Update opendbc_repo

* modeld_v2: artifact parity with upstream tg

* m

* m

* Update helpers.py

* ew

* Update convert_upstream_pkl.py

* Update test_convert_upstream_pkl.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

.github/workflows/test_models.yml

@@ -46,6 +46,23 @@ jobs:
           CHECK_OOB: 0
           GMMU: 0
         run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
+      - name: Resolve commaai's tinygrad pin, which their precompiled chestnut model is built and converted with
+        id: upstream-tg
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          read -r sha url < <(gh api repos/commaai/openpilot/contents/tinygrad_repo --jq '.sha + " " + .submodule_git_url')
+          echo "commaai/openpilot master pins $url@$sha, ours is $(git rev-parse HEAD:tinygrad_repo)"
+          dir="$RUNNER_TEMP/upstream_tinygrad"
+          git init -q "$dir" && git -C "$dir" fetch -q --depth 1 "$url" "$sha" && git -C "$dir" checkout -q FETCH_HEAD
+          echo "path=$dir" >> "$GITHUB_OUTPUT"
+      - name: Convert a pickled USB+AMD jit under commaai's tinygrad, as the chestnut model build does
+        env:
+          DEV: MOCKUSB+AMD
+          CHECK_OOB: 0
+          GMMU: 0
+          PYTHONPATH: ${{ steps.upstream-tg.outputs.path }}:${{ github.workspace }}
+        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
       - name: Where tinygrad moved, for the helper or failure point named above
         if: failure() && github.event_name == 'pull_request'
         run: |

openpilot/common/params_keys.h

@@ -149,6 +149,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
+    {"AccelBoostSP", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -199,7 +200,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TripSummary", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params

openpilot/selfdrive/ui/layouts/main.py

@@ -10,7 +10,6 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -32,7 +31,6 @@ class MainLayout(Widget):
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
     self._prev_onroad = False
-    self._trip_summary = TripSummary()
 
     # Initialize layouts
     self._home_layout = HomeLayout()

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

@@ -10,7 +10,6 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.sunnypilot.layouts.trip_summary import TripSummary
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
@@ -58,7 +57,6 @@ class MiciMainLayout(Scroller):
     self._setup_callbacks()
 
     gui_app.add_nav_stack_tick(self._handle_transitions)
-    self._trip_summary = TripSummary()
     gui_app.push_widget(self)
 
     # Start onboarding if terms or training not completed, make sure to push after self

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

@@ -57,6 +57,12 @@ class CruiseLayout(Widget):
       description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
+    self.accel_boost_toggle = toggle_item_sp(
+      title=tr("Acceleration Boost"),
+      description=tr("Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. " +
+                     "Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."),
+      param="AccelBoostSP")
+
     self.custom_acc_toggle = toggle_item_sp(
       title=tr("Custom ACC Speed Increments"),
       description="",
@@ -86,6 +92,7 @@ class CruiseLayout(Widget):
       self.icbm_toggle,
       self.scc_v_toggle,
       self.scc_m_toggle,
+      self.accel_boost_toggle,
       self.custom_acc_toggle,
       self.custom_acc_short_increment,
       self.custom_acc_long_increment,
@@ -136,6 +143,8 @@ class CruiseLayout(Widget):
           self.icbm_toggle.set_description(new_desc)
           self.icbm_toggle.show_description(True)
 
+      self.accel_boost_toggle.action_item.set_enabled(has_long)
+
       if has_long or has_icbm:
         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.scc_v_toggle.action_item.set_enabled(True)
@@ -151,6 +160,7 @@ class CruiseLayout(Widget):
     else:
       has_icbm = has_long = False
       self.icbm_toggle.action_item.set_enabled(False)
+      self.accel_boost_toggle.action_item.set_enabled(False)
       self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
 
     show_custom_acc_desc = False

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

@@ -72,11 +72,6 @@ class VisualsLayout(Widget):
            "It is the driver's responsibility to observe their environment and make decisions accordingly."),
         None,
       ),
-      "TripSummary": (
-        lambda: tr("Trip Summary"),
-        tr("Show a summary of distance and engagement when you shift into park after a drive."),
-        None,
-      ),
       "TrueVEgoUI": (
         lambda: tr("Speedometer: Always Display True Speed"),
         tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."),

openpilot/selfdrive/ui/sunnypilot/layouts/trip_summary.py

@@ -1,199 +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 time
-import pyray as rl
-
-from opendbc.car.structs import car
-
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
-from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-
-AUTO_DISMISS = 20.
-FADE_IN, FADE_OUT = 0.35, 0.3
-LAT = (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
-LONG = (UIStatus.ENGAGED, UIStatus.LONG_ONLY)
-GEAR = car.CarState.GearShifter
-FORWARD = (GEAR.drive, GEAR.sport, GEAR.low, GEAR.brake, GEAR.eco, GEAR.manumatic)
-
-
-class TripTracker:
-  def __init__(self):
-    self.reset()
-
-  def reset(self):
-    self.segments: list[list] = []
-    self.seconds = 0.
-    self.takeovers = 0
-    self._t = None
-    self._status = None
-
-  def update(self, driving: bool):
-    now = time.monotonic()
-    if not driving:
-      self._t = None
-      self._status = None
-      return
-    dt = 0. if self._t is None else min(now - self._t, 0.5)
-    self._t = now
-    self.seconds += dt
-    if self._status not in (None, UIStatus.DISENGAGED) and ui_state.status == UIStatus.DISENGAGED:
-      self.takeovers += 1
-    self._status = ui_state.status
-    d = max(ui_state.sm["carState"].vEgo, 0.) * dt
-    if d <= 0.:
-      return
-    if self.segments and self.segments[-1][0] == ui_state.status:
-      self.segments[-1][1] += d
-    else:
-      self.segments.append([ui_state.status, d])
-
-  def total(self, statuses=None) -> float:
-    return sum(m for s, m in self.segments if statuses is None or s in statuses)
-
-
-class TripSummary:
-  def __init__(self):
-    self._trip = TripTracker()
-    self._dialog: TripSummaryDialog | None = None
-    self._gear = None
-    self._drove = False
-    gui_app.add_nav_stack_tick(self._tick)
-
-  def _tick(self):
-    gear = ui_state.sm["carState"].gearShifter if ui_state.started else None
-    self._trip.update(gear not in (None, GEAR.park))
-    self._drove |= gear in FORWARD
-    if gear == self._gear:
-      return
-    self._gear = gear
-
-    if gear not in (None, GEAR.park):
-      self._pop()
-    elif gear == GEAR.park and self._drove and ui_state.trip_summary and not ui_state.is_body and self._trip.total() > 0.:
-      self._dialog = TripSummaryDialog(self._trip, gui_app.get_active_widget(), self._pop)
-      gui_app.push_widget(self._dialog)
-    if gear is None:
-      self._trip.reset()
-    if gear in (None, GEAR.park):
-      self._drove = False
-
-  def _pop(self):
-    if self._dialog is not None and gui_app.get_active_widget() is self._dialog:
-      gui_app.pop_widget()
-    self._dialog = None
-
-
-def _ease(t: float) -> float:
-  t = min(max(t, 0.), 1.)
-  return 1 - (1 - t) ** 3
-
-
-def _fade(c, a: float) -> rl.Color:
-  r, g, b, al = c if isinstance(c, tuple) else (c.r, c.g, c.b, c.a)
-  return rl.Color(r, g, b, int(al * a))
-
-
-class TripSummaryDialog(Widget):
-  def __init__(self, trip: TripTracker, below: Widget | None, on_closed):
-    super().__init__()
-    self._below = below
-    self._on_closed = on_closed
-    self._segments = segments = trip.segments
-    total = sum(m for _, m in segments)
-
-    def pct(statuses):
-      return 100 * sum(m for s, m in segments if s in statuses) / total
-
-    dist = total * (CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH) / 3600
-    dist_fmt = "{:.1f}" if dist < 9.95 else "{:.0f}"
-    self._stats = [
-      (dist, dist_fmt, "km" if ui_state.is_metric else "mi", "driven"),
-      (pct(LAT + LONG), "{:.0f}", "%", "engaged"),
-      (pct(LAT), "{:.0f}", "%", "lateral"),
-      (pct(LONG), "{:.0f}", "%", "longitudinal"),
-    ]
-    mins = round(trip.seconds / 60)
-    self._details = [
-      (f"{mins // 60}h {mins % 60}" if mins >= 60 else f"{mins}", "min"),
-      (f"{trip.takeovers}", "takeover" if trip.takeovers == 1 else "takeovers"),
-    ]
-    self._bold = gui_app.font(FontWeight.BOLD)
-    self._semi = gui_app.font(FontWeight.SEMI_BOLD)
-    self._normal = gui_app.font(FontWeight.NORMAL)
-    self._big = gui_app.big_ui()
-    self._shown_t = rl.get_time()
-    self._closing_t: float | None = None
-    self.set_click_callback(self.close)
-
-  def close(self):
-    if self._closing_t is None:
-      self._closing_t = rl.get_time()
-
-  def _render(self, rect: rl.Rectangle):
-    t = rl.get_time() - self._shown_t
-    if self._closing_t is None and t > AUTO_DISMISS:
-      self.close()
-    out = 0. if self._closing_t is None else (rl.get_time() - self._closing_t) / FADE_OUT
-    if out >= 1.:
-      self._on_closed()
-      return
-    bg = 1 - _ease(out)
-    a = _ease(t / FADE_IN) * bg
-
-    if self._big and self._below is not None and bg < 1.:
-      self._below.render(rect)
-    rl.draw_rectangle_rec(rect, _fade(rl.BLACK, bg))
-
-    k = rect.height / 1080 * (1.0 if self._big else 1.22)
-    pad = 120 * k
-    x, w = rect.x + pad, rect.width - 2 * pad
-    y = rect.y + (rect.height - 850 * k) / 2
-
-    rl.draw_text_ex(self._bold, "trip summary", rl.Vector2(x, y), int(150 * k), 0, _fade(rl.WHITE, a))
-    y += 260 * k
-
-    col_w = w / len(self._stats)
-    for i, (target, fmt, unit, label) in enumerate(self._stats):
-      cx = x + col_w * (i + 0.5)
-      v = measure_text_cached(self._bold, fmt.format(target), int(170 * k))
-      u = measure_text_cached(self._semi, unit, int(80 * k))
-      vx = cx - (v.x + 10 * k + u.x) / 2
-      rl.draw_text_ex(self._bold, fmt.format(target), rl.Vector2(vx, y), int(170 * k), 0, _fade(rl.WHITE, a))
-      rl.draw_text_ex(self._semi, unit, rl.Vector2(vx + v.x + 10 * k, y + 75 * k), int(80 * k), 0, _fade(rl.WHITE, a))
-      lb = measure_text_cached(self._normal, label, int(70 * k))
-      rl.draw_text_ex(self._normal, label, rl.Vector2(cx - lb.x / 2, y + 180 * k), int(70 * k), 0, _fade(rl.Color(200, 200, 200, 255), a))
-    y += 330 * k
-
-    bar = rl.Rectangle(x, y, w, 90 * k)
-    total = sum(m for _, m in self._segments)
-    sx = bar.x
-    for status, m in self._segments:
-      sw = bar.width * m / total
-      rl.draw_rectangle_rec(rl.Rectangle(sx, bar.y, min(sw + 1, bar.x + bar.width - sx), bar.height), _fade(BORDER_COLORS[status], a))
-      sx += sw
-    rl.draw_rectangle_rounded_lines_ex(bar, 1.0, 20, 30 * k, _fade(rl.BLACK, a))
-
-    y += (90 + 70) * k
-
-    size = int(90 * k)
-    parts = []
-    for i, (value, unit) in enumerate(self._details):
-      if i:
-        parts.append(("     ", self._normal, None))
-      parts += [(value, self._bold, rl.WHITE), (" " + unit, self._normal, rl.Color(170, 170, 170, 255))]
-    widths = [measure_text_cached(f, t, size).x for t, f, _ in parts]
-    lx = x + (w - sum(widths)) / 2
-    for (text, font, color), tw in zip(parts, widths, strict=True):
-      if color is None:
-        rl.draw_circle(int(lx + tw / 2), int(y + size * 0.6), 12 * k, _fade(rl.Color(110, 110, 110, 255), a))
-      else:
-        rl.draw_text_ex(font, text, rl.Vector2(lx, y), size, 0, _fade(color, a))
-      lx += tw

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -48,7 +48,6 @@ class UIStateSP:
     self.model_runner_tinygrad: bool = False
     self.active_runner_tinygrad: bool = False
     self.blindspot: bool = False
-    self.trip_summary: bool = True
     self.chevron_metrics = None
     self.custom_interactive_timeout: int = 0
     self.developer_ui = None
@@ -186,7 +185,6 @@ class UIStateSP:
     self.standstill_timer = self.params.get_bool("StandstillTimer")
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.torque_bar = self.params.get_bool("TorqueBar")
-    self.trip_summary = self.params.get_bool("TripSummary")
     self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
     self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
     self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")

openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py

@@ -66,47 +66,75 @@ def _patched(buf, topo) -> tuple[bytearray, dict]:
   return blob, rows
 
 
-def _evaluate(u, env):
+def _packed_args(program) -> dict[int, int]:
+  from tinygrad.device import TinyELF
+  params = getattr(program.arg, "params", None) or ()
+  return {off: p.arg.slot for (off, _), p in zip(TinyELF.iter_sig(tuple((None, p.addrspace, p.dtype, ()) for p in params)), params, strict=True)}
+
+
+def _outer_slot(u, packed: dict[int, int]) -> int | None:
+  from tinygrad.uop.ops import Ops
+  if u.op is Ops.PARAM:
+    return None if packed else u.arg.slot
+  if u.op.name == "REFPARAM":
+    return u.arg.slot
+  if packed and u.op is Ops.LOAD and u.src[0].op is Ops.INDEX and _root(u.src[0].src[0]).op is Ops.PARAM:
+    index = _evaluate(u.src[0].src[1], {}, packed)
+    return None if index is None else packed.get(index * u.dtype.itemsize)
+  return None
+
+
+def _evaluate(u, env, packed: dict[int, int]):
   from tinygrad.uop.ops import GroupOp, Ops, exec_alu
   if u.op in (Ops.AFTER, Ops.CAST, Ops.BITCAST):
-    return _evaluate(u.src[0], env)
+    return _evaluate(u.src[0], env, packed)
   if u.op is Ops.CONST:
     return u.arg
-  if u.op in (Ops.PARAM, Ops.RANGE):
-    return env.get(u.arg.slot if u.op is Ops.PARAM else u)
+  if u.op is Ops.RANGE:
+    return env.get(u)
+  if (slot := _outer_slot(u, packed)) is not None:
+    return env.get(slot)
   if u.op is Ops.LOAD:
-    table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env)
+    table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env, packed)
     return struct.unpack_from(u.dtype.fmt, table.arg, index * u.dtype.itemsize)[0] if table.op is Ops.BINARY and index is not None else None
-  if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env) for x in u.src]):
+  if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env, packed) for x in u.src]):
     return exec_alu(u.op, u.dtype, values, *([False] if "truncate_output" in inspect.signature(exec_alu).parameters else []))
   return None
 
 
 def _input_pokes(submit, kernargs) -> dict[int, tuple[int, int]]:
   from tinygrad.uop.ops import Ops
-  outer = dict(enumerate(submit.src[1:]))
+  outer, packed = dict(enumerate(submit.src[1:])), _packed_args(submit.src[0])
   kernargs_params = {i for i, a in outer.items() if a.op is Ops.GETADDR and _root(a.src[0]) is kernargs}
   inputs = {i: _root(a.src[0]).arg.slot for i, a in outer.items() if a.op is Ops.GETADDR and _root(a.src[0]).op is Ops.PARAM}
   pokes = {}
   for call in (u for u in submit.src[0].src[0].toposort() if u.op is Ops.CALL and len(u.src) > 3):
     _, address, value, *_ = call.src[1:]
-    used = list({x.arg.slot for x in value.toposort() if x.op is Ops.PARAM} & inputs.keys())
-    if len(used) != 1 or not kernargs_params & {x.arg.slot for x in address.toposort() if x.op is Ops.PARAM}:
+    used = list({slot for x in value.toposort() if (slot := _outer_slot(x, packed)) is not None} & inputs.keys())
+    if len(used) != 1 or not kernargs_params & {_outer_slot(x, packed) for x in address.toposort()}:
       continue
     ranges = list(dict.fromkeys(x for x in (*address.toposort(), *value.toposort()) if x.op is Ops.RANGE))
     for trip in itertools.product(*[range(int(r.vmax) + 1) for r in ranges]):
       env = dict.fromkeys(outer, 0) | dict(zip(ranges, trip, strict=True))
-      if (offset := _evaluate(address, env)) % 8 == 0:
-        pokes[offset] = (inputs[used[0]], _evaluate(value, env))
+      if (offset := _evaluate(address, env, packed)) % 8 == 0:
+        pokes[offset] = (inputs[used[0]], _evaluate(value, env, packed))
   return pokes
 
 
-def _elf(image: bytes, rodata: int) -> bytes:
-  names, offset, data, headers = b"\0.text\0.rodata\0.shstrtab\0", 64, b"", []
-  for name, kind, address, content in [(0, 0, 0, b""), (1, 1, ALIGNMENT, image[:rodata]), (7, 1, ALIGNMENT + rodata, image[rodata:]), (15, 3, 0, names)]:
-    headers.append(struct.pack("<IIQQQQIIQQ", name, kind, 2 if kind == 1 else 0, address, offset, len(content), 0, 0, 1, 0))
+def _elf(image: bytes, rodata: int, entry: int) -> bytes:
+  spans = [(".text", 0, rodata), (".rodata", rodata, len(image))] if entry < rodata else \
+          [(".data", 0, rodata), (".rodata", rodata, entry), (".text", entry, len(image))]
+  sections, names = [(0, 0, 0, 0, b"")], b"\0"
+  for name, start, end in (span for span in spans if span[1] < span[2]):
+    sections.append((len(names), 1, 6 if name == ".text" else 2, ALIGNMENT + start, image[start:end]))
+    names += name.encode() + b"\0"
+  sections.append((len(names), 3, 0, 0, names + b".shstrtab\0"))
+  offset, data, headers = 64, b"", []
+  for name, kind, flags, address, content in sections:
+    headers.append(struct.pack("<IIQQQQIIQQ", name, kind, flags, address, offset, len(content), 0, 0, 1, 0))
     data, offset = data + content, offset + len(content)
-  return b"\x7fELF\x02\x01\x01" + bytes(9) + struct.pack("<HHIQQQIHHHHHH", 1, 0xe0, 1, 0, 0, offset, 0, 64, 0, 0, 64, 4, 3) + data + b"".join(headers)
+  header = struct.pack("<HHIQQQIHHHHHH", 1, 0xe0, 1, 0, 0, offset, 0, 64, 0, 0, 64, len(sections), len(sections) - 1)
+  return b"\x7fELF\x02\x01\x01" + bytes(9) + header + data + b"".join(headers)
 
 
 def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
@@ -155,7 +183,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
     if image_alloc not in programs:
       image = bytes(_patched(image_alloc, topo)[0])
       rodata = next(r for r in range(0, len(image) - 24, 64) if r + struct.unpack_from("<q", image, r + 16)[0] == entry)
-      programs[image_alloc] = blob.add(_elf(image, rodata))
+      programs[image_alloc] = blob.add(_elf(image, rodata, entry))
     start, size = _view(arguments.src[0])
     args = []
     for slot in range(start, start + unwrap(size), 8):

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -264,8 +264,8 @@ def _program_uop(call: dict, lib: bytes):
     parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
     image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
     parameters.append(parameter.replace(arg=_fields(parameter.arg, name=name, image=image)))
-  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), globals=tuple(call["globals"]),
-                 outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
+  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), params=tuple(parameters),
+                 globals=tuple(call["globals"]), outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
   return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
                                UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
 

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -242,7 +242,7 @@ class ModelState(ModelStateBase):
       desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
     else:
       desired_accel = model_output['action'][0, 1]
-      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      desired_curvature = model_output['action'][0, 0] / (max(2.5, v_ego))**2
     if blendful is not None:
       desired_curvature += blendful(desired_curvature)
 

openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import os
 import re
+import struct
 import sys
 import tempfile
 import unittest
@@ -25,8 +26,8 @@ if sys.platform == "darwin" and os.environ.get("DEV", "").startswith("MOCKUSB"):
 
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.sunnypilot.modeld_v2 import convert_upstream_pkl
-from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import convert
-from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, load_model
+from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import _elf, convert
+from openpilot.sunnypilot.modeld_v2.helpers import ALIGNMENT, PlainJit, load_model
 from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame
 
 IMG, DESIRE, STATE, OUT = (6, 8, 8), (8,), (4, 16), (1, 32)
@@ -119,3 +120,18 @@ class TestConvertUpstreamPkl(OpenpilotTestCase):
     bundle = load_model(out, cache=False, verify=True)
     assert bundle["metadata"] == {"name": "tiny"} and bundle["input_specs"] == self.input_specs and bundle["output_specs"] == self.output_specs
     self.assert_matches_eager(bundle["run"], 6)
+
+
+class TestKernelElf(OpenpilotTestCase):
+  def test_sections_follow_the_code(self):
+    from tinygrad.runtime.support.elf import elf_loader
+    code = bytes(range(1, 129))
+    for rodata, entry in ((len(code), 0), (0, 256)):
+      image = bytearray(code + bytes(64) if entry < rodata else bytes(256) + code)
+      struct.pack_into("<q", image, rodata + 16, entry - rodata)
+      loaded, sections, _ = elf_loader(_elf(bytes(image), rodata, entry))
+      headers = {section.name: section.header for section in sections}
+      assert bytes(loaded[ALIGNMENT:]) == bytes(image), "the uploaded program differs from the pickle's"
+      assert headers[".rodata"].sh_addr == ALIGNMENT + rodata, "the loader reads the kernel descriptor at .rodata"
+      text = headers[".text"]
+      assert text.sh_addr <= ALIGNMENT + entry < text.sh_addr + text.sh_size, "the amd mock sizes the code from the entry to the end of .text"

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

@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.cereal import log
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+
+ACCEL_BOOST_MIN_SPEED = 1.0
+ACCEL_BOOST_MAX = (0.4, 0.25, 0.1)  # aggressive, standard, relaxed, m/s^2
+ACCEL_BOOST_BUILD, ACCEL_BOOST_RELEASE = 0.2, 1.0  # m/s^3
+BRAKE_PROB = (0.1, 0.3)  # the model's brake press in 4 s: it wants to slow
+GAS_PROB = (0.6, 0.8)  # predicts a human gas press at this hypothesis at about 23%
+CURVE_LAT_ACCEL = (1.5, 2.5)
+
+
+def get_boost_max(personality=log.LongitudinalPersonality.standard):
+  if personality == log.LongitudinalPersonality.relaxed:
+    return ACCEL_BOOST_MAX[2]
+  elif personality == log.LongitudinalPersonality.standard:
+    return ACCEL_BOOST_MAX[1]
+  elif personality == log.LongitudinalPersonality.aggressive:
+    return ACCEL_BOOST_MAX[0]
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
+
+class AccelBoostSP:
+  def __init__(self):
+    self.params = Params()
+    self.frame = -1
+    self.enabled = False
+    self.boost = 0.0
+    self.total_boost = 0.0
+
+  def update_params(self):
+    self.frame += 1
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) != 0:
+      return False
+    enabled = self.params.get_bool("AccelBoostSP")
+    if enabled == self.enabled:
+      return False
+    self.enabled = enabled
+    self.boost = self.total_boost = 0.0
+    return True
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    model = sm['modelV2']
+    brake_probs = model.meta.disengagePredictions.brakePressProbs
+    gas_probs = model.meta.disengagePredictions.gasPressProbs
+    if not sm['selfdriveState'].enabled or len(brake_probs) < 2 or len(gas_probs) < 2:
+      self.boost = self.total_boost = 0.0
+      return output_a_target_e2e
+
+    want = max(float(np.interp(brake_probs[1], BRAKE_PROB, [1.0, 0.0])), float(np.interp(gas_probs[1], GAS_PROB, [0.0, 1.0])))
+    want = 0.0 if model.action.shouldStop else want
+    want *= float(np.interp(abs(model.action.desiredCurvature) * sm['carState'].vEgo ** 2, CURVE_LAT_ACCEL, [1.0, 0.0]))
+    target = want * get_boost_max(sm['selfdriveState'].personality)
+    self.boost = float(np.clip(target, self.boost - ACCEL_BOOST_RELEASE * DT_MDL, self.boost + ACCEL_BOOST_BUILD * DT_MDL))
+    speed_scale = np.interp(sm['carState'].vEgo, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
+    self.total_boost = self.boost * speed_scale * np.interp(output_a_target_e2e, [-0.7, -0.2, 5.0], [0.0, 1.0, 1.0], right=0.0)
+    return output_a_target_e2e + self.total_boost

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

@@ -9,6 +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.selfdrive.controls.lib.accel_boost import AccelBoost
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
@@ -29,6 +31,8 @@ class LongitudinalPlannerSP:
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
+    self.accel_boost_sp = AccelBoostSP()
+    self.openpilot_longitudinal = CP.openpilotLongitudinalControl
 
     self.output_v_target = 0.
     self.output_a_target = 0.
@@ -64,6 +68,9 @@ class LongitudinalPlannerSP:
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
+    if self.accel_boost_sp.update_params():
+      self.accel_boost = self.accel_boost_sp if self.accel_boost_sp.enabled and self.openpilot_longitudinal else AccelBoost()
+
     self.events_sp.clear()
     self.e2e_alerts_helper.update(sm, self.events_sp)
 

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

@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, 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 openpilot.common.parameterized import parameterized
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.test import OpenpilotTestCase
+
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost import AccelBoostSP, ACCEL_BOOST_MAX
+
+
+def make_sm(brake_prob=0.05, gas_prob=0.3, lat_accel=0.0, v_ego=30.0, personality=0, enabled=True, should_stop=False):
+  meta = SimpleNamespace(disengagePredictions=SimpleNamespace(brakePressProbs=[0.0, brake_prob, 0.0, 0.0, 0.0, 0.0],
+                                                              gasPressProbs=[0.0, gas_prob, 0.0, 0.0, 0.0, 0.0]))
+  action = SimpleNamespace(shouldStop=should_stop, desiredCurvature=lat_accel / v_ego ** 2)
+  return {'modelV2': SimpleNamespace(meta=meta, action=action), 'carState': SimpleNamespace(vEgo=v_ego),
+          'selfdriveState': SimpleNamespace(enabled=enabled, personality=personality)}
+
+
+def settle(sm, frames=100):
+  boost = AccelBoostSP()
+  for _ in range(frames):
+    boost.update(sm, 0.0, 9.0, 9.0)
+  return boost.total_boost
+
+
+class TestAccelBoostSP(OpenpilotTestCase):
+  @parameterized.expand([(0,), (1,), (2,)])
+  def test_personality_max(self, personality):
+    assert abs(settle(make_sm(personality=personality)) - ACCEL_BOOST_MAX[personality]) < 1e-6
+
+  def test_brake_gate_closes(self):
+    assert settle(make_sm(brake_prob=0.5)) == 0.0
+
+  def test_gas_reopens(self):
+    assert abs(settle(make_sm(brake_prob=0.5, gas_prob=0.9)) - ACCEL_BOOST_MAX[0]) < 1e-6
+
+  def test_should_stop(self):
+    assert settle(make_sm(gas_prob=0.9, should_stop=True)) == 0.0
+
+  @parameterized.expand([(1.5, 1.0), (2.0, 0.5), (2.5, 0.0), (-2.0, 0.5)])
+  def test_curve_fade(self, lat_accel, scale):
+    assert abs(settle(make_sm(lat_accel=lat_accel)) - scale * ACCEL_BOOST_MAX[0]) < 1e-6
+
+  def test_low_speed(self):
+    assert settle(make_sm(v_ego=0.5)) == 0.0
+
+  def test_disabled_resets(self):
+    boost = AccelBoostSP()
+    for _ in range(100):
+      boost.update(make_sm(), 0.0, 9.0, 9.0)
+    assert boost.update(make_sm(enabled=False), 0.0, 9.0, 9.0) == 0.0
+    assert boost.boost == 0.0 and boost.total_boost == 0.0
+
+  def test_build_and_release_rates(self):
+    boost = AccelBoostSP()
+    boost.update(make_sm(), 0.0, 9.0, 9.0)
+    assert abs(boost.total_boost - 0.01) < 1e-6
+    for _ in range(100):
+      boost.update(make_sm(), 0.0, 9.0, 9.0)
+    boost.update(make_sm(brake_prob=0.5), 0.0, 9.0, 9.0)
+    assert abs(boost.total_boost - (ACCEL_BOOST_MAX[0] - 0.05)) < 1e-6
+
+  def test_param_switch(self):
+    params = Params()
+    boost = AccelBoostSP()
+    params.put_bool("AccelBoostSP", True, block=True)
+    assert boost.update_params() and boost.enabled
+    for _ in range(100):
+      boost.update(make_sm(), 0.0, 9.0, 9.0)
+    params.put_bool("AccelBoostSP", False, block=True)
+    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL) - 1):
+      assert not boost.update_params()
+    assert boost.update_params() and not boost.enabled
+    assert boost.boost == 0.0 and boost.total_boost == 0.0

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -620,6 +620,19 @@
                 }
               ]
             },
+            {
+              "key": "AccelBoostSP",
+              "widget": "toggle",
+              "title": "Acceleration Boost",
+              "description": "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -1399,12 +1412,6 @@
                 }
               ]
             },
-            {
-              "key": "TripSummary",
-              "widget": "toggle",
-              "title": "Trip Summary",
-              "description": "Show a summary of distance and engagement when you shift into park after a drive."
-            },
             {
               "key": "RocketFuel",
               "widget": "toggle",

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

@@ -30,6 +30,12 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
+  - key: AccelBoostSP
+    widget: toggle
+    title: Acceleration Boost
+    description: "Adds a small push on top of sunnypilot's own acceleration, stronger in Aggressive and gentler in Relaxed. Eases off in curves and when sunnypilot slows or stops. Never goes past your set speed, and lead-car following still comes first."
+    enablement:
+    - $ref: '#/macros/longitudinal'
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

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

@@ -39,10 +39,6 @@ sections:
     description: Show a timer on the HUD when the car is at a standstill.
     visibility:
     - $ref: '#/macros/hide_on_mici'
-  - key: TripSummary
-    widget: toggle
-    title: Trip Summary
-    description: Show a summary of distance and engagement when you shift into park after a drive.
   - key: RocketFuel
     widget: toggle
     title: Real-time Acceleration Bar

release/ci/model_generator.py

@@ -13,26 +13,41 @@ from pathlib import Path
 from datetime import datetime, UTC
 
 
+_VERSION_REGEX = re.compile(r'^(?:\d+[a-zA-Z]+|\d+[vVbB]\d+|[vVbB]\d+|\d{4})$')
+_DECIMAL_VERSION_REGEX = re.compile(r'^([vVbB]?)(\d+(?:\.\d+)+)$')
+
+
+def _version(word: str) -> str | None:
+  match = _DECIMAL_VERSION_REGEX.match(word.strip('()[]{}.,;:'))
+  if match:
+    return match.group(1).upper() + match.group(2)
+  stripped = re.sub(r'[^a-zA-Z0-9]', '', word)
+  return stripped.upper() if _VERSION_REGEX.match(stripped) else None
+
+
+def _truncate(short_name: str) -> str:
+  return short_name[:8].rstrip('.')
+
+
 def create_short_name(full_name: str) -> str:
-  # Remove parentheses and extract alphanumeric words
+  # Remove parentheses and extract alphanumeric words, keeping decimals for versioning
   clean_name = re.sub(r'\([^)]*\)', '', full_name)
-  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
+  words = [re.sub(r'[^a-zA-Z0-9.]', '', word) for word in clean_name.split()]
+  words = [word for word in words if word]
 
   if len(words) == 1:
-    return words[0][:8].upper()
+    return _truncate((_version(words[0]) or words[0]).upper())
 
-  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
-  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
-    return (words[0] + words[1])[:8].upper()
+  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1", "Model v1.1" -> "ModelV1.1")
+  if len(words) == 2 and re.match(r'^[A-Za-z]?\d+$', words[1]):
+    return _truncate((words[0] + (_version(words[1]) or words[1])).upper())
 
   result = ""
   for word in words:
     # Version or number patterns
-    if (re.match(r'^\d+[a-zA-Z]+$', word) or
-        re.match(r'^\d+[vVbB]\d+$', word) or
-        re.match(r'^[vVbB]\d+$', word) or
-        re.match(r'^\d{4}$', word)):
-      result += word.upper()
+    version = _version(word)
+    if version:
+      result += version
     # All uppercase abbreviations (2-3 letters)
     elif re.match(r'^[A-Z]{2,3}$', word):
       result += word
@@ -45,7 +60,7 @@ def create_short_name(full_name: str) -> str:
       result += word
     else:
       result += word[0].upper()
-  return result[:8]
+  return _truncate(result)
 
 
 def create_pkl_name(full_name: str) -> str: