid: bool = True):
-  return controller.update(sm, source, a_target, should_stop, reset, radar_valid)
-
-
-def activate(controller: LeadDepartureController):
-  assert update(controller, make_sm(lead_one=make_lead(d_rel=4.00)))
-  assert update(controller, make_sm(lead_one=make_lead(d_rel=4.01)))
-  assert not update(controller, make_sm(lead_one=make_lead(d_rel=4.04)))
-  assert controller.active
-
-
-def run_closed_loop(controller_enabled: bool, gap: float, lead_speed, duration: float, model_should_stop: bool | None = None):
-  def observe_lead(_t, _name, truth):
-    truth.update(radar=True, radarTrackId=7)
-    return truth
-
-  def model_action(_t, _v_ego, _a_ego):
-    return 0.0, bool(model_should_stop)
-
-  plant = PlantSP(
-    lead_relevancy=True,
-    speed=0.0,
-    distance_lead=gap,
-    lead_observation_fn=observe_lead,
-    actuator_model=PRIUS_TSS2_ROUTE_MODEL,
-    run_long_control=True,
-    e2e=model_should_stop is not None,
-    model_action_fn=model_action if model_should_stop is not None else None,
-  )
-  plant.planner.lead_departure_controller.enabled = controller_enabled
-
-  original_update = plant.planner.update
-
-  def long_active_update(sm):
-    sm['carControl'].longActive = True
-    original_update(sm)
-
-  solver_resets = 0
-  original_reset = plant.planner.mpc.reset
-
-  def counted_reset(*args, **kwargs):
-    nonlocal solver_resets
-    if plant.planner.mpc.solution_status != 0:
-      solver_resets += 1
-    return original_reset(*args, **kwargs)
-
-  rows = []
-  active = []
-  with (
-    mock.patch.object(plant.planner, 'get_max_accel_override', return_value=None),
-    mock.patch.object(plant.planner, 'get_min_accel_override', return_value=None),
-    mock.patch.object(plant.planner, 'update', side_effect=long_active_update),
-    mock.patch.object(plant.planner.mpc, 'reset', side_effect=counted_reset),
-  ):
-    for _ in range(round(duration / DT_MDL)):
-      t = plant.current_time
-      result = plant.step(v_lead=lead_speed(t), v_cruise=8.0)
-      rows.append(
-        (t, result['speed'], result['distance'], result['distance_lead'] - result['distance'], result['actuator_command'], result['should_stop'], result['fcw'])
-      )
-      active.append(plant.planner.lead_departure_controller.active)
-
-  return rows, active, solver_resets
-
-
-def first_delay(rows, cue: float, column: int, predicate):
-  return next(row[0] - cue for row in rows if row[0] >= cue and predicate(row[column]))
-
-
-class TestLeadDepartureController(OpenpilotTestCase):
-  def test_requires_three_coherent_radar_frames(self):
-    controller = LeadDepartureController(True)
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.00)))
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.01)))
-    assert not update(controller, make_sm(lead_one=make_lead(d_rel=4.04)))
-    assert controller.active
-
-  def test_distance_confirmation_uses_a_sliding_three_frame_window(self):
-    controller = LeadDepartureController(True)
-    for d_rel in (4.00, 4.01, 4.02, 4.03):
-      assert update(controller, make_sm(lead_one=make_lead(d_rel=d_rel)))
-    assert not controller.active
-
-    assert not update(controller, make_sm(lead_one=make_lead(d_rel=4.06)))
-    assert controller.active
-
-  def test_persistent_false_speed_cue_with_static_range_never_arms(self):
-    controller = LeadDepartureController(True)
-    for _ in range(10):
-      assert update(controller, make_sm(lead_one=make_lead(d_rel=4.0)))
-    assert not controller.active
-
-  def test_same_track_can_move_between_lead_slots(self):
-    controller = LeadDepartureController(True)
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.00)), source=MpcPlanSource.lead0)
-    assert update(controller, make_sm(lead_two=make_lead(d_rel=4.01)), source=MpcPlanSource.lead1)
-    assert not update(controller, make_sm(lead_one=make_lead(d_rel=4.04)), source=MpcPlanSource.lead0)
-
-  def test_different_track_restarts_confirmation(self):
-    controller = LeadDepartureController(True)
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.00, track_id=7)))
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.02, track_id=7)))
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.20, track_id=9)))
-    assert update(controller, make_sm(lead_one=make_lead(d_rel=4.22, track_id=9)))
-    assert not update(controller, make_sm(lead_one=make_lead(d_rel=4.24, track_id=9)))
-
-  def test_active_release_latches_through_native_threshold_churn(self):
-    controller = LeadDepartureController(True)
-    activate(controller)
-    sm = make_sm(lead_one=make_lead(d_rel=4.10), long_state=LongCtrlState.pid)
-    assert not update(controller, sm, a_target=0.12, should_stop=False)
-    assert not update(controller, sm, a_target=0.05, should_stop=True)
-    assert controller.active
-
-  def test_active_release_latches_across_same_track_source_churn(self):
-    controller = LeadDepartureController(True)
-    activate(controller)
-    sm = make_sm(lead_two=make_lead(d_rel=4.10), long_state=LongCtrlState.pid)
-    assert not update(controller, sm, source=MpcPlanSource.lead1)
-    assert controller.active
-
-  def test_active_release_cancels_on_invalid_state(self):
-    cases = (
-      ('lead lost', make_sm(lead_one=make_lead(present=False))),
-      ('vision lead', make_sm(lead_one=make_lead(radar=False))),
-      ('track changed', make_sm(lead_one=make_lead(track_id=9))),
-      ('lead too slow', make_sm(lead_one=make_lead(v_lead=0.29))),
-      ('relative speed too low', make_sm(lead_one=make_lead(v_rel=0.29))),
-      ('gas', make_sm(gas=True)),
-      ('brake', make_sm(brake=True)),
-      ('override', make_sm(override=True)),
-      ('force decel', make_sm(force_decel=True)),
-      ('long inactive', make_sm(long_active=False)),
-      ('long control off', make_sm(long_state=LongCtrlState.off)),
-      ('ego rolling', make_sm(v_ego=0.3)),
-      ('radar CAN error', make_sm(radar_error='canError')),
-      ('radar fault', make_sm(radar_error='radarFault')),
-      ('radar config', make_sm(radar_error='wrongConfig')),
-      ('radar unavailable', make_sm(radar_error='radarUnavailableTemporary')),
-    )
-    for name, sm in cases:
-      with self.subTest(name=name):
-        controller = LeadDepartureController(True)
-        activate(controller)
-        assert update(controller, sm)
-        assert not controller.active
-
-  def test_active_release_cancels_on_invalid_update_input(self):
-    cases = (('negative target', -0.01, False, True), ('reset', 0.05, True, True), ('radar invalid', 0.05, False, False))
-    for name, a_target, reset, radar_valid in cases:
-      with self.subTest(name=name):
-        controller = LeadDepartureController(True)
-        activate(controller)
-        assert update(controller, make_sm(), a_target=a_target, reset=reset, radar_valid=radar_valid)
-        assert not controller.active
-
-  def test_inactive_controller_arms_only_from_native_stop_and_stopping_state(self):
-    controller = LeadDepartureController(True)
-    for d_rel in (4.00, 4.02, 4.04):
-      assert not update(controller, make_sm(lead_one=make_lead(d_rel=d_rel)), should_stop=False)
-    for d_rel in (4.00, 4.02, 4.04):
-      assert update(controller, make_sm(lead_one=make_lead(d_rel=d_rel), long_state=LongCtrlState.pid))
-    assert not controller.active
-
-  def test_capability_gate_disables_controller(self):
-    controller = LeadDepartureController(False)
-    for d_rel in (4.00, 4.02, 4.04):
-      assert update(controller, make_sm(lead_one=make_lead(d_rel=d_rel)))
-    assert not controller.active
-
-  def test_closed_loop_departure_releases_earlier_without_a_safety_regression(self):
-    lead_accel = 0.31
-    cue = 1.0 + 0.4 / lead_accel
-
-    def lead_speed(t):
-      return 0.0 if t < 1.0 else min(5.0, lead_accel * (t - 1.0))
-
-    stock, stock_active, stock_resets = run_closed_loop(False, 3.81, lead_speed, 8.0)
-    controller, controller_active, controller_resets = run_closed_loop(True, 3.81, lead_speed, 8.0)
-
-    stock_release = first_delay(stock, cue, 5, lambda should_stop: not should_stop)
-    controller_release = first_delay(controller, cue, 5, lambda should_stop: not should_stop)
-    stock_motion = first_delay(stock, cue, 1, lambda speed: speed > 0.01)
-    controller_motion = first_delay(controller, cue, 1, lambda speed: speed > 0.01)
-    stock_v01 = first_delay(stock, cue, 1, lambda speed: speed > 0.1)
-    controller_v01 = first_delay(controller, cue, 1, lambda speed: speed > 0.1)
-
-    assert any(controller_active) and not any(stock_active)
-    assert stock_resets == controller_resets == 0
-    assert not any(row[6] for row in stock + controller)
-    assert controller_release <= stock_release - 1.0
-    assert controller_motion <= stock_motion - 0.1
-    assert controller_v01 <= stock_v01 - 0.1
-    assert min(row[3] for row in controller) >= min(row[3] for row in stock)
-    assert max(abs(right[4] - left[4]) for left, right in zip(controller, controller[1:], strict=False)) <= max(
-      abs(right[4] - left[4]) for left, right in zip(stock, stock[1:], strict=False)
-    )
-
-  def test_model_stop_remains_authoritative(self):
-    def lead_speed(t):
-      return 0.0 if t < 1.0 else min(5.0, 0.8 * (t - 1.0))
-
-    rows, active, solver_resets = run_closed_loop(True, 4.0, lead_speed, 6.0, model_should_stop=True)
-
-    assert any(active)
-    assert solver_resets == 0
-    assert all(row[5] for row in rows)
-    assert all(row[1] == 0.0 and row[2] == 0.0 for row in rows)
-    assert not any(row[6] for row in rows)
-
-  def test_stationary_lead_remains_stock_identical(self):
-    stock, stock_active, stock_resets = run_closed_loop(False, 8.0, lambda _t: 0.0, 12.0)
-    controller, controller_active, controller_resets = run_closed_loop(True, 8.0, lambda _t: 0.0, 12.0)
-
-    assert stock == controller
-    assert not any(stock_active) and not any(controller_active)
-    assert stock_resets == controller_resets == 0

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

@@ -1,433 +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 asdict, 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]]
-ModelPlanFn = Callable[[float, float, float], list[float]]
-ModelMetaFn = Callable[[float], tuple[list[float], bool, float]]
-LeadFutureProbsFn = Callable[[float], tuple[float, float, float]]
-PositionYFn = Callable[[float], list[float]]
-ExperimentalModeFn = Callable[[float], bool]
-
-
-@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,
-    model_plan_fn: ModelPlanFn | None = None,
-    model_meta_fn: ModelMetaFn | None = None,
-    lead_future_probs_fn: LeadFutureProbsFn | None = None,
-    position_y_fn: PositionYFn | None = None,
-    experimental_mode_fn: ExperimentalModeFn | 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.model_plan_fn = model_plan_fn
-    self.model_meta_fn = model_meta_fn
-    self.lead_future_probs_fn = lead_future_probs_fn
-    self.position_y_fn = position_y_fn
-    self.experimental_mode_fn = experimental_mode_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)]
-    if self.position_y_fn is None:
-      position.y = [0.0] * len(ModelConstants.T_IDXS)
-    else:
-      position.y = [float(y) for y in self.position_y_fn(self.current_time)]
-    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()
-    if self.model_plan_fn is None:
-      velocity_plan = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
-      velocity_plan[0] = float(self.speed)  # always start at current speed
-    else:
-      velocity_plan = [float(x) for x in self.model_plan_fn(self.current_time, self.speed, self.acceleration)]
-    velocity.x = velocity_plan
-    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)]
-    if self.model_meta_fn is None:
-      brake3_probs, hard_brake_predicted, frame_drop_perc = [0.0] * 5, False, 0.0
-    else:
-      brake3_probs, hard_brake_predicted, frame_drop_perc = self.model_meta_fn(self.current_time)
-    model.modelV2.meta.disengagePredictions.brake3MetersPerSecondSquaredProbs = [float(p) for p in brake3_probs]
-    model.modelV2.meta.hardBrakePredicted = bool(hard_brake_predicted)
-    model.modelV2.frameDropPerc = float(frame_drop_perc)
-    if self.lead_future_probs_fn is not None:
-      model.modelV2.init('leadsV3', 3)
-      lead_future_probs = self.lead_future_probs_fn(self.current_time)
-      for i, (prob, prob_time) in enumerate(zip(lead_future_probs, (0.0, 2.0, 4.0), strict=True)):
-        model.modelV2.leadsV3[i].prob = float(prob)
-        model.modelV2.leadsV3[i].probTime = prob_time
-
-    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 if self.experimental_mode_fn is None else bool(self.experimental_mode_fn(self.current_time))
-    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(),
-      "dec_want_blended": self.planner.dec.want_blended,
-      "dec_signals": asdict(self.planner.dec.signals),
-      "dec_lead_veto": self.planner.dec.lead_veto,
-      "controller_active": self.planner.accel_controller_active,
-      "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_dec_maneuvers.py

@@ -1,179 +0,0 @@
-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.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import ENTER_FRAMES, MIN_BLENDED_FRAMES
-from openpilot.sunnypilot.selfdrive.test.longitudinal_maneuvers.plant import PlantSP
-
-T_IDXS = np.array(ModelConstants.T_IDXS)
-
-
-def decel_plan(a):
-  def fn(_current_time, speed, _acceleration):
-    return [float(max(0.0, speed + a * t)) for t in T_IDXS]
-  return fn
-
-
-def flat_plan():
-  def fn(_current_time, speed, _acceleration):
-    return [float(speed)] * len(T_IDXS)
-  return fn
-
-
-def alternating_plan(a):
-  def fn(current_time, speed, _acceleration):
-    frame_a = a if round(current_time / DT_MDL) % 2 == 0 else 0.0
-    return [float(max(0.0, speed + frame_a * t)) for t in T_IDXS]
-  return fn
-
-
-def persistent_lead_probs(_current_time):
-  return (1.0, 0.95, 0.9)
-
-
-def _run(plant, steps, v_lead=0.0, v_cruise=50.0):
-  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
-  return [plant.step(v_lead=v_lead, v_cruise=v_cruise) for _ in range(steps)], solver_failures
-
-
-def mode_changes(results):
-  modes = [r["dec_mode"] for r in results]
-  return sum(a != b for a, b in zip(modes, modes[1:], strict=False))
-
-
-class TestDecManeuvers(OpenpilotTestCase):
-  def setUp(self):
-    super().setUp()
-    self.params = Params()
-    self.params.put_bool("DynamicExperimentalControl", True, block=True)
-
-  def test_s1_lead_clears_with_underlying_slowdown_blends_quickly(self):
-    clear_t = 1.0
-
-    def lead_obs(current_time, _lead_name, truth):
-      return None if current_time >= clear_t else dict(truth)
-
-    plant = PlantSP(lead_relevancy=True, speed=20.0, distance_lead=40.0, e2e=True, only_radar=True,
-                     lead_observation_fn=lead_obs, model_plan_fn=decel_plan(-2.5),
-                     lead_future_probs_fn=persistent_lead_probs)
-    clear_frame = round(clear_t / DT_MDL)
-    results, _ = _run(plant, steps=clear_frame + ENTER_FRAMES + 5, v_lead=20.0, v_cruise=20.0)
-
-    assert all(r["dec_mode"] == "acc" for r in results[:clear_frame])
-    assert all(r["dec_lead_veto"] for r in results[:clear_frame])
-    post_clear = [r["dec_mode"] for r in results[clear_frame:clear_frame + ENTER_FRAMES + 2]]
-    assert "blended" in post_clear
-
-  def test_s1b_lead_clears_with_no_underlying_slowdown_stays_acc(self):
-    clear_t = 1.0
-
-    def lead_obs(current_time, _lead_name, truth):
-      return None if current_time >= clear_t else dict(truth)
-
-    plant = PlantSP(lead_relevancy=True, speed=20.0, distance_lead=40.0, e2e=True, only_radar=True,
-                     lead_observation_fn=lead_obs, model_plan_fn=flat_plan(),
-                     lead_future_probs_fn=persistent_lead_probs)
-    clear_frame = round(clear_t / DT_MDL)
-    results, _ = _run(plant, steps=clear_frame + MIN_BLENDED_FRAMES, v_lead=20.0, v_cruise=20.0)
-
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s2_steady_highway_following_never_blends(self):
-    v = 80.0 / 3.6
-    plant = PlantSP(lead_relevancy=True, speed=v, distance_lead=40.0, e2e=True, only_radar=True,
-                     model_plan_fn=flat_plan(), lead_future_probs_fn=persistent_lead_probs)
-    results, failures = _run(plant, steps=100, v_lead=v, v_cruise=v)
-
-    assert failures <= 1
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s3_low_speed_cruise_no_lead_never_blends(self):
-    v = 15.0 / 3.6
-    plant = PlantSP(lead_relevancy=False, speed=v, e2e=True, model_plan_fn=flat_plan())
-    results, _ = _run(plant, steps=100, v_cruise=v)
-
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s4_highway_slowdown_without_lead_blends(self):
-    v0 = 110.0 / 3.6
-    a = (70.0 / 3.6 - v0) / 6.0
-    plant = PlantSP(lead_relevancy=False, speed=v0, e2e=True, model_plan_fn=decel_plan(a))
-    results, _ = _run(plant, steps=10, v_cruise=v0)
-
-    assert any(r["dec_mode"] == "blended" for r in results)
-
-  def test_s5_stop_then_depart_with_lead_present_stays_acc_throughout(self):
-    def departing_lead(current_time):
-      return 0.0 if current_time < 1.0 else min(15.0, 3.0 * (current_time - 1.0))
-
-    plant = PlantSP(lead_relevancy=True, speed=0.0, distance_lead=6.0, e2e=True)
-    results = []
-    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
-    for _ in range(200):
-      results.append(plant.step(v_lead=departing_lead(plant.current_time), v_cruise=15.0))
-
-    assert solver_failures <= 1
-    assert all(r["dec_mode"] == "acc" for r in results)
-    assert all(r["dec_lead_veto"] for r in results)
-
-  def test_s6_creep_cycles_behind_lead_stay_acc(self):
-    def creep_cycle_lead(current_time):
-      return 1.5 + 1.5 * np.sin(current_time * 2.0)
-
-    plant = PlantSP(lead_relevancy=True, speed=1.0, distance_lead=8.0, e2e=True, only_radar=True,
-                     model_plan_fn=flat_plan(), lead_future_probs_fn=persistent_lead_probs)
-    results = [plant.step(v_lead=creep_cycle_lead(plant.current_time), v_cruise=5.0) for _ in range(200)]
-
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s7_oscillating_near_threshold_demand_does_not_flap(self):
-    plant = PlantSP(lead_relevancy=False, speed=20.0, e2e=True, model_plan_fn=alternating_plan(-2.5))
-    results, _ = _run(plant, steps=200, v_cruise=20.0)
-
-    assert mode_changes(results) <= 2
-
-  def test_s8_degraded_model_holds_acc_through_a_slowdown(self):
-    def degraded_meta(_current_time):
-      return [0.0] * 5, False, 60.0
-
-    plant = PlantSP(lead_relevancy=False, speed=20.0, e2e=True, model_plan_fn=decel_plan(-3.0), model_meta_fn=degraded_meta)
-    results, _ = _run(plant, steps=30, v_cruise=20.0)
-
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s9_curve_exclusion_prevents_false_blend_on_a_bend(self):
-    plant = PlantSP(lead_relevancy=False, speed=20.0, e2e=True, model_plan_fn=decel_plan(-2.5),
-                     position_y_fn=lambda _t: [6.0] * len(T_IDXS))
-    results, _ = _run(plant, steps=30, v_cruise=20.0)
-
-    assert all(r["dec_mode"] == "acc" for r in results)
-
-  def test_s10_hard_brake_override_inert_while_lead_present(self):
-    def hard_brake_meta(_current_time):
-      return [0.0] * 5, True, 0.0
-
-    plant = PlantSP(lead_relevancy=True, speed=20.0, distance_lead=40.0, e2e=True, only_radar=True,
-                     model_plan_fn=flat_plan(), model_meta_fn=hard_brake_meta, lead_future_probs_fn=persistent_lead_probs)
-    results, _ = _run(plant, steps=10, v_lead=20.0, v_cruise=20.0)
-
-    assert all(r["dec_mode"] == "acc" for r in results)

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/athena/sunnylinkd.py

@@ -28,7 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import openpilot.cereal.messaging as messaging
-from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.sunnypilot.models.default_model import get_default_model
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
@@ -181,7 +181,7 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
-    schema["default_model"] = DEFAULT_MODEL
+    schema["default_model"] = get_default_model()
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -652,53 +652,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelPersonalityEnabled",
-              "widget": "toggle",
-              "title": "Enable Accel Controller",
-              "description": "Sets your preferred acceleration and cruise-deceleration limits by profile. Lead following, braking, and stopping behavior remain independent of this setting.",
-              "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",
@@ -2349,50 +2302,6 @@
       "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 and cruise-deceleration limits by profile. Lead following, braking,
-      and stopping behavior remain independent of this setting.
-    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

@@ -82,30 +82,6 @@ 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}. "
+      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."
+      "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."""
+    """settings_ui.json validates against settings_ui.schema.json."""
-    self.assertTrue(validate_settings_ui(DEFINITION_PATH))
+    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(
+  @parameterized.expand([
-    [
+    "EnableGithubRunner",
-      "EnableGithubRunner",
+    "QuickBootToggle",
-      "QuickBootToggle",
+  ], names=["key"])
-    ],
-    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(
+  @parameterized.expand([
-    [
+    "AlphaLongitudinalEnabled",
-      "AlphaLongitudinalEnabled",
+    "ToyotaEnforceStockLongitudinal",
-      "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
-      "ToyotaStopAndGoHack",
+  ], names=["key"])
-    ],
-    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/manager/github_runner.sh

@@ -1,40 +0,0 @@
-#!/usr/bin/env bash
-
-# Define the service name
-SERVICE_NAME="actions.runner.sunnypilot.$(uname -n)"
-
-# Function to control the service
-control_service() {
-    local action=$1  # Store the function argument in a local variable
-    sudo systemctl $action ${SERVICE_NAME}
-}
-
-service_exists_and_is_loaded() {
-    sudo systemctl status ${SERVICE_NAME} &>/dev/null
-    if [[ $? -ne 4 ]]; then
-        return 0  # Service is known to systemd (i.e., loaded)
-    else
-        return 1  # Service is unknown to systemd (i.e., not loaded)
-    fi
-}
-
-# Check for required argument
-if [[ -z $1 ]] || { [[ $1 != "start" ]] && [[ $1 != "stop" ]]; }; then
-    echo "Usage: $0 {start|stop}"
-    exit 1
-fi
-
-# Store the script argument in a descriptive variable
-ACTION=$1
-
-# Trap EXIT signal (Ctrl+C) and stop the service
-trap 'control_service stop ; exit' SIGINT SIGKILL EXIT
-
-# Enter the main loop
-while true; do
-    # Check if the service is actually present on the system
-    if service_exists_and_is_loaded; then
-        control_service $ACTION  # Call the function with the specified action
-    fi
-    sleep 1  # Pause before the next iteration
-done

openpilot/system/manager/process_config.py

@@ -68,10 +68,6 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
 def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
   return params.get_bool("IsLiveStreaming")
 
-def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and (
-    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
-
 def use_copyparty(started, params, CP: car.CarParams) -> bool:
   return bool(params.get_bool("EnableCopyparty"))
 
@@ -189,10 +185,6 @@ procs += [
   NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
 
-if os.path.exists("./github_runner.sh"):
-  procs += [NativeProcess("github_runner_start", "openpilot/system/manager",
-                          ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
-
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "openpilot.sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 

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)
+      center_pos = self._rect.x + self._rect.width / 2
-      closest_delta_pos = min(
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
-        (self._item_center_pos(item) - 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

release/ci/install_github_runner.sh

@@ -1,260 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Default values
-DEFAULT_REPO_URL="https://github.com/sunnypilot"
-START_AT_BOOT=false
-RESTORE_MODE=false
-RUNNER_VERSION="2.325.0"
-
-# Parse command line arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        --start-at-boot)
-            START_AT_BOOT=true
-            shift
-            ;;
-        --token)
-            GITHUB_TOKEN="$2"
-            shift 2
-            ;;
-        --repo)
-            REPO_URL="$2"
-            shift 2
-            ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
-        *)
-            if [ -z "$GITHUB_TOKEN" ]; then
-                GITHUB_TOKEN="$1"
-            elif [ -z "$REPO_URL" ]; then
-                REPO_URL="$1"
-            fi
-            shift
-            ;;
-    esac
-done
-
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    BASE_DIR="/data/media/0/github"
-else
-    BASE_DIR="/data/github"
-fi
-
-# Constants
-RUNNER_USER="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-RUNNER_DIR="${BASE_DIR}/runner"
-BUILDS_DIR="${BASE_DIR}/builds"
-LOGS_DIR="${BASE_DIR}/logs"
-CACHE_DIR="${BASE_DIR}/cache"
-OPENPILOT_DIR="${BASE_DIR}/openpilot"
-
-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
-}
-
-remount_ro() {
-    sync || true  # Try to sync but continue even if it fails
-    sudo mount -o remount,ro /  # Always try to remount as read-only
-}
-
-# Always ensure we try to remount as read-only on exit
-trap remount_ro EXIT
-
-setup_runner_user() {
-    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
-}
-
-create_sudoers_entry() {
-    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
-}
-
-set_directory_permissions() {
-    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
-    sudo chmod -R g+rwx "$BASE_DIR"
-    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
-}
-
-setup_directories() {
-    echo "Creating necessary directories..."
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
-    sync
-}
-
-wipe_bash_logout() {
-  export BASE_DIR
-  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
-  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    remount_rw
-    setup_runner_user
-    create_sudoers_entry
-    remount_ro
-    set_directory_permissions
-    wipe_bash_logout
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
-    sudo chmod +x ./config.sh
-}
-
-configure_runner() {
-    remount_rw
-    echo "Configuring runner..."
-    cd "$RUNNER_DIR"
-    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-    remount_ro
-}
-
-create_service_template() {
-    echo "Creating service template..."
-    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
-[Unit]
-Description={{Description}}
-After=network-online.target nss-lookup.target time-sync.target
-Wants=network-online.target nss-lookup.target time-sync.target
-StartLimitInterval=5
-StartLimitBurst=10
-
-[Service]
-Type=simple
-User=root
-ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
-WorkingDirectory={{RunnerRoot}}
-KillMode=process
-KillSignal=SIGTERM
-TimeoutStopSec=5min
-Restart=always
-RestartSec=120
-
-[Install]
-WantedBy=multi-user.target
-EOL
-}
-
-install_service() {
-    local service_name
-    if [ -f "${RUNNER_DIR}/.service" ]; then
-        service_name=$(cat "${RUNNER_DIR}/.service")
-    else
-        service_name="actions.runner.sunnypilot.$(uname -n)"
-    fi
-  
-    create_service_template
-    remount_rw
-    local service_path="/etc/systemd/system/${service_name}"
-    echo "Installing systemd service..."
-    if [ -f "${service_path}" ]; then
-        echo "Service ${service_path} found in systemd, we will delete it"
-        sudo rm -f "${service_path}"
-    fi
-    
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
-
-    if [ "$START_AT_BOOT" = false ]; then
-        sudo systemctl disable "${service_name}"
-    fi
-    remount_ro
-}
-
-check_restore_prerequisites() {
-    local can_restore=false
-    local service_name=""
-
-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
-
-    # First check if we have the required files for restoration
-    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
-        can_restore=true
-        service_name=$(cat "${RUNNER_DIR}/.service")
-        echo "Found required runner configuration files"
-    else
-        echo "Missing required runner configuration files"
-        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
-        exit 1
-    fi
-
-    if ! id "${RUNNER_USER}" &>/dev/null; then
-        echo "User ${RUNNER_USER} does not exist"
-    fi
-
-    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ]; then
-        echo "Restoration is possible"
-        return 0
-    else
-        echo "No restoration possible"
-        exit 0
-    fi
-}
-
-perform_restore() {
-    echo "Starting runner restoration..."
-    setup_directories
-    setup_system_configs
-    install_service
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    setup_system_configs
-    install_runner
-    set_directory_permissions
-    configure_runner
-    install_service
-    echo "Installation completed successfully"
-}
-
-main() {
-    if [ "$RESTORE_MODE" = true ]; then
-        echo "Running in restore mode - will only restore system configurations..."
-        check_restore_prerequisites
-        perform_restore
-    else
-        # Check required arguments for normal installation
-        if [ -z "$GITHUB_TOKEN" ]; then
-            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
-            echo "Required argument (except for --restore): github_token"
-            echo "Optional arguments:"
-            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-            echo "  --restore         Restore existing runner configuration"
-            exit 1
-        fi
-
-        # Set repository URL if not provided
-        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-        perform_install
-    fi
-
-    echo "Starting runner service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh start
-}
-
-main

release/ci/model_generator.py

@@ -53,24 +53,28 @@ def create_pkl_name(full_name: str) -> str:
   return pkl
 
 
-def _read_pkl_bytes(pkl_path: Path) -> bytes:
+def _hash_pkl(pkl_path: Path) -> str:
   manifest = Path(f"{pkl_path}.chunkmanifest")
   if manifest.exists():
     num_chunks = int(manifest.read_text().strip())
-    parts = []
+    paths = [Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}") for i in range(num_chunks)]
-    for i in range(num_chunks):
+  else:
-      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
+    paths = [pkl_path]
-      parts.append(chunk.read_bytes())
+
-    return b''.join(parts)
+  digest = hashlib.sha256()
-  return pkl_path.read_bytes()
+  for path in paths:
+    with path.open('rb') as f:
+      while block := f.read(1024 * 1024):
+        digest.update(block)
+  return digest.hexdigest()
 
 
 def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
+  for pattern in ('*driving_tinygrad.pkl', '*driving_*_tinygrad.pkl'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return matches[0]
-  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
+  for pattern in ('*driving_tinygrad.pkl.chunkmanifest', '*driving_*_tinygrad.pkl.chunkmanifest'):
     matches = sorted(output_path.glob(pattern))
     if matches:
       return Path(str(matches[0]).removesuffix('.chunkmanifest'))
@@ -87,7 +91,7 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
 
 
 def generate_chunked_model(driving_pkl: Path) -> dict:
-  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
+  tinygrad_hash = _hash_pkl(driving_pkl)
 
   chunks_config = []
   manifest_file = Path(f"{driving_pkl}.chunkmanifest")

release/ci/uninstall_github_runner.sh

@@ -1,66 +0,0 @@
-#!/usr/bin/env bash
-# Determine BASE_DIR based on mount point
-if mountpoint -q /data/media; then
-    GITHUB_BASE_DIR="/data/media/0/github"
-else
-    GITHUB_BASE_DIR="/data/github"
-fi
-
-# Define directories and user
-BIN_DIR="$GITHUB_BASE_DIR/bin"
-BUILDS_DIR="$GITHUB_BASE_DIR/builds"
-OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
-LOGS_DIR="$GITHUB_BASE_DIR/logs"
-CACHE_DIR="$GITHUB_BASE_DIR/cache"
-RUNNER_USERNAME="github-runner"
-# Define the systemd service name
-SERVICE_NAME="github-runner"
-USER_GROUPS="comma,gpu,gpio,sudo"
-
-# Function to stop and disable the systemd service
-stop_and_uninstall_service() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo ./svc.sh stop
-    sudo ./svc.sh uninstall
-}
-
-# Function to remove the systemd service file
-remove_runner() {
-    cd $GITHUB_BASE_DIR/runner
-    sudo rm .runner
-    sudo su -c './config.sh remove' github-runner
-}
-
-# Function to delete the Github Runner directories
-delete_directories() {
-    sudo rm -rf "$BIN_DIR/github-runner"
-    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-}
-
-# Function to remove the Github Runner user
-delete_user() {
-    for group in ${USER_GROUPS//,/ }
-    do
-       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
-    done
-    sudo userdel -r ${RUNNER_USERNAME}
-}
-
-# Function to remove sudoers entry
-remove_sudoers_entry() {
-    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
-}
-
-# Make filesystem writable
-sudo mount -o remount rw /
-
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount ro /" EXIT
-
-# Call functions
-stop_and_uninstall_service
-remove_runner
-delete_directories
-delete_user
-remove_sudoers_entry
-# End of uninstall script

uv.lock

@@ -381,20 +381,20 @@ wheels = [
 
 [[package]]
 name = "deepmerge"
-version = "2.1.0"
+version = "3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b7/6c/9f4577a36d5f463a3a3f8322bd65d33e1a1a6b6ba1d692a5ebc3cba19015/deepmerge-3.0.tar.gz", hash = "sha256:14ed69f063de64b7743985c732ccff5d6c34ff4560946e7fbfd99086b853b9ce", size = 22279, upload-time = "2026-08-17T05:50:53.161Z" }
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-    { url = "https://files.pythonhosted.org/packages/51/25/2a75b47cb057b1e164c604fb81ab690a6cdb5e2260ce651194eae90f64a3/deepmerge-2.1.0-py3-none-any.whl", hash = "sha256:8f148339a91d680a75ecb74ade235d9e759a93df373a0b04e9d31c8666cfeb75", size = 14345, upload-time = "2026-06-22T05:46:06.742Z" },
+    { url = "https://files.pythonhosted.org/packages/a8/d7/7f19bedd30b90b72865aeec3a29127bed6dee6c9ef0324bb5b4d424bb0e3/deepmerge-3.0-py3-none-any.whl", hash = "sha256:c8541c3e186dc88d19a5513ad3a0b2d0b22beaa780969fc0c13b995a64265365", size = 14855, upload-time = "2026-08-17T05:50:52.218Z" },
 ]
 
 [[package]]
 name = "filelock"
-version = "3.32.2"
+version = "3.32.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/64/a02e6765de08964ed371eca577870593245afc9dfac16d037de7c10d18e6/filelock-3.32.3.tar.gz", hash = "sha256:0ffa185a3540854c95caa7fa76b76cb219d907415e2c5dc9af25fd970563487f", size = 218135, upload-time = "2026-08-13T16:00:05.577Z" }
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-    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
+    { url = "https://files.pythonhosted.org/packages/a7/8e/50f46a9c0ce8d2861a394c1347caae037ea0431d2f67d7feb151cbc4649a/filelock-3.32.3-py3-none-any.whl", hash = "sha256:7f0ca4bcc0e181c60dbbd8aa9ab5b120ebb99e4e064e83636340056f833a1f09", size = 98901, upload-time = "2026-08-13T16:00:03.974Z" },
 ]
 
 [[package]]
@@ -478,7 +478,7 @@ wheels = [
 
 [[package]]
 name = "huggingface-hub"
-version = "1.27.0"
+version = "1.28.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -491,18 +491,18 @@ dependencies = [
     { name = "tqdm" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3e/9b/ddf3d02a8681f1b9ce52fda03d755dad6b74c4f8172304c4c8d2975450f9/huggingface_hub-1.27.0.tar.gz", hash = "sha256:c1fed40ea82a6b41b477f5243546549b792ae0a93abcea608cff66089bf8f8df", size = 942668, upload-time = "2026-08-07T12:48:05.161Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c6/ae/222a91937ebee7f62c0ca8f5ee0afd97577caf24c0abb927d1f5c7e9f6d2/huggingface_hub-1.28.0.tar.gz", hash = "sha256:46a2e950c09234de54093d587d1675382f0d08dbd600d9fb599b5932f5b2c6cb", size = 959609, upload-time = "2026-08-18T12:27:15.101Z" }
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+    { url = "https://files.pythonhosted.org/packages/51/0e/eafef18f1a75e125e68395db21131db0cf868a128ecd2fce69b4df6c584b/huggingface_hub-1.28.0-py3-none-any.whl", hash = "sha256:58a8bacb03072edfc38067065e9dc24bbb34805410fcd36a1632de0b329660bb", size = 793202, upload-time = "2026-08-18T12:27:12.719Z" },
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 [[package]]
 name = "idna"
-version = "3.18"
+version = "3.19"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cd/63/9496c57188a2ee585e0f1db071d75089a11e98aa86eb99d9d7618fc1edce/idna-3.18.tar.gz", hash = "sha256:ffb385a7e039654cef1ab9ef32c6fafe283c0c0467bba1d9029738ce4a14a848", size = 196711, upload-time = "2026-06-02T14:34:07.794Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/5f/f7/abb373e5757eaec4b922b92f97ec8d6d7e057cf06778247604fbc4e7c3f3/idna-3.19.tar.gz", hash = "sha256:5e0811a4383b21dc5838069f801c4fb62113b7447663d2530d2bd6e77b49bf15", size = 215237, upload-time = "2026-08-18T05:14:24.27Z" }
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+    { url = "https://files.pythonhosted.org/packages/57/b0/0e52c878c53f245edd3a11020f20979b3f490f245af532c7cae3027754b5/idna-3.19-py3-none-any.whl", hash = "sha256:815e7be7a7806d54abb586dc943addc79e8b2ee16915059658cbeff4b1b43bf4", size = 68550, upload-time = "2026-08-18T05:14:22.343Z" },
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 [[package]]
@@ -971,11 +971,11 @@ wheels = [
 
 [[package]]
 name = "pygments"
-version = "2.20.0"
+version = "2.21.0"
 source = { registry = "https://pypi.org/simple" }
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 [[package]]
@@ -1194,18 +1194,18 @@ wheels = [
 
 [[package]]
 name = "sounddevice"
-version = "0.5.5"
+version = "0.5.6"
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