Allows us to stat getting the swaglogs from devices (same as commas)… (PR-1203)

* update: sunnypilot branch migrations for tici

* block onroad and notify

* type

* check channel type

* update

* ui init

* no search and locked list for tici

* whenever available

.github/workflows/repo-maintenance.yaml

@@ -43,6 +43,7 @@ jobs:
       with:
         submodules: true
     - name: uv lock
+      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

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

@@ -9,12 +9,6 @@ env:
   
   # Branch configurations
   STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
@@ -22,7 +16,7 @@ env:
 on:
   push:
     branches: [ master, master-dev-c3-new ]
-    tags: [ '*' ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -34,9 +28,72 @@ on:
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+          
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+  
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -44,19 +101,26 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -77,61 +141,12 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-          !(startsWith(github.ref, 'refs/tags/'))
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_dev_configuration.outcome == 'skipped' &&
-          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_staging_configuration.outcome == 'skipped' &&
-          startsWith(github.ref, 'refs/tags/')
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -226,15 +241,19 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
+  
+  
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 
@@ -266,7 +285,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -274,11 +293,18 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
+      
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

README.md

@@ -22,34 +22,24 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
 
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-
-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
 
 |      Branch      |                 Installation URL              |
 |:----------------:|:---------------------------------------------:|
@@ -59,8 +49,31 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `release-c3-new` |            **Not yet available**.             |
 
 > [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+
+> [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
+
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 

cereal/custom.capnp

@@ -123,9 +123,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
 
-  events @1 :List(OnroadEventSP.Event);
-  slc @2 :SpeedLimitControl;
-
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;
@@ -136,23 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-
-  struct SpeedLimitControl {
-    state @0 :SpeedLimitControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-    speedLimit @3 :Float32;
-    speedLimitOffset @4 :Float32;
-    distToSpeedLimit @5 :Float32;
-  }
-
-  enum SpeedLimitControlState {
-    inactive @0; # No speed limit set or not enabled by parameter.
-    tempInactive @1; # User wants to ignore speed limit until it changes.
-    preActive @2;
-    adapting @3; # Reducing speed to match new speed limit.
-    active @4; # Cruising at speed limit.
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -192,10 +172,8 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
-    speedLimitPreActive @17;
-    speedLimitActive @18;
-    speedLimitConfirmed @19;
-    speedLimitValueChange @20;
+    laneTurnLeft @17;
+    laneTurnRight @18;
   }
 }
 
@@ -271,7 +249,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
-  speedLimit @0 :Float32;  # m/s
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -283,9 +260,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }
 
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 

cereal/log.capnp

@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;

cereal/services.py

@@ -88,6 +88,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -153,8 +154,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
@@ -167,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
@@ -192,10 +196,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // model panel params
+    // sunnypilot model params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
@@ -216,14 +222,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-
-    // Speed Limit Control
-    {"SpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SpeedLimitControlPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"SpeedLimitEngageType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
 };

docs/CARS.md

@@ -4,12 +4,13 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 326 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,12 +73,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
@@ -85,7 +89,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -96,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -120,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -298,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

launch_openpilot.sh

@@ -1,3 +1,20 @@
 #!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
+
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
+fi
 
 exec ./launch_chffrplus.sh

release/ci/publish.sh

@@ -51,26 +51,19 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
 
-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
+# Commit with detailed message
+git commit -a -m "sunnypilot v$VERSION
+version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
+date: $DATETIME
+master commit: $GIT_HASH
+"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 git branch -m $DEV_BRANCH
 
 # Push!

selfdrive/controls/controlsd.py

@@ -95,6 +95,8 @@ class Controls(ControlsExt, ModelStateBase):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+        self.LaC.extension.update_limits()
+
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)

selfdrive/controls/lib/desire_helper.py

@@ -1,7 +1,8 @@
-from cereal import log
+from cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -30,6 +31,12 @@ DESIRES = {
   },
 }
 
+TURN_DESIRES = {
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
+}
+
 
 class DesireHelper:
   def __init__(self):
@@ -41,13 +48,21 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = custom.TurnDirection.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
+    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -106,7 +121,10 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    if self.lane_turn_direction != custom.TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):

selfdrive/controls/lib/latcontrol_torque.py

@@ -35,7 +35,7 @@ class LatControlTorque(LatControl):
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -73,12 +73,6 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
@@ -86,6 +80,12 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
+
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
-    # Get new v_cruise from Speed Limit Control
-    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
-
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/plannerd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -17,13 +16,10 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
-  gps_location_service = get_gps_location_service(params)
-
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2')
 
   while True:

selfdrive/modeld/modeld.py

@@ -216,7 +216,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -333,6 +333,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -347,6 +348,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -354,6 +356,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/selfdrived/alerts_offroad.json

@@ -49,5 +49,10 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
   }
 }

selfdrive/selfdrived/selfdrived.py

@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,8 +95,9 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["longitudinalPlanSP"],
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
@@ -209,7 +210,6 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
-      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
@@ -301,6 +301,13 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -67,9 +67,6 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     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
 
@@ -136,10 +133,7 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2,
-          'carStateSP': car_state_sp.carStateSP,
-          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation}
+          'modelV2': model.modelV2}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

selfdrive/ui/qt/onroad/model.cc

@@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
   }
-  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();
 }
@@ -175,172 +174,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
 }
 
 
-void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-
-    if (!sm.alive("radarState")) return;
-
-    const auto &radar_state = sm["radarState"].getRadarState();
-    const auto &lead_one = radar_state.getLeadOne();
-    const auto &lead_two = radar_state.getLeadTwo();
-
-    // Check if we have any active leads
-    bool has_lead_one = lead_one.getStatus();
-    bool has_lead_two = lead_two.getStatus();
-
-    if (!has_lead_one && !has_lead_two) {
-        // Fade out status display
-        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
-        if (lead_status_alpha <= 0.0f) return;
-    } else {
-        // Fade in status display
-        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
-    }
-
-    // Draw status for each lead vehicle under its chevron
-    if (true) {
-        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
-    }
-
-    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
-    }
-}
-
-void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
-                                           const cereal::RadarState::LeadData::Reader &lead_data,
-                                           const QPointF &chevron_pos,
-                                           int height, int width,
-                                           const QString &label) {
-
-    float d_rel = lead_data.getDRel();
-    float v_rel = lead_data.getVRel();
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-    float v_ego = sm["carState"].getCarState().getVEgo();
-
-    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
-
-    // Calculate chevron size (same logic as drawLead)
-    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-
-    QFont content_font = painter.font();
-    content_font.setPixelSize(35);
-    content_font.setBold(true);
-    painter.setFont(content_font);
-
-    QFontMetrics fm(content_font);
-    bool is_metric = s->scene.is_metric;
-
-    QStringList text_lines;
-
-    const int chevron_types = 3;
-    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
-    QStringList chevron_text[chevron_types];
-    int position;
-    float val;
-
-    // Distance display (chevron_data == 1 or all)
-    if (chevron_data == 1 || chevron_data == chevron_all) {
-        position = 0;
-        val = std::max(0.0f, d_rel);
-        QString distance_unit = is_metric ? "m" : "ft";
-        if (!is_metric) {
-            val *= 3.28084f; // Convert meters to feet
-        }
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
-    }
-
-    // Absolute velocity display (chevron_data == 2 or all)
-    if (chevron_data == 2 || chevron_data == chevron_all) {
-        position = (chevron_data == 2) ? 0 : 1;
-        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
-    }
-
-    // Time-to-contact display (chevron_data == 3 or all)
-    if (chevron_data == 3 || chevron_data == chevron_all) {
-        position = (chevron_data == 3) ? 0 : 2;
-        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
-        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
-        chevron_text[position].append(ttc_str);
-    }
-
-    // Collect all non-empty text lines
-    for (int i = 0; i < chevron_types; ++i) {
-        if (!chevron_text[i].isEmpty()) {
-            text_lines.append(chevron_text[i]);
-        }
-    }
-
-    // If no text to display, return early
-    if (text_lines.isEmpty()) {
-        return;
-    }
-
-    // Text box dimensions
-    float str_w = 150;  // Width of text area
-    float str_h = 45;   // Height per line
-
-    // Position text below chevron, centered horizontally
-    float text_x = chevron_pos.x() - str_w / 2;
-    float text_y = chevron_pos.y() + sz + 15;
-
-    // Clamp to screen bounds
-    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
-
-    // Shadow offset
-    QPoint shadow_offset(2, 2);
-
-    // Draw each line of text with shadow
-    for (int i = 0; i < text_lines.size(); ++i) {
-        if (!text_lines[i].isEmpty()) {
-            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
-
-            // Draw shadow
-            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
-            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
-                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-
-            // Determine text color based on content and danger level
-            QColor text_color;
-
-            // Check if this is a distance line (contains 'm' or 'ft')
-            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
-                if (d_rel < 20.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
-                } else if (d_rel < 40.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
-                }
-            }
-            // Enhanced color coding for time-to-contact
-            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
-                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
-                if (ttc_val < 3.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
-                } else if (ttc_val < 6.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
-                }
-            }
-            else {
-                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
-            }
-
-            // Draw main text
-            painter.setPen(text_color);
-            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-        }
-    }
-
-    // Reset pen
-    painter.setPen(Qt::NoPen);
-}
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -34,12 +34,6 @@ protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
@@ -65,8 +59,4 @@ protected:
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
 
-  float lead_status_alpha = 0.0f;
-  QPointF lead_status_pos;
-  QString lead_status_text;
-  QColor lead_status_color;
 };

selfdrive/ui/qt/widgets/input.cc

@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   return "";
 }
 
-TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
+                                   const QString &current, const QString &favParam, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }
@@ -375,6 +375,9 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
   main_layout->addSpacing(25);
 
+  iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
+  iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
+
   treeWidget = new QTreeWidget(this);
   treeWidget->setHeaderHidden(true);
   treeWidget->setIndentation(50);
@@ -396,34 +399,49 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
 
   QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
 
+  // Create initial list of favorites from param
+  const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
+  mapFavs = new QMap<QString, QList<QPushButton*>>();
+  favRefs = new QStringList(favs.split(";"));
+  for (const QString &item : *favRefs)
+  {
+    mapFavs->insert( item, {});
+  }
+
   // Populate tree
-  QListIterator<QPair<QString, QStringList>> iter(items);
+  QListIterator<TreeFolder> iter(items);
   while (iter.hasNext()) {
-    QPair currItem = iter.next();
-    if (currItem.first.isEmpty()) {
-      for (const QString &item : currItem.second) {
+    TreeFolder currItem = iter.next();
+    QString prevFolder;
+    QString currentFolder;
+    if (currItem.folder.isEmpty()) {
+      for (const TreeNode &item : currItem.items) {
         QTreeWidgetItem *topLevel = new QTreeWidgetItem();
-        topLevel->setText(0, item);
+        topLevel->setText(0, item.displayName);
+        topLevel->setData(0, Qt::UserRole, item.ref);
         topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
         treeWidget->addTopLevelItem(topLevel);
-        if (item == current) {
+        if (item.ref == current) {
           topLevel->setSelected(true);
         }
       }
     } else {
-      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
+      QTreeWidgetItem *folderItem = nullptr;
+      if (folders.isEmpty()) {
+        folderItem = new QTreeWidgetItem(treeWidget);
+      } else {
+        folderItem = folders.first();
+      }
       folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setText(0, "  " + currItem.folder);
       folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
       folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
 
-      for (const QString &item : currItem.second)
+      for (const TreeNode item : currItem.items)
       {
-        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
-        childItem->setText(0, item);
-        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
-
-        if (item == current) {
+        QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
+        if (item.ref == current) {
           childItem->setSelected(true);
           folderItem->setExpanded(true);
         }
@@ -431,6 +449,39 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
     }
   }
 
+  // Create favorites folder
+  favorites = new QTreeWidgetItem();
+  favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+  favorites->setText(0, "  " + tr("Favorites"));
+  favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
+  favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
+  treeWidget->insertTopLevelItem(1, favorites);
+
+  // Create favorite nodes
+  for (int i = favRefs->size() - 1; i >= 0; --i) {
+    QString item = favRefs->at(i);
+    if (item.isEmpty()) continue;
+
+    QTreeWidgetItemIterator treeIt(treeWidget);
+    QTreeWidgetItem *nodeItem = nullptr;
+    while (*treeIt) {
+      if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
+        nodeItem = (*treeIt);
+        break;
+      }
+      ++treeIt;
+    }
+    if (nodeItem == nullptr) continue;
+
+    QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
+      nodeItem->data(0, Qt::UserRole).toString(), favorites);
+    if (item == current) {
+      treeWidget->collapseAll();
+      childItem->setSelected(true);
+      favorites->setExpanded(true);
+    }
+  }
+
   confirm_btn = new QPushButton(tr("Select"));
   confirm_btn->setObjectName("confirm_btn");
   confirm_btn->setEnabled(false);
@@ -438,7 +489,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
     QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
     if (!selectedItems.isEmpty()) {
-      selection = selectedItems.first()->text(0);
+      selection = selectedItems.first()->data(0, Qt::UserRole).toString();
       confirm_btn->setEnabled(selection != current);
     }
   });
@@ -465,11 +516,91 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
   outer_layout->addWidget(container);
 }
 
-QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                     const QString &current, QWidget *parent) {
-  TreeOptionDialog d(prompt_text, items, current, parent);
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
+                                     const QString &current, const QString &favParam, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, favParam, parent);
   if (d.exec()) {
     return d.selection;
   }
   return "";
 }
+
+/**
+ * Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
+ *
+ * @param displayName The text label associated with the item to be added or removed in the favorites.
+ * @param ref A unique reference key identifying the item.
+ * @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
+ *            whether the item is currently favorited or not.
+ *
+ * If the item is already in the favorites, it is removed from the list, its associated buttons have their
+ * icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
+ * added to the list, a new associated button is created, and the favorites tree is updated. The current
+ * state of the favorites is stored in the Params object as a semicolon-separated string.
+ */
+void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
+  if (mapFavs->keys().contains(ref)) { // Remove from favorites
+    for (auto *itemBtn:mapFavs->value(ref))
+    {
+      itemBtn->setIcon(iconBlank);
+    }
+    mapFavs->remove(ref);
+    favRefs->removeAll(ref);
+    for (int i = 0; i < favorites->childCount(); ++i) {
+      QTreeWidgetItem* child = favorites->child(i);
+      if (child && child->data(0, Qt::UserRole).toString() == ref) {
+        favorites->removeChild(child);
+      }
+    }
+  } else { // Add to favorites
+    QPushButton *favBtn = new QPushButton();
+    btn->setIcon(iconFilled);
+    mapFavs->insert(ref, {btn, favBtn});
+    favRefs->append(ref);
+    addChildItem(displayName, ref, favorites, favBtn, true);
+  }
+
+  const QString favs =favRefs->join(";");
+  params.put("ModelManager_Favs", favs.toStdString());
+}
+
+/**
+ * Adds a child item to a given folder item within the QTreeWidget.
+ *
+ * @param displayName The text to display for the child item.
+ * @param ref A reference string that uniquely identifies the child item.
+ * @param folderItem The parent folder item to which the child item will be added.
+ * @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
+ * @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
+ * @return A pointer to the created QTreeWidgetItem representing the child item.
+ */
+QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
+  QTreeWidgetItem *childItem = new QTreeWidgetItem();
+  if (btn == nullptr) {
+    btn = new QPushButton();
+  }
+  if (mapFavs->keys().contains(ref)) {
+    btn->setIcon(iconFilled);
+    (*mapFavs)[ref].append(btn);
+  } else {
+    btn->setIcon(iconBlank);
+  }
+  btn->setIconSize(QSize(100, 100));
+  QWidget *buttonContainer = new QWidget();
+  QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
+  layout->addWidget(btn, 0, Qt::AlignRight);
+  childItem->setText(0, displayName);
+  childItem->setData(0, Qt::UserRole, ref);
+  childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+  if (addAtTop) {
+    folderItem->insertChild(0, childItem);
+  } else {
+    folderItem->addChild(childItem);
+  }
+  treeWidget->setItemWidget(childItem, 0, buttonContainer);
+
+  connect(btn, &QPushButton::clicked, btn, [=]() {
+    handleFavorites(displayName, ref, btn);
+  });
+  return childItem;
+}

selfdrive/ui/qt/widgets/input.h

@@ -8,9 +8,22 @@
 #include <QWidget>
 #include <QTreeWidget>
 
+#include "common/params.h"
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
 
+struct TreeNode {
+  QString folder;
+  QString displayName;
+  QString ref;
+  int index;
+};
+
+struct TreeFolder {
+  QString folder;
+  QList<TreeNode> items;
+};
+
 class DialogBase : public QDialog {
   Q_OBJECT
 
@@ -75,11 +88,20 @@ class TreeOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:
-  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
-  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
+  QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
   QString selection;
 
 private:
   QTreeWidget *treeWidget;
   QPushButton *confirm_btn;
+  Params params;
+  QMap<QString, QList<QPushButton*>> *mapFavs;
+  QStringList *favRefs;
+  QTreeWidgetItem *favorites;
+
+  QIcon iconBlank;
+  QIcon iconFilled;
 };

selfdrive/ui/sunnypilot/SConscript

@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
@@ -52,10 +53,6 @@ lateral_panel_qt_src = [
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc",
 ]
 
 network_src = [

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

@@ -5,9 +5,14 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);
@@ -22,6 +27,10 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
   addItem(enableGithubRunner);
 
+  // Copyparty Toggle
+  enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
+  addItem(enableCopyparty);
+
   // Quickboot Mode Toggle
   prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
   addItem(prebuiltToggle);

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

@@ -16,6 +16,7 @@ public:
   explicit DeveloperPanelSP(SettingsWindow *parent);
 
 private:
+  ParamControlSP *enableCopyparty;
   ParamControlSP *enableGithubRunner;
   ButtonControlSP *errorLogBtn;
   ParamControlSP *prebuiltToggle;

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc

@@ -1,25 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-
-SpeedLimitControl::SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ExpandableToggleRow(param, title, desc, icon, parent) {
-
-  auto *slcFrame = new QFrame(this);
-  auto *slcFrameLayout = new QVBoxLayout();
-  slcFrame->setLayout(slcFrameLayout);
-  slcFrameLayout->setSpacing(0);
-  slcFrameLayout->setContentsMargins(0, 0, 0, 0);
-
-  slcSettings = new PushButtonSP(tr("Customize SLC"));
-  slcFrameLayout->addWidget(slcSettings);
-  connect(slcSettings, &QPushButton::clicked, [&]() {
-    emit slcSettingsButtonClicked();
-  });
-  addItem(slcFrame);
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h

@@ -1,77 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-enum class SLCEngageType {
-  AUTO,
-  USER_CONFIRM,
-};
-
-inline const char *SLCEngageTypeText[]{
-  QT_TR_NOOP("Auto"),
-  QT_TR_NOOP("User Confirm")
-};
-
-enum class SLCOffsetType {
-  NONE,
-  FIXED,
-  PERCENT,
-};
-
-inline const char *SLCOffsetTypeText[]{
-  QT_TR_NOOP("None"),
-  QT_TR_NOOP("Fixed"),
-  QT_TR_NOOP("Percent"),
-};
-
-enum class SLCWarningType {
-  OFF,
-  DISPLAY,
-  CHIME,
-};
-
-inline const char *SLCWarningTypeText[]{
-  QT_TR_NOOP("Off"),
-  QT_TR_NOOP("Display"),
-  QT_TR_NOOP("Chime")
-};
-
-enum class SLCSourcePolicy {
-  CAR_ONLY,
-  MAP_ONLY,
-  CAR_FIRST,
-  MAP_FIRST,
-  COMBINED
-};
-
-inline const char *SLCSourcePolicyText[]{
-  QT_TR_NOOP("Car\nOnly"),
-  QT_TR_NOOP("Map\nOnly"),
-  QT_TR_NOOP("Car\nFirst"),
-  QT_TR_NOOP("Map\nFirst"),
-  QT_TR_NOOP("Combined\nData")
-};
-
-class SpeedLimitControl : public ExpandableToggleRow {
-  Q_OBJECT
-
-public:
-  SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
-
-signals:
-  void slcSettingsButtonClicked();
-
-private:
-  Params params;
-  PushButtonSP *slcSettings;
-};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc

@@ -1,53 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
-
-SpeedLimitControlPolicy::SpeedLimitControlPolicy(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  main_layout->addSpacing(10);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  std::vector<QString> slc_policy_texts{
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_ONLY)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_ONLY)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_FIRST)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_FIRST)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::COMBINED)]
-  };
-  slc_policy = new ButtonParamControlSP(
-    "SpeedLimitControlPolicy",
-    tr("Speed Limit Source"),
-    "",
-    "",
-    slc_policy_texts,
-    250);
-  list->addItem(slc_policy);
-  connect(slc_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlPolicy::refresh);
-
-  refresh();
-  main_layout->addWidget(list);
-};
-
-void SpeedLimitControlPolicy::refresh() {
-  SLCSourcePolicy policy_param = static_cast<SLCSourcePolicy>(std::atoi(params.get("SpeedLimitControlPolicy").c_str()));
-  slc_policy->setDescription(sourceDescription(policy_param));
-}
-
-void SpeedLimitControlPolicy::showEvent(QShowEvent *event) {
-  refresh();
-  slc_policy->showDescription();
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h

@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlPolicy : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit SpeedLimitControlPolicy(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  ButtonParamControlSP *slc_policy;
-
-  static QString sourceDescription(SLCSourcePolicy type = SLCSourcePolicy::CAR_ONLY) {
-    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
-    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
-    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
-    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
-    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
-
-    if (type == SLCSourcePolicy::CAR_ONLY) {
-      car_only = "<font color='white'><b>" + car_only + "</b></font>";
-    } else if (type == SLCSourcePolicy::MAP_ONLY) {
-      map_only = "<font color='white'><b>" + map_only + "</b></font>";
-    } else if (type == SLCSourcePolicy::CAR_FIRST) {
-      car_first = "<font color='white'><b>" + car_first + "</b></font>";
-    } else if (type == SLCSourcePolicy::MAP_FIRST) {
-      map_first = "<font color='white'><b>" + map_first + "</b></font>";
-    } else {
-      combined = "<font color='white'><b>" + combined + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3<br>%4<br>%5")
-        .arg(car_only)
-        .arg(map_only)
-        .arg(car_first)
-        .arg(map_first)
-        .arg(combined);
-  }
-};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc

@@ -1,142 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
-
-SpeedLimitControlSubpanel::SpeedLimitControlSubpanel(QWidget *parent) : QStackedWidget(parent) {
-  subPanelFrame = new QFrame();
-  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
-  subPanelLayout->setContentsMargins(0, 0, 0, 0);
-  subPanelLayout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
-
-  subPanelLayout->addSpacing(20);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  auto *slcBtnFrame = new QFrame(this);
-  auto *slcBtnFrameLayout = new QGridLayout();
-  slcBtnFrame->setLayout(slcBtnFrameLayout);
-  slcBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
-  slcBtnFrameLayout->setSpacing(0);
-
-  slcWarningScreen = new SpeedLimitControlWarning(this);
-  slcPolicyScreen = new SpeedLimitControlPolicy(this);
-
-  slcWarningControl = new PushButtonSP(tr("Customize Warning"));
-  connect(slcWarningControl, &QPushButton::clicked, [&]() {
-    setCurrentWidget(slcWarningScreen);
-    slcWarningScreen->refresh();
-  });
-  connect(slcWarningScreen, &SpeedLimitControlWarning::backPress, [&]() {
-    setCurrentWidget(subPanelFrame);
-    showEvent(new QShowEvent());
-  });
-
-  slcSourceControl = new PushButtonSP(tr("Customize Source"));
-  connect(slcSourceControl, &QPushButton::clicked, [&]() {
-    setCurrentWidget(slcPolicyScreen);
-    slcPolicyScreen->refresh();
-  });
-  connect(slcPolicyScreen, &SpeedLimitControlPolicy::backPress, [&]() {
-    setCurrentWidget(subPanelFrame);
-    showEvent(new QShowEvent());
-  });
-
-  slcWarningControl->setFixedWidth(720);
-  slcSourceControl->setFixedWidth(720);
-  slcBtnFrameLayout->addWidget(slcWarningControl, 0, 0, Qt::AlignLeft);
-  slcBtnFrameLayout->addWidget(slcSourceControl, 0, 1, Qt::AlignRight);
-  list->addItem(slcBtnFrame);
-
-
-  std::vector<QString> slc_engage_texts{
-    SLCEngageTypeText[static_cast<int>(SLCEngageType::AUTO)],
-    SLCEngageTypeText[static_cast<int>(SLCEngageType::USER_CONFIRM)]
-  };
-  slc_engage_setting = new ButtonParamControlSP(
-    "SpeedLimitEngageType",
-    tr("Engage Mode"),
-    "",
-    "",
-    slc_engage_texts,
-    500);
-  slc_engage_setting->showDescription();
-  list->addItem(slc_engage_setting);
-
-  QFrame *offsetFrame = new QFrame(this);
-  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
-
-  std::vector<QString> slc_offset_texts{
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
-  };
-  slc_offset_setting = new ButtonParamControlSP(
-    "SpeedLimitOffsetType",
-    tr("Speed Limit Offset"),
-    "",
-    "",
-    slc_offset_texts,
-    500);
-
-  offsetLayout->addWidget(slc_offset_setting);
-
-  slc_offset = new OptionControlSP(
-    "SpeedLimitValueOffset",
-    "",
-    "",
-    "",
-    {-30, 30}
-    );
-  offsetLayout->addWidget(slc_offset);
-
-  list->addItem(offsetFrame);
-
-  connect(slc_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlSubpanel::refresh);
-  connect(slc_offset_setting, &ButtonParamControlSP::showDescriptionEvent, slc_offset, &OptionControlSP::showDescription);
-  connect(slc_engage_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
-  connect(slc_offset_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
-
-  refresh();
-  subPanelLayout->addWidget(list);
-  addWidget(subPanelFrame);
-  addWidget(slcWarningScreen);
-  addWidget(slcPolicyScreen);
-  setCurrentWidget(subPanelFrame);
-};
-
-void SpeedLimitControlSubpanel::refresh() {
-  SLCEngageType engage_type_param = static_cast<SLCEngageType>(std::atoi(params.get("SpeedLimitEngageType").c_str()));
-  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
-  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
-
-  slc_engage_setting->setDescription(engageModeDescription(engage_type_param));
-  slc_offset->setDescription(offsetDescription(offset_type_param));
-
-  if (offset_type_param == SLCOffsetType::PERCENT) {
-    offsetLabel += "%";
-  }
-
-  if (offset_type_param == SLCOffsetType::NONE) {
-    slc_offset->setVisible(false);
-  } else {
-    slc_offset->setVisible(true);
-    slc_offset->setLabel(offsetLabel);
-    slc_offset->showDescription();
-  }
-}
-
-void SpeedLimitControlSubpanel::showEvent(QShowEvent *event) {
-  refresh();
-  slc_engage_setting->showDescription();
-  slc_offset->showDescription();
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h

@@ -1,72 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlSubpanel : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  SpeedLimitControlSubpanel(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  QFrame *subPanelFrame;
-  PushButtonSP *slcWarningControl;
-  PushButtonSP *slcSourceControl;
-  ButtonParamControlSP *slc_offset_setting;
-  OptionControlSP *slc_offset;
-  ButtonParamControlSP *slc_engage_setting;
-  SpeedLimitControlWarning *slcWarningScreen;
-  SpeedLimitControlPolicy *slcPolicyScreen;
-
-  static QString engageModeDescription(SLCEngageType type = SLCEngageType::AUTO) {
-    QString auto_str = tr("⦿ Auto: Automatic speed adjustment based on speed limit data");
-    QString user_str = tr("⦿ User Confirm: Asks driver to confirm speed adjustment based on speed limit data");
-
-    if (type == SLCEngageType::USER_CONFIRM) {
-      user_str = "<font color='white'><b>" + user_str + "</b></font>";
-    } else {
-      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2")
-        .arg(auto_str)
-        .arg(user_str);
-  }
-
-  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
-    QString none_str = tr("⦿ None: No Offset");
-    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
-    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
-
-    if (type == SLCOffsetType::FIXED) {
-      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
-    } else if (type == SLCOffsetType::PERCENT) {
-      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
-    } else {
-      none_str = "<font color='white'><b>" + none_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(none_str)
-        .arg(fixed_str)
-        .arg(percent_str);
-  }
-};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc

@@ -1,100 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
-
-SpeedLimitControlWarning::SpeedLimitControlWarning(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  main_layout->addSpacing(10);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  std::vector<QString> slc_warning_texts{
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::OFF)],
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::DISPLAY)],
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::CHIME)]
-  };
-  slc_warning_settings = new ButtonParamControlSP(
-    "SpeedLimitWarningType", tr("Speed Limit Warning"),
-    "",
-    "",
-    slc_warning_texts,
-    300);
-  list->addItem(slc_warning_settings);
-
-  QFrame *offsetFrame = new QFrame(this);
-  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
-
-  std::vector<QString> slc_warning_offset_texts{
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
-  };
-  slc_warning_offset_settings = new ButtonParamControlSP(
-    "SpeedLimitWarningOffsetType",
-    tr("Warning Offset"),
-    "",
-    "",
-    slc_warning_offset_texts,
-    300);
-  offsetLayout->addWidget(slc_warning_offset_settings);
-
-  slc_warning_offset = new OptionControlSP(
-    "SpeedLimitWarningValueOffset",
-    "",
-    "",
-    "",
-    {-30, 30}
-  );
-  slc_warning_offset->setFixedWidth(100);
-  offsetLayout->addWidget(slc_warning_offset);
-
-  list->addItem(offsetFrame);
-
-  connect(slc_warning_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlWarning::refresh);
-  connect(slc_warning_offset_settings, &ButtonParamControlSP::showDescriptionEvent, slc_warning_offset, &OptionControlSP::showDescription);
-  connect(slc_warning_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
-  connect(slc_warning_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
-
-  refresh();
-  main_layout->addWidget(list);
-};
-
-void SpeedLimitControlWarning::refresh() {
-  SLCWarningType warning_type_param = static_cast<SLCWarningType>(std::atoi(params.get("SpeedLimitWarningType").c_str()));
-  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitWarningOffsetType").c_str()));
-  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitWarningValueOffset"));
-
-  slc_warning_settings->setDescription(warningDescription(warning_type_param));
-  slc_warning_offset->setDescription(offsetDescription(offset_type_param));
-
-  if (offset_type_param == SLCOffsetType::PERCENT) {
-    offsetLabel += "%";
-  }
-
-  if (offset_type_param == SLCOffsetType::NONE) {
-    slc_warning_offset->setDisabled(true);
-    slc_warning_offset->setLabel(tr("N/A"));
-  } else {
-    slc_warning_offset->setDisabled(false);
-    slc_warning_offset->setLabel(offsetLabel);
-  }
-}
-
-void SpeedLimitControlWarning::showEvent(QShowEvent *event) {
-  refresh();
-  slc_warning_settings->showDescription();
-  slc_warning_offset->showDescription();
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h

@@ -1,71 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlWarning : public QWidget {
-  Q_OBJECT
-
-public:
-  SpeedLimitControlWarning(QWidget *parent = nullptr);
-
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-
-  ButtonParamControlSP *slc_warning_settings;
-  ButtonParamControlSP *slc_warning_offset_settings;
-  OptionControlSP *slc_warning_offset;
-
-  static QString warningDescription(SLCWarningType type = SLCWarningType::OFF) {
-    QString off_str = tr("⦿ Off: No Warning");
-    QString display_str = tr("⦿ Display: Speed Limit Sign will visually alert");
-    QString chime_str = tr("⦿ Chime: Speed Limit Sign will visually alert along with an audible chime");
-
-    if (type == SLCWarningType::DISPLAY) {
-      display_str = "<font color='white'><b>" + display_str + "</b></font>";
-    } else if (type == SLCWarningType::CHIME) {
-      chime_str = "<font color='white'><b>" + chime_str + "</b></font>";
-    } else {
-      off_str = "<font color='white'><b>" + off_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(off_str)
-        .arg(display_str)
-        .arg(chime_str);
-  }
-
-  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
-    QString none_str = tr("⦿ None: No Offset");
-    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
-    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
-
-    if (type == SLCOffsetType::FIXED) {
-      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
-    } else if (type == SLCOffsetType::PERCENT) {
-      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
-    } else {
-      none_str = "<font color='white'><b>" + none_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(none_str)
-        .arg(fixed_str)
-        .arg(percent_str);
-  }
-};

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

@@ -8,21 +8,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
-  setStyleSheet(R"(
-    #back_btn {
-      font-size: 50px;
-      margin: 0px;
-      padding: 15px;
-      border-width: 0;
-      border-radius: 30px;
-      color: #dddddd;
-      background-color: #393939;
-    }
-    #back_btn:pressed {
-      background-color:  #4a4a4a;
-    }
-  )");
-
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -38,28 +23,7 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
-  slcControl = new SpeedLimitControl(
-    "SpeedLimitControl",
-    tr("Speed Limit Control (SLC)"),
-    tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. "
-      "The maximum cruising speed will always be the MAX set speed."),
-    "",
-    this);
-  list->addItem(slcControl);
-
-  connect(slcControl, &SpeedLimitControl::slcSettingsButtonClicked, [=]() {
-    cruisePanelScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(slcScreen);
-  });
-
-  slcScreen = new SpeedLimitControlSubpanel(this);
-  connect(slcScreen, &SpeedLimitControlSubpanel::backPress, [=]() {
-    cruisePanelScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(cruisePanelScreen);
-  });
-
   main_layout->addWidget(cruisePanelScreen);
-  main_layout->addWidget(slcScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }

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

@@ -8,11 +8,8 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
 
 class LongitudinalPanel : public QWidget {
   Q_OBJECT
@@ -32,6 +29,4 @@ private:
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
-  SpeedLimitControlSubpanel *slcScreen;
-  SpeedLimitControl *slcControl;
 };

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

@@ -101,32 +101,42 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
-
   list->addItem(horizontal_line());
 
+  // Lane Turn Desire toggle
+  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
+                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
+                            "the car will plan a turn in that direction at the nearest drivable path. "
+                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
+                             "../assets/offroad/icon_shell.png");
+  list->addItem(lane_turn_desire_toggle);
+
+  // Lane Turn Value control
+  int max_value_mph = 20;
+  bool is_metric_initial = params.getBool("IsMetric");
+  const float K = 1.609344f;
+  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
+  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
+    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
+  lane_turn_value_control->showDescription();
+  list->addItem(lane_turn_value_control);
+
+  // Show based on toggle
+  refreshLaneTurnValueControl();
+  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
+  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
+
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
   list->addItem(lagd_toggle_control);
 
   // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                         "\nThe default software delay value is 0.2"),
+                                      "", {5, 50}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -159,6 +169,19 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
+void ModelsPanel::refreshLaneTurnValueControl() {
+  if (!lane_turn_value_control) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = stored_mph;
+  if (is_metric) {
+    display_value = stored_mph * 1.609344f;
+  }
+  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
+  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
+}
+
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
@@ -259,6 +282,18 @@ QString ModelsPanel::GetActiveModelInternalName() {
   return DEFAULT_MODEL;
 }
 
+/**
+ * @brief Gets the ref of the currently selected model bundle
+ * @return ref of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelRef() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getRef());
+  }
+
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -272,34 +307,31 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  struct ModelEntry {
-    QString folder;
-    QString displayName;
-    int index;
-  };
-  QList<ModelEntry> sortedModels;
+  QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
+  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
   const auto bundles = model_manager.getAvailableBundles();
 
   for (const auto &bundle : bundles) {
     auto overrides = bundle.getOverrides();
-    QString gen;
+    QString folder;
     for (const auto &override : overrides) {
       if (override.getKey() == "folder") {
-        gen = QString::fromStdString(override.getValue().cStr());
+        folder = QString::fromStdString(override.getValue().cStr());
       }
     }
 
-    modelFolders.insert(gen);
-    sortedModels.append(ModelEntry{
-      gen,
+    modelFolders.insert(folder);
+    sortedModels.append(TreeNode{
+      folder,
       QString::fromStdString(bundle.getDisplayName()),
+      QString::fromStdString(bundle.getRef()),
       static_cast<int>(bundle.getIndex())
     });
   }
 
   std::sort(sortedModels.begin(), sortedModels.end(),
-    [](const ModelEntry &a, const ModelEntry &b) {
+    [](const TreeNode &a, const TreeNode &b) {
       return a.index > b.index;
     });
 
@@ -322,37 +354,46 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
       });
 
   // Create the final items list using sorted folders
-  QList<QPair<QString, QStringList>> items;
+  QList<TreeFolder> items;
   for (const auto &folderPair : folderMaxIndices) {
-    QStringList folderModels;
+    QList<TreeNode> folderModels;
+    QString folder = folderPair.first;
     for (const auto &model : sortedModels) {
       if (model.folder == folderPair.first) {
-        folderModels.append(model.displayName);
+        if (model.index == folderPair.second) {
+          QRegularExpressionMatch match = re.match(model.displayName);
+          if (match.hasMatch()) {
+            folder.append(" - (Updated: ").append(match.captured(1)).append(")");
+          }
+        }
+        folderModels.append(model);
       }
     }
-    items.append(qMakePair(folderPair.first, folderModels));
+    items.append(TreeFolder{folder, folderModels});
   }
 
-  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+  items.insert(0, TreeFolder{"", {
+    TreeNode{"", DEFAULT_MODEL, DEFAULT_MODEL, -1}
+  }});
 
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleName = TreeOptionDialog::getSelection(
-    tr("Select a Model"), items, GetActiveModelName(), this);
+  const QString selectedBundleRef = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelRef(), QString("ModelManager_Favs"), this);
 
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+  if (selectedBundleRef.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleName == DEFAULT_MODEL) {
+  if (selectedBundleRef == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
     for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
           showResetParamsDialog();
@@ -383,34 +424,28 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
+    auto liveDelayBytes = params.get("LiveDelay");
     if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
+      auto LD = loadCerealEvent(params, "LiveDelay");
+      float lateralDelay = LD->getLiveDelay().getLateralDelay();
+      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
     }
   } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
+    auto carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
+      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+      float steerDelay = CP.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);
@@ -421,6 +456,9 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
   }
 
+  // Update lane turn desire label and visibility
+  refreshLaneTurnValueControl();
+
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 

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

@@ -9,6 +9,7 @@
 
 #include <QProgressBar>
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -20,6 +21,7 @@ public:
 private:
   QString GetActiveModelName();
   QString GetActiveModelInternalName();
+  QString GetActiveModelRef();
   void updateModelManagerState();
   void showEvent(QShowEvent *event) override;
 
@@ -36,6 +38,7 @@ private:
   void updateLabels();
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
+  void refreshLaneTurnValueControl();
   void showResetParamsDialog();
   QProgressBar* createProgressBar(QWidget *parent);
   QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -80,5 +83,6 @@ private:
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-
+  ParamControlSP *lane_turn_desire_toggle;
+  OptionControlSP *lane_turn_value_control;
 };

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

@@ -11,12 +11,39 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+      auto current = params.get("GitBranch");
+      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+      QStringList branches;
+      for (const QString &b : allBranches) {
+        if (b.endsWith("-tici")) {
+          branches.append(b);
+        }
+      }
+
+      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
+        auto i = branches.indexOf(b);
+        if (i >= 0) {
+          branches.removeAt(i);
+          branches.insert(0, b);
+        }
+      }
+
+      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+      if (!selection.isEmpty()) {
+        params.put("UpdaterTargetBranch", selection.toStdString());
+        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+        checkForUpdates();
+      }
+    } else {
+      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
+    }
   });
 
   // Disable Updates toggle

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

@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",

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

@@ -28,6 +28,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
+    {
+      "RainbowMode",
+      tr("Enable Tesla Rainbow Mode"),
+      RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
   };
 
   // Add regular toggles first

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

@@ -48,5 +48,192 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
       painter.drawPolygon(right_blindspot_vertices);
     }
   }
-  ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+  bool rainbow = Params().getBool("RainbowMode");
+  //float v_ego = sm["carState"].getCarState().getVEgo();
+
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
+  } else {
+    // Normal path rendering
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+    drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+  }
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+
+    bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+    if (!longitudinal_control) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        return;
+    }
+
+    if (!sm.alive("radarState")) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        return;
+    }
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+    }
+
+    if (has_lead_one) {
+        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    }
+
+    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    }
+}
+
+void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
+                                               const cereal::RadarState::LeadData::Reader &lead_data,
+                                               const QPointF &chevron_pos,
+                                               int height, int width,
+                                               const QString &label) {
+    float d_rel = lead_data.getDRel();
+    float v_rel = lead_data.getVRel();
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+    float v_ego = sm["carState"].getCarState().getVEgo();
+
+    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
+    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+    QFont content_font = painter.font();
+    content_font.setPixelSize(42);
+    content_font.setBold(true);
+    painter.setFont(content_font);
+
+    bool is_metric = s->scene.is_metric;
+    QStringList text_lines;
+
+    const int chevron_all = 4;
+    QStringList chevron_text[3];
+
+    // Distance display
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        int pos = 0;
+        float val = std::max(0.0f, d_rel);
+        QString unit = is_metric ? "m" : "ft";
+        if (!is_metric) val *= 3.28084f;
+        chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+    }
+
+    // Speed display
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        int pos = (chevron_data == 2) ? 0 : 1;
+        float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+        float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+        QString unit = is_metric ? "km/h" : "mph";
+        chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+    }
+
+    // Time to contact
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        int pos = (chevron_data == 3) ? 0 : 2;
+        float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[pos].append(ttc);
+    }
+
+    for (int i = 0; i < 3; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    if (text_lines.isEmpty()) return;
+
+    QFontMetrics fm(content_font);
+    float text_width = 120.0f;
+    for (const QString &line : text_lines) {
+        text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+    }
+    text_width = std::min(text_width, 250.0f);
+
+    float line_height = 45.0f;
+    float total_height = text_lines.size() * line_height;
+    float margin = 20.0f;
+
+    float text_y = chevron_pos.y() + sz + 15;
+    if (text_y + total_height > height - margin) {
+        text_y = chevron_pos.y() - sz - 15 - total_height;
+        text_y = std::max(margin, text_y);
+    }
+
+    float text_x = chevron_pos.x() - text_width / 2;
+    text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+    QPoint shadow_offset(2, 2);
+
+    for (int i = 0; i < text_lines.size(); ++i) {
+        float y = text_y + (i * line_height);
+        if (y + line_height > height - margin) break;
+
+        QRect rect(text_x, y, text_width, line_height);
+
+        // Draw shadow
+        painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+        painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+
+        QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+        if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
+            if (d_rel < 20.0f) {
+                text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha));
+            } else if (d_rel < 40.0f) {
+                text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha));
+            } else {
+                text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha));
+            }
+        }
+
+        painter.setPen(text_color);
+        painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+    }
+
+    painter.setPen(Qt::NoPen);
 }

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

@@ -17,6 +17,17 @@ private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
 
+  // Lead status display methods
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                               const cereal::RadarState::LeadData::Reader &lead_data,
+                               const QPointF &chevron_pos,
+                               int height, int width,
+                               const QString &label);
+
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
 };

selfdrive/ui/sunnypilot/qt/util.cc

@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
   }
   return search_results;
 }
+
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
+  std::string bytes = params.get(_param);
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
+    return cmsg.getRoot<cereal::Event>();
+  } catch (kj::Exception& e) {
+    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}

selfdrive/ui/sunnypilot/qt/util.h

@@ -15,8 +15,11 @@
 #include <QRegularExpression>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/ui.h"
+
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -750,3 +750,24 @@ public:
     setFixedSize(400, 100);
   }
 };
+
+inline QString RainbowizeWords(const QString &text) {
+  const QStringList colors = {
+    "#FF6F61",  // soft coral red
+    "#FFA177",  // warm peach
+    "#FFD966",  // soft golden yellow
+    "#88D498",  // mint green
+    "#6EC6FF",  // sky blue
+    "#A78BFA",  // soft lavender
+    "#F78FB3"   // rose pink
+  };
+    
+    QString result;
+    QStringList words = text.split(' ');
+    
+    for (int i = 0; i < words.size(); ++i) {
+      result += QString("<font color='%1'>%2</font> ").arg(colors[i % colors.size()]).arg(words[i].toHtmlEscaped());
+    }
+    
+    return result.trimmed();
+  }

selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc

@@ -18,7 +18,6 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
   collapsibleWidget->setVisible(false);
   QVBoxLayout *collapsible_layout = new QVBoxLayout();
   collapsibleWidget->setLayout(collapsible_layout);
-  collapsible_layout->setContentsMargins(0, 20, 0, 20);
 
   list = new ListWidgetSP(this, false);
 

selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc

@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}

selfdrive/ui/sunnypilot/qt/widgets/external_storage.h

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};

selfdrive/ui/translations/main_ar.ts

@@ -2103,6 +2103,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_de.ts

@@ -2085,6 +2085,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_es.ts

@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_fr.ts

@@ -2083,6 +2083,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ja.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ko.ts

@@ -2096,6 +2096,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -2087,6 +2087,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_th.ts

@@ -2078,6 +2078,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_tr.ts

@@ -2077,6 +2077,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -2082,6 +2082,22 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

sunnypilot/mapd/mapd_manager.py

@@ -6,11 +6,11 @@ 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 json
-import time
 import platform
 import os
 import glob
 import shutil
+from datetime import datetime
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
@@ -56,7 +56,7 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
 
 
 def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
-  params.put("OsmDownloadedDate", str(time.monotonic()))
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
   params.put_bool("OsmDbUpdatesCheck", False)
 
   osm_download_locations = {

sunnypilot/modeld/modeld.py

@@ -177,7 +177,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -304,6 +304,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
@@ -316,6 +317,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -323,6 +325,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
 
     last_vipc_frame_id = meta_main.frame_id
 

sunnypilot/modeld_v2/modeld.py

@@ -27,7 +27,7 @@ from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
+PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
 class FrameMeta:
@@ -77,42 +77,47 @@ class ModelState(ModelStateBase):
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
         # Temporal input: shape is [batch, history, features]
         if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
           feature_len = shape[2]
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
           features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
           if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            buffer_history_len = (features_buffer_shape[1] + 1) * 4
             step = int(-buffer_history_len / shape[1])
             self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
           elif shape[1] == 25:  # Split
             skip = buffer_history_len // shape[1]
             self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] == buffer_history_len:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
+          elif shape[1] >= 99:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(shape[1])
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
   @property
   def mlsim(self) -> bool:
     return bool(self.generation is not None and self.generation >= 11)
 
+  @property
+  def desire_key(self) -> str:
+    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
-    self.temporal_buffers['desire'][0,-1] = new_desire
+    inputs[self.desire_key][0] = 0
+    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
+    self.temporal_buffers[self.desire_key][0,-1] = new_desire
 
     # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
-      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
-      self.numpy_inputs['desire'][:] = (
-        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
+      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
+      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
+                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
     else:
-      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
+      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
 
     for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
+      if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
@@ -156,10 +161,11 @@ class ModelState(ModelStateBase):
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
     desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
-    if v_ego > self.MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 
@@ -202,7 +208,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -306,7 +312,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
@@ -322,6 +328,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -336,6 +343,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -343,6 +351,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py

@@ -8,12 +8,16 @@ import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
 
 ModelState = modeld_module.ModelState
 
-
 # These are the shapes extracted/loaded from the model onnx
 SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
+  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
 ]
 
 
@@ -95,9 +99,7 @@ def get_expected_indices(shape, constants, mode, key=None):
     idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
     return idxs
   elif mode == 'non20hz':
-    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
-      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    return None
+    return np.arange(shape[1])
   return None
 
 
@@ -108,6 +110,8 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
   for key in shapes:
     buf = state.temporal_buffers.get(key, None)
     idxs = state.temporal_idxs_map.get(key, None)
+    if buf is None:
+      continue    # not all shapes are 3D, and the non-3D ones are not buffered
     # Buffer shape logic
     if mode == 'split':
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
@@ -116,10 +120,7 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
     elif mode == 'non20hz':
-      if key == 'features_buffer':
-        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
-      else:
-        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_shape = (1, shapes[key][1], shapes[key][2])
       expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
 
     assert buf is not None, f"{key}: buffer not found"
@@ -130,10 +131,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
       assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
 
 
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
   # This is what we compare the new dynamic logic to, to ensure it does the same thing
   if mode == 'split':
-    if key == 'desire':
+    if key == 'desire' or key.startswith('desire'):
       buf[0,:-1] = buf[0,1:]
       buf[0,-1] = new_val
       return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
@@ -173,15 +174,22 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
       return legacy_buf[idxs]
   elif mode == 'non20hz':
     if key == 'desire':
-      length = new_val.shape[0]
-      buf[0,:-1,:length] = buf[0,1:,:length]
-      buf[0,-1,:length] = new_val[:length]
+      desire_len = constants.DESIRE_LEN
+      if prev_desire is None:
+        prev_desire = np.zeros(desire_len, dtype=np.float32)
+      # Set first element to zero
+      new_val = new_val.copy()
+      new_val[0] = 0
+      # Shift buffer by desire len
+      buf[0][:-desire_len] = buf[0][desire_len:]
+      # Only insert new desire if rising edge
+      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
+      prev_desire[:] = new_val
       return buf[0]
     elif key == 'features_buffer':
-      feature_len = new_val.shape[0]
-      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
-      buf[0,-1,:feature_len] = new_val[:feature_len]
-      return buf[0]
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1] = new_val
+      return buf[0, -input_shape[1]:]  # (99, 512)
     elif key == 'prev_desired_curv':
       length = new_val.shape[0]
       buf[0,:-length,0] = buf[0,length:,0]
@@ -191,32 +199,18 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
 
 
 def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire':
-    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
-    state.temporal_buffers['desire'][0,-1] = new_val
-    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
-      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
-      return state.temporal_buffers['desire'][0].reshape(
-        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
-      ).max(axis=2)
-    else:
-      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
-
-  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
-  for k, tb in state.temporal_buffers.items():
-    if k in state.temporal_idxs_map:
-      continue
-    buf_len = tb.shape[1]
-    if k in state.numpy_inputs:
-      out_len = state.numpy_inputs[k].shape[1]
-      if out_len <= buf_len:
-        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
-      else:
-        state.temporal_idxs_map[k] = np.arange(buf_len)
-    else:
-      state.temporal_idxs_map[k] = np.arange(buf_len)
+  if key == 'desire' or key.startswith('desire'):
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != key}
+    inputs[key] = new_val.copy()
+    # ModelState.run expects desire as a pulse, so we zero the first element.
+    inputs[key][0] = 0
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs[key]
 
   if key == 'features_buffer':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
     def run_model_stub():
       return {
         'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
@@ -226,6 +220,8 @@ def dynamic_buffer_update(state, key, new_val, mode):
     return state.numpy_inputs['features_buffer'][0]
 
   if key == 'prev_desired_curv':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
     def run_model_stub():
       return {
         'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
@@ -241,16 +237,27 @@ def dynamic_buffer_update(state, key, new_val, mode):
 @pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
   state = ModelState(None)
+  if key == "desire":
+    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
+    if desire_keys:
+      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
+  else:
+    actual_key = key
+
+  if actual_key not in state.numpy_inputs:
+    pytest.skip()
+
   constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(key, None)
-  idxs = state.temporal_idxs_map.get(key, None)
-  input_shape = shapes[key]
+  buf = state.temporal_buffers.get(actual_key, None)
+  idxs = state.temporal_idxs_map.get(actual_key, None)
+  input_shape = shapes[actual_key]
+  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
+
   for step in range(20):    # multiple steps to ensure history is built up
     new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
-    actual = dynamic_buffer_update(state, key, new_val, mode)
-    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
+    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
     if expected is not None and actual is not None and expected.shape != actual.shape:
       if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
         expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
+    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"

sunnypilot/models/fetcher.py

@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import time
 
 import requests
+from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from sunnypilot.models.helpers import is_bundle_version_compatible
@@ -66,6 +67,7 @@ class ModelParser:
     model_bundle.is20hz = bundle.get("is_20hz", False)
     model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
     model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
+    model_bundle.ref = bundle.get("ref")
 
     return model_bundle
 
@@ -121,19 +123,36 @@ class ModelFetcher:
     self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
 
-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
-    """Fetches fresh model data from remote and updates cache"""
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
+    """Fetches fresh model data from remote and updates cache.
+    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
+    """
     try:
       response = requests.get(self.MODEL_URL, timeout=10)
-      response.raise_for_status()
-      json_data = response.json()
 
+      # Explicitly handle 404 differently
+      if response.status_code == 404:
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+
+      # Raise for any other 4xx/5xx
+      response.raise_for_status()
+
+      json_data = response.json()
       self.model_cache.set(json_data)
       cloudlog.debug("Successfully updated models cache")
       return self.model_parser.parse_models(json_data)
-    except Exception:
-      cloudlog.exception("Error fetching models")
-      raise
+
+    except ConnectionError as e:
+      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
+    except SSLError as e:
+      cloudlog.warning(f"SSL error while fetching models: {e}")
+    except RequestException as e:
+      cloudlog.warning(f"Request transport error while fetching models: {e}")
+    except Exception as e:
+      cloudlog.exception(f"Unexpected error fetching models: {e}")
+
+    return None
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
@@ -143,12 +162,12 @@ class ModelFetcher:
       cloudlog.debug("Using valid cached models data")
       return self.model_parser.parse_models(cached_data)
 
-    try:
-      return self._fetch_and_cache_models()
-    except Exception:
-      if not cached_data:
-        cloudlog.exception("Failed to fetch fresh data and no cache available")
-        raise
+    fetched_bundles = self._fetch_and_cache_models()
+    if fetched_bundles is not None:
+      return fetched_bundles
+
+    if not cached_data:
+      cloudlog.warning("Failed to fetch fresh data and no cache available")
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 10
 REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/selfdrive/assets/icons/star-empty.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3731604f80e83a1fdb7c258baf6530b81190eeec82e6443172e84a35b7a74c02
+size 1088

sunnypilot/selfdrive/assets/icons/star-filled.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2a513b7f2da004f145b7d689654cc65137f1b146d484fbce7ce727a297b62c
+size 861

sunnypilot/selfdrive/controls/lib/lane_turn_desire.py

@@ -0,0 +1,45 @@
+"""
+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 cereal import custom
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
+
+
+class LaneTurnController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.turn_direction = custom.TurnDirection.none
+    self.params = Params()
+    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.param_read_counter = 0
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+
+  def read_params(self):
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+    value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
+    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
+      self.turn_direction = custom.TurnDirection.turnLeft
+    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
+      self.turn_direction = custom.TurnDirection.turnRight
+    else:
+      self.turn_direction = custom.TurnDirection.none
+
+  def get_turn_direction(self):
+    if not self.enabled:
+      return custom.TurnDirection.none
+    return self.turn_direction

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -9,23 +9,28 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkL
 
 
 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
 
-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
     self._ff = ff
+    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
+    self._roll_compensation = roll_compensation
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
     self._desired_curvature = desired_curvature
     self._actual_curvature = actual_curvature
+    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np
 
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -43,9 +44,10 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
     self.model_v2 = None
     self.model_valid = False
+    self.lac_torque = lac_torque
     self.torque_params = lac_torque.torque_params
 
     self.actual_lateral_jerk: float = 0.0
@@ -53,17 +55,22 @@ class LatControlTorqueExtBase:
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
+    self._pid = PIDController(0.0, 0.0, k_f=0.0)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
+    self._roll_compensation = 0.0
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
     self._desired_curvature = 0.0
     self._actual_curvature = 0.0
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -7,10 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -18,11 +15,8 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
-    self.events_sp = EventsSP()
-
     self.dec = DynamicExperimentalController(CP, mpc)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
-    self.slc = SpeedLimitController(CP)
 
   @property
   def mlsim(self) -> bool:
@@ -35,17 +29,6 @@ class LongitudinalPlannerSP:
 
     return self.dec.mode()
 
-  def update_v_cruise(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> float:
-    self.events_sp.clear()
-
-    self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
-
-    v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
-
-    v_cruise_final = min(v_cruise, v_cruise_slc)
-
-    return v_cruise_final
-
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
 
@@ -55,7 +38,6 @@ class LongitudinalPlannerSP:
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
-    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -63,13 +45,4 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
-    # Speed Limit Control
-    slc = longitudinalPlanSP.slc
-    slc.state = self.slc.state
-    slc.enabled = self.slc.is_enabled
-    slc.active = self.slc.is_active
-    slc.speedLimit = float(self.slc.speed_limit)
-    slc.speedLimitOffset = float(self.slc.speed_limit_offset)
-    slc.distToSpeedLimit = float(self.slc.distance)
-
     pm.send('longitudinalPlanSP', plan_sp_send)

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -9,6 +9,8 @@ import math
 import numpy as np
 
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -57,14 +59,44 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
+      return
+
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
   def update_lateral_lag(self, lag):
     super().update_lateral_lag(lag)
     self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
 
+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                          self.torque_params, gravity_adjusted=False)
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
+    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
+                                             FRICTION_THRESHOLD, self.torque_params)
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self.enabled or not self.model_valid or not self.has_nn_model:
+    if not self._nnlc_enabled:
       return
 
+    self.update_feedforward_torque_space(CS)
+
     low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
     self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
     self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -128,3 +160,5 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
       self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -3,6 +3,7 @@ from parameterized import parameterized
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+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.toyota.values import CAR as TOYOTA
@@ -41,7 +42,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -57,6 +58,7 @@ class TestNeuralNetworkLateralControl:
     VM = VehicleModel(CP)
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -77,17 +79,23 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py

@@ -1,19 +0,0 @@
-from cereal import custom
-
-DEBUG = True
-PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
-TEMP_INACTIVE_GUARD_PERIOD = 1.  # secs. Time to wait after activation before considering temp deactivation signal.
-
-# Lookup table for speed limit percent offset depending on speed.
-LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038]  # 55, 105, 135 km/h
-LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1]  # 50, 100, 130 km/h
-
-# Constants for Limit controllers.
-LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
-LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
-LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
-LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
-LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
-LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
-
-SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState

sunnypilot/selfdrive/controls/lib/speed_limit_controller/common.py

@@ -1,25 +0,0 @@
-from enum import IntEnum
-
-
-class Source(IntEnum):
-  none = 0
-  car_state = 1
-  map_data = 2
-
-
-class Policy(IntEnum):
-  map_data_only = 0
-  car_state_only = 1
-  map_data_priority = 2
-  car_state_priority = 3
-  combined = 4
-
-
-class Engage(IntEnum):
-  auto = 0
-
-
-class OffsetType(IntEnum):
-  default = 0
-  fixed = 1
-  percentage = 2

sunnypilot/selfdrive/controls/lib/speed_limit_controller/helpers.py

@@ -1,19 +0,0 @@
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
-from openpilot.common.swaglog import cloudlog
-
-
-def debug(msg):
-  if not DEBUG:
-    return
-  cloudlog.debug(msg)
-
-
-def description_for_state(speed_limit_control_state):
-  if speed_limit_control_state == SpeedLimitControlState.inactive:
-    return 'INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.tempInactive:
-    return 'TEMP_INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.adapting:
-    return 'ADAPTING'
-  if speed_limit_control_state == SpeedLimitControlState.active:
-    return 'ACTIVE'

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -1,284 +0,0 @@
-import numpy as np
-import time
-
-from cereal import messaging, custom
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
-  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-EventNameSP = custom.OnroadEventSP.EventName
-
-ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
-ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
-
-
-class SpeedLimitController:
-  _speed_limit: float
-  _distance: float
-  _source: Source
-  _v_ego: float
-  _a_ego: float
-  _v_offset: float
-
-  def __init__(self, CP):
-    self.params = Params()
-    self._CP = CP
-    self._policy = self.params.get("SpeedLimitControlPolicy", return_default=True)
-    self._resolver = SpeedLimitResolver(self._policy)
-    self._last_params_update = 0.0
-    self._last_op_engaged_time = 0.0
-    self._is_metric = self.params.get_bool("IsMetric")
-    self._enabled = self.params.get_bool("SpeedLimitControl")
-    self._op_engaged = False
-    self._op_engaged_prev = False
-    self._v_ego = 0.
-    self._a_ego = 0.
-    self._v_offset = 0.
-    self._v_cruise_setpoint = 0.
-    self._v_cruise_setpoint_prev = 0.
-    self._v_cruise_setpoint_changed = False
-    self._speed_limit = 0.
-    self._speed_limit_prev = 0.
-    self._speed_limit_changed = False
-    self._distance = 0.
-    self._source = Source.none
-    self._state = SpeedLimitControlState.inactive
-    self._state_prev = SpeedLimitControlState.inactive
-    self._gas_pressed = False
-    self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
-
-    self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
-    self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
-    self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
-    self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
-    self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
-    self._engage_type = self._read_engage_type_param()
-    self._current_time = 0.
-    self._v_cruise_rounded = 0.
-    self._v_cruise_prev_rounded = 0.
-    self._speed_limit_offsetted_rounded = 0.
-    self._speed_limit_warning_offsetted_rounded = 0.
-    self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-
-    # Mapping functions to state transitions
-    self.state_transition_strategy = {
-      # Transition functions for each state
-      SpeedLimitControlState.inactive: self.transition_state_from_inactive,
-      SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
-      SpeedLimitControlState.adapting: self.transition_state_from_adapting,
-      SpeedLimitControlState.active: self.transition_state_from_active,
-      SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
-    }
-
-    # FIXME-SP: unused?
-    # Solution functions mapped to respective states
-    self.acceleration_solutions = {
-      # Solution functions for each state
-      SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
-      SpeedLimitControlState.active: self.get_active_state_target_acceleration,
-      SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
-    }
-
-  @property
-  def state(self) -> SpeedLimitControlState:
-    return self._state
-
-  @state.setter
-  def state(self, value) -> None:
-    if value != self._state:
-      debug(f'Speed Limit Controller state: {description_for_state(value)}')
-
-      if value == SpeedLimitControlState.tempInactive:
-        # Reset previous speed limit to current value as to prevent going out of tempInactive in
-        # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
-        self._speed_limit_prev = self._speed_limit
-
-    self._state = value
-
-  @property
-  def is_enabled(self) -> bool:
-    return self.state in ENABLED_STATES and self._enabled
-
-  @property
-  def is_active(self) -> bool:
-    return self.state in ACTIVE_STATES and self._enabled
-
-  @property
-  def speed_limit_offseted(self) -> float:
-    return self._speed_limit + self.speed_limit_offset
-
-  @property
-  def speed_limit_offset(self) -> float:
-    return self._get_offset(self._offset_type, self._offset_value)
-
-  @property
-  def speed_limit_warning_offset(self) -> float:
-    return self._get_offset(self._warning_offset_type, self._warning_offset_value)
-
-  @property
-  def speed_limit(self) -> float:
-    return self._speed_limit
-
-  @property
-  def distance(self) -> float:
-    return self._distance
-
-  @property
-  def source(self) -> Source:
-    return self._source
-
-  def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
-    if offset_type == OffsetType.default:
-      return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
-    elif offset_type == OffsetType.fixed:
-      return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
-    elif offset_type == OffsetType.percentage:
-      return offset_value * 0.01 * self._speed_limit
-    else:
-      raise NotImplementedError("Offset not supported")
-
-  def _update_v_cruise_setpoint_prev(self) -> None:
-    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
-
-  def _update_params(self) -> None:
-    if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
-      self._enabled = self.params.get_bool("SpeedLimitControl")
-      self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
-      self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
-      self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
-      self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
-      self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
-      self._policy = Policy(self.params.get("SpeedLimitControlPolicy", return_default=True))
-      self._is_metric = self.params.get_bool("IsMetric")
-      self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-      self._resolver.change_policy(self._policy)
-      self._engage_type = self._read_engage_type_param()
-
-      self._last_params_update = self._current_time
-
-  def _read_engage_type_param(self) -> Engage:
-    if self._pcm_cruise_op_long:
-      return Engage.auto
-
-    return Engage.auto
-
-  def _update_calculations(self) -> None:
-    # Update current velocity offset (error)
-    self._v_offset = self.speed_limit_offseted - self._v_ego
-
-    # Track the time op becomes active to prevent going to tempInactive right away after
-    # op enabling since controlsd will change the cruise speed every time on enabling and this will
-    # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
-    # speed.
-    if not self._op_engaged_prev and self._op_engaged:
-      self._last_op_engaged_time = self._current_time
-
-    # Update change tracking variables
-    self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
-    self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
-    self._speed_limit_prev = self._speed_limit
-    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
-    self._op_engaged_prev = self._op_engaged
-
-    self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
-    self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
-    self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
-    self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
-                                                  int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
-
-  def transition_state_from_inactive(self) -> None:
-    """ Make state transition from inactive state """
-    if self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-      else:
-        self.state = SpeedLimitControlState.active
-
-  def transition_state_from_temp_inactive(self) -> None:
-    """ Make state transition from temporary inactive state """
-    if self._speed_limit_changed:
-      if self._engage_type == Engage.auto:
-        self.state = SpeedLimitControlState.inactive
-
-  def transition_state_from_pre_active(self) -> None:
-    """ Make state transition from preActive state """
-
-  def transition_state_from_adapting(self) -> None:
-    """ Make state transition from adapting state """
-    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
-      self.state = SpeedLimitControlState.active
-
-  def transition_state_from_active(self) -> None:
-    """ Make state transition from active state """
-    if self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-
-  def _state_transition(self) -> None:
-    self._state_prev = self._state
-
-    # In any case, if op is disabled, or speed limit control is disabled or no valid speed limit
-    # or gas is pressed, deactivate.
-    if not self._op_engaged or not self._enabled or self._speed_limit == 0:
-      self.state = SpeedLimitControlState.inactive
-      return
-
-    # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
-    # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
-    # due to controlsd logic changing cruise setpoint when going active.
-    if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
-          self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
-      self.state = SpeedLimitControlState.tempInactive
-      return
-
-    self.state_transition_strategy[self.state]()
-
-    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
-
-  def get_current_acceleration_as_target(self) -> float:
-    """ When state is inactive or tempInactive, preserve current acceleration """
-    return self._a_ego
-
-  def get_adapting_state_target_acceleration(self) -> float:
-    """ In adapting state, calculate target acceleration based on speed limit and current velocity """
-    if self.distance > 0:
-      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
-
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def get_active_state_target_acceleration(self) -> float:
-    """ In active state, aim to keep speed constant around control time horizon """
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def _update_events(self, events_sp: EventsSP) -> None:
-    if self.is_active:
-      if self._engage_type == Engage.auto:
-        if self._state_prev not in ACTIVE_STATES:
-          events_sp.add(EventNameSP.speedLimitActive)
-        elif self._speed_limit_changed != 0:
-          events_sp.add(EventNameSP.speedLimitValueChange)
-
-  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
-    _car_state = sm['carState']
-    self._op_engaged = sm['carControl'].longActive
-    self._v_ego = v_ego
-    self._a_ego = a_ego
-    self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0
-    self._gas_pressed = _car_state.gasPressed
-    self._current_time = time.monotonic()
-
-    self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
-
-    self._update_params()
-    self._update_calculations()
-    self._state_transition()
-    self._update_events(events_sp)

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py

@@ -1,119 +0,0 @@
-import time
-import numpy as np
-
-from cereal import messaging
-from openpilot.common.gps import get_gps_location_service
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
-
-
-class SpeedLimitResolver:
-  _limit_solutions: dict[Source, float]  # Store for speed limit solutions from different sources
-  _distance_solutions: dict[Source, float]  # Store for distance to current speed limit start for different sources
-  _v_ego: float
-  _current_speed_limit: float
-
-  def __init__(self, policy: Policy):
-    self._gps_location_service = get_gps_location_service(Params())
-    self._limit_solutions = {}
-    self._distance_solutions = {}
-
-    self._policy = policy
-    self._policy_to_sources_map = {
-      Policy.car_state_only: [Source.car_state],
-      Policy.car_state_priority: [Source.car_state, Source.map_data],
-      Policy.map_data_priority: [Source.map_data, Source.car_state],
-      Policy.map_data_only: [Source.map_data],
-      Policy.combined: [Source.car_state, Source.map_data],
-    }
-    for source in Source:
-      self._reset_limit_sources(source)
-
-  def change_policy(self, policy: Policy) -> None:
-    self._policy = policy
-
-  def _reset_limit_sources(self, source: Source) -> None:
-    self._limit_solutions[source] = 0.
-    self._distance_solutions[source] = 0.
-
-  def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
-    self._v_ego = v_ego
-    self._current_speed_limit = current_speed_limit
-
-    self._resolve_limit_sources(sm)
-    return self._consolidate()
-
-  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> None:
-    """Get limit solutions from each data source"""
-    self._get_from_car_state(sm)
-    self._get_from_map_data(sm)
-
-  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
-    self._reset_limit_sources(Source.car_state)
-    self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
-    self._distance_solutions[Source.car_state] = 0.
-
-  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
-    self._reset_limit_sources(Source.map_data)
-    self._process_map_data(sm)
-
-  def _process_map_data(self, sm: messaging.SubMaster) -> None:
-    gps_data = sm[self._gps_location_service]
-    map_data = sm['liveMapDataSP']
-
-    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
-    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
-      debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
-      return
-
-    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
-    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
-
-    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
-
-  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
-    gps_data = sm[self._gps_location_service]
-    map_data = sm['liveMapDataSP']
-
-    distance_since_fix = self._v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
-    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
-
-    self._limit_solutions[Source.map_data] = speed_limit
-    self._distance_solutions[Source.map_data] = 0.
-
-    if 0. < next_speed_limit < self._v_ego:
-      adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
-      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
-
-      if distance_to_speed_limit_ahead <= adapt_distance:
-        self._limit_solutions[Source.map_data] = next_speed_limit
-        self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
-
-  def _consolidate(self) -> tuple[float, float, Source]:
-    source = self._get_source_solution_according_to_policy()
-    self.speed_limit = self._limit_solutions[source] if source else 0.
-    self.distance = self._distance_solutions[source] if source else 0.
-    self.source = source or Source.none
-
-    debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
-    return self.speed_limit, self.distance, self.source
-
-  def _get_source_solution_according_to_policy(self) -> Source | None:
-    sources_for_policy = self._policy_to_sources_map[self._policy]
-
-    if self._policy != Policy.combined:
-      # They are ordered in the order of preference, so we pick the first that's non zero
-      for source in sources_for_policy:
-        if self._limit_solutions[source] > 0.:
-          return Source(source)
-
-    limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
-    sources = np.array([source.value for source in sources_for_policy], dtype=int)
-
-    if len(limits) > 0:
-      min_idx = np.argmin(limits)
-      return Source(sources[min_idx])
-
-    return None

sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py

@@ -1,58 +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 cereal import custom
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-
-EventNameSP = custom.OnroadEventSP.EventName
-State = custom.LongitudinalPlanSP.SpeedLimitControlState
-
-ACTIVE_STATES = (State.active, State.adapting)
-ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
-
-
-class StateMachine:
-  def __init__(self):
-    self.state = State.inactive
-
-  def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
-    # INACTIVE
-    if self.state == State.inactive:
-      if events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-      elif events_sp.has(EventNameSP.speedLimitActive):
-        self.state = State.active
-
-    # ACTIVE
-    elif self.state == State.active:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-
-    # ADAPTING
-    elif self.state == State.adapting:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitReached):
-        self.state = State.active
-
-    # TEMP INACTIVE
-    elif self.state == State.tempInactive:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitValueChange):
-        # When speed limit changes, reactivate
-        self.state = State.inactive
-
-    enabled = self.state in ENABLED_STATES
-    active = self.state in ACTIVE_STATES
-
-    return enabled, active

sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py

@@ -1,130 +0,0 @@
-import random
-import time
-
-import pytest
-from pytest_mock import MockerFixture
-
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
-
-# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-
-
-def create_mock(properties, mocker: MockerFixture):
-  mock = mocker.MagicMock()
-  for _property, value in properties.items():
-    setattr(mock, _property, value)
-  return mock
-
-
-def setup_sm_mock(mocker: MockerFixture):
-  cruise_speed_limit = random.uniform(0, 120)
-  live_map_data_limit = random.uniform(0, 120)
-
-  car_state = create_mock({
-    'gasPressed': False,
-    'brakePressed': False,
-    'standstill': False,
-  }, mocker)
-  car_state_sp = create_mock({
-    'speedLimit': cruise_speed_limit,
-  }, mocker)
-  live_map_data = create_mock({
-    'speedLimit': live_map_data_limit,
-    'speedLimitValid': True,
-    'speedLimitAhead': 0.,
-    'speedLimitAheadValid': 0.,
-    'speedLimitAheadDistance': 0.,
-  }, mocker)
-  gps_data = create_mock({
-    'unixTimestampMillis': time.monotonic() * 1e3,
-  }, mocker)
-  sm_mock = mocker.MagicMock()
-  sm_mock.__getitem__.side_effect = lambda key: {
-    'carState': car_state,
-    'liveMapDataSP': live_map_data,
-    'carStateSP': car_state_sp,
-    'gpsLocation': gps_data,
-  }[key]
-  return sm_mock
-
-
-parametrized_policies = pytest.mark.parametrize(
-  "policy, sm_key, function_key", [
-    (Policy.car_state_only, 'carStateSP', 'car_state'),
-    (Policy.car_state_priority, 'carStateSP', 'car_state'),
-    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
-    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
-  ],
-  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
-)
-
-
-@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
-class TestSpeedLimitResolverValidation:
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_initial_state(self, resolver_class, policy):
-    resolver = resolver_class(policy)
-    for source in Source:
-      if source in resolver._limit_solutions:
-        assert resolver._limit_solutions[source] == 0.
-        assert resolver._distance_solutions[source] == 0.
-
-  @parametrized_policies
-  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert speed_limit == source_speed_limit
-    assert source == Source[function_key]
-
-  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
-    resolver = resolver_class(Policy.combined)
-    sm_mock = setup_sm_mock(mocker)
-    socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
-    minimum_key, minimum_speed_limit = min(
-      ((key, sm_mock[key].speedLimit) for key in
-       socket_to_source.keys()), key=lambda x: x[1])
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
-    assert speed_limit == minimum_speed_limit
-    assert source == socket_to_source[minimum_key]
-
-  @parametrized_policies
-  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the parsing
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
-    assert resolver._distance_solutions[Source[function_key]] == 0.
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
-    v_ego = 50
-    resolver = resolver_class(policy)
-
-    sm_mock = setup_sm_mock(mocker)
-    _speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
-
-    # After resolution
-    assert _speed_limit is not None
-    assert _distance is not None
-    assert _source is not None
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = mocker.MagicMock()
-    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
-    resolver._get_from_map_data(sm_mock)
-    assert resolver._limit_solutions[Source.map_data] == 0.
-    assert resolver._distance_solutions[Source.map_data] == 0.

sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -0,0 +1,113 @@
+import pytest
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class TurnDirection:
+    none = 0
+    turnLeft = 1
+    turnRight = 2
+
+
+@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
+])
+def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+def test_lane_turn_desire_disabled():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+def test_lane_turn_overrides_lane_change():
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+
+@pytest.mark.parametrize("v_ego,expected", [
+    (8.93, TurnDirection.turnLeft),   # just below threshold
+    (8.96, TurnDirection.none),       # above threshold
+    (8.95, TurnDirection.none),       # just above threshold
+])
+def test_lane_turn_desire_speed_boundary(v_ego, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+class DummyCarState:
+    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=False, steeringTorque=0, brakePressed=False):
+        self.vEgo = vEgo
+        self.leftBlinker = leftBlinker
+        self.rightBlinker = rightBlinker
+        self.leftBlindspot = leftBlindspot
+        self.rightBlindspot = rightBlindspot
+        self.steeringPressed = steeringPressed
+        self.steeringTorque = steeringTorque
+        self.brakePressed = brakePressed
+
+@pytest.fixture
+def set_lane_turn_params():
+    params = Params()
+    params.put("LaneTurnDesire", True)
+    params.put("LaneTurnValue", 20.0)
+
+@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+])
+def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+        dh.update(carstate, lateral_active, lane_change_prob)
+    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,6 +1,4 @@
-import cereal.messaging as messaging
 from cereal import log, car, custom
-from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
@@ -16,17 +14,6 @@ EventNameSP = custom.OnroadEventSP.EventName
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
 
-def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  speedLimit = sm['longitudinalPlanSP'].slc.speedLimit
-  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
-  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
-  return Alert(
-    message,
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
-
-
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -147,16 +134,19 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
   },
 
-  EventNameSP.speedLimitActive: {
+  EventNameSP.laneTurnLeft: {
     ET.WARNING: Alert(
-      "Set speed changed to match posted speed limit",
+      "Turning Left",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
-  },
-
-  EventNameSP.speedLimitValueChange: {
-    ET.WARNING: speed_limit_adjust_alert,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
   },
 
+  EventNameSP.laneTurnRight: {
+    ET.WARNING: Alert(
+      "Turning Right",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  }
 }

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -3,7 +3,9 @@
 from __future__ import annotations
 
 import base64
+import errno
 import gzip
+import json
 import os
 import ssl
 import threading
@@ -17,11 +19,11 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
   recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
-                       create_connection)
+                       create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -48,7 +50,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
@@ -107,10 +109,13 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
-        cloudlog.exception("sunnylinkd.ws_recv.timeout")
+        cloudlog.warning("sunnylinkd.ws_recv.timeout")
         end_event.set()
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_recv.exception")
+    except Exception as e:
+      if isinstance(e, WebSocketConnectionClosedException):
+        cloudlog.warning(f"sunnylinkd.ws_recv.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_recv.exception")
       end_event.set()
 
 
@@ -137,11 +142,15 @@ def ws_queue(end_event: threading.Event) -> None:
         sunnylink_api.resume_queued(timeout=29)
         resume_requested = True
         tries = 0
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+    except Exception as e:
+      if isinstance(e, (ConnectionError, TimeoutError)):
+        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+
       resume_requested = False
       tries += 1
-      time.sleep(backoff(tries))  # Wait for the backoff time before the next attempt
+      time.sleep(backoff(tries))
 
   if end_event.is_set():
     cloudlog.debug("end_event is set, exiting ws_queue thread")
@@ -171,16 +180,22 @@ def getParamsAllKeys() -> list[str]:
 
 @dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+  params = Params()
+
   try:
-    params = Params()
-    params_dict: dict[str, bytes] = {key: params.get(key) or b'' for key in params_keys}
+    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    params_dict:  dict[str, list[dict[str, str | bool | int ]]] = {"params": [
+      {
+        "key": key,
+        "value": base64.b64encode(gzip.compress(get_param_as_byte(key)) if compression else get_param_as_byte(key)).decode('utf-8'),
+        "type": int(params.get_type(key).value),
+        "is_compressed": compression
+      } for key in param_keys_validated
+    ]}
 
-    # Compress the values before encoding to base64 as output from params.get is bytes and same for compression
-    if compression:
-      params_dict = {key: gzip.compress(value) for key, value in params_dict.items()}
-
-    # Last step is to encode the values to base64 and decode to utf-8 for JSON serialization
-    return {key: base64.b64encode(value).decode('utf-8') for key, value in params_dict.items()}
+    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
+    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
+    return response
 
   except Exception as e:
     cloudlog.exception("sunnylinkd.getParams.exception", e)
@@ -252,14 +267,19 @@ def main(exit_event: threading.Event = None):
       handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
-    except (ConnectionError, TimeoutError, WebSocketException):
+    except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-    except Exception:
-      cloudlog.exception("sunnylinkd.main.exception")
 
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")
 
     time.sleep(backoff(conn_retries))
 

sunnypilot/sunnylink/backups/manager.py

@@ -20,6 +20,7 @@ from openpilot.system.version import get_version
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from sunnypilot.sunnylink.utils import get_param_as_byte
 
 
 class OperationType(Enum):
@@ -74,7 +75,7 @@ class BackupManagerSP:
     config_data = {}
     params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     for param in params_to_backup:
-      value = str(self.params.get(param)).encode('utf-8')
+      value = get_param_as_byte(param)
       if value is not None:
         config_data[param] = base64.b64encode(value).decode('utf-8')
     return config_data
@@ -113,6 +114,7 @@ class BackupManagerSP:
       payload = json.loads(json.dumps(backup_info.to_dict(), cls=SnakeCaseEncoder))
       self._update_progress(75.0, OperationType.BACKUP)
 
+      cloudlog.debug(f"Uploading backup with payload: {json.dumps(payload)}")
       # Upload to sunnylink
       result = self.api.api_get(
         f"backup/{self.device_id}",
@@ -124,9 +126,11 @@ class BackupManagerSP:
       if result:
         self.backup_status = custom.BackupManagerSP.Status.completed
         self._update_progress(100.0, OperationType.BACKUP)
+        cloudlog.info("Backup successfully created and uploaded")
       else:
         self.backup_status = custom.BackupManagerSP.Status.failed
         self.last_error = "Failed to upload backup"
+        cloudlog.error(result)
         self._report_status()
 
       return bool(self.backup_status == custom.BackupManagerSP.Status.completed)
@@ -264,8 +268,8 @@ class BackupManagerSP:
         # Check for backup command
         if self.params.get_bool("BackupManager_CreateBackup"):
           try:
-            await self.create_backup()
-            reset_progress = True
+            if await self.create_backup():
+              reset_progress = True
           finally:
             self.params.remove("BackupManager_CreateBackup")
 

sunnypilot/sunnylink/utils.py

@@ -1,5 +1,6 @@
+import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.common.params import Params
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.system.version import is_prebuilt
 
 
@@ -55,3 +56,15 @@ def get_api_token():
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   token = sunnylink_api.get_token()
   print(f"API Token: {token}")
+
+
+def get_param_as_byte(param_name: str) -> bytes:
+  params = Params()
+  param = params.get(param_name)
+  param_type = params.get_type(param_name)
+
+  if param_type == ParamKeyType.BYTES:
+    return bytes(param)
+  elif param_type == ParamKeyType.JSON:
+    return json.dumps(param).encode('utf-8')
+  return str(param).encode('utf-8')

sunnypilot/system/hardware/c3/README.md

@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

sunnypilot/system/hardware/c3/agnos.json

@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]

sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch

sunnypilot/system/hardware/c3/launch_env.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="12.8"
+fi
+
+export STAGING_ROOT="/data/safe_staging"

system/athena/athenad.py

@@ -381,20 +381,22 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
+  if base is None:
+    base = path
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
         # if prefix is a partial dir name, current dir will start with prefix
         # if prefix is a partial file name, prefix with start with dir name
         if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
       else:
         if rel_path.startswith(prefix):
           files.append(rel_path)
@@ -402,7 +404,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))
 
 
 @dispatcher.add_method
@@ -427,8 +434,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
       failed.append(file.fn)
       continue
 

system/hardware/hardwared.py

@@ -24,7 +24,7 @@ from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.version import terms_version, training_version, get_build_metadata
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -326,6 +326,16 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
 
+    # if an unsupported device and branch is detected, going onroad is blocked
+    # only allow going onroad when:
+    # - TIZI, or
+    # - TICI and channel_type is "tici"
+    build_metadata = get_build_metadata()
+    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
+    startup_conditions["not_tici"] = not is_unsupported_combo
+    onroad_conditions["not_tici"] = not is_unsupported_combo
+    set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"

system/hardware/hw.py

@@ -20,6 +20,10 @@ class Paths:
     else:
       return '/data/media/0/realdata/'
 
+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
   @staticmethod
   def swaglog_root() -> str:
     if PC:

system/loggerd/config.py

@@ -9,21 +9,26 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60
 
-def get_available_percent(default: float) -> float:
+PATH_DICT = {
+  "internal": Paths.log_root(),
+  "external": Paths.log_root_external()
+}
+
+def get_available_percent(default: float, path_type="internal") -> float:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except OSError:
+  except (OSError, KeyError):
     available_percent = default
 
   return available_percent
 
 
-def get_available_bytes(default: int) -> int:
+def get_available_bytes(default: int, path_type="internal") -> int:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except OSError:
+  except (OSError, KeyError):
     available_bytes = default
 
   return available_bytes

system/loggerd/deleter.py

@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
 import os
+import time
 import shutil
 import threading
+from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -61,6 +63,41 @@ def deleter_thread(exit_event: threading.Event):
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
 
+        if Path(Paths.log_root_external()).is_mount():
+          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
+          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
+
+          if out_of_percent_external or out_of_bytes_external:
+            dirs_external = listdir_by_creation(Paths.log_root_external())
+
+            # remove the earliest external directory we can
+            for delete_dir_external in sorted(dirs_external):
+              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
+              try:
+                cloudlog.warning(f"deleting {delete_path_external}")
+                shutil.rmtree(delete_path_external)
+                break
+              except OSError:
+                cloudlog.exception(f"issue deleting {delete_path_external}")
+
+          # move directory from internal to external
+          path_external = os.path.join(Paths.log_root_external(), delete_dir)
+          try:
+            cloudlog.warning(f"moving {delete_path} to {path_external}")
+            start = time.monotonic()
+            shutil.move(delete_path, path_external)
+            cloudlog.warning(f"moved {delete_path} to {path_external} in {time.monotonic() - start:.2f}s")
+            break
+          except Exception:
+            cloudlog.error(f"issue moving {delete_path} to {path_external}")
+            try:
+              cloudlog.warning(f"deleting {delete_path}")
+              shutil.rmtree(delete_path)
+              break
+            except OSError:
+              cloudlog.exception(f"issue deleting {delete_path}")
+          continue
+
         try:
           cloudlog.info(f"deleting {delete_path}")
           shutil.rmtree(delete_path)

system/manager/process_config.py

@@ -65,6 +65,9 @@ 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"))
+
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
   return sunnylink_ready(params)
@@ -178,4 +181,15 @@ if os.path.exists("./github_runner.sh"):
 if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
+if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
+  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
+  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
+  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
+  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
+  copyparty_args += ["-p8080"]
+  copyparty_args += ["-z"]
+  copyparty_args += ["-q"]
+  procs += [NativeProcess("copyparty-sfx", "third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
+
 managed_processes = {p.name: p for p in procs}

system/updated/updated.py

@@ -7,7 +7,6 @@ import psutil
 import shutil
 import signal
 import fcntl
-import time
 import threading
 from collections import defaultdict
 from pathlib import Path
@@ -19,7 +18,7 @@ from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import AGNOS, HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.system.version import get_build_metadata, SP_BRANCH_MIGRATIONS
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -190,15 +189,6 @@ def finalize_update() -> None:
   run(["git", "reset", "--hard"], FINALIZED)
   run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
 
-  cloudlog.info("Starting git cleanup in finalized update")
-  t = time.monotonic()
-  try:
-    run(["git", "gc"], FINALIZED)
-    run(["git", "lfs", "prune"], FINALIZED)
-    cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")
-
   set_consistent_flag(True)
   cloudlog.info("done finalizing overlay")
 
@@ -242,9 +232,7 @@ class Updater:
     b: str | None = self.params.get("UpdaterTargetBranch")
     if b is None:
       b = self.get_branch(BASEDIR)
-    b = {
-      ("tici", "release3"): "release-tici"
-    }.get((HARDWARE.get_device_type(), b), b)
+    b = SP_BRANCH_MIGRATIONS.get((HARDWARE.get_device_type(), b), b)
     return b
 
   @property