Merge branch 'master' into smooth-final-stop

Update longcontrol.py

smooth

.github/workflows/build-default-models.yaml

@@ -115,7 +115,7 @@ jobs:
           env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
             ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
             ${{ github.workspace }}/${{ env.SMALL_PKL }} \
-            --out-of-band --benchmark-runs 1
+            --device-input "*" --out-of-band --benchmark-runs 1
 
       - name: Prepare output
         env:
@@ -440,10 +440,9 @@ jobs:
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
 
           taskset -c 7 env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile_onnx.py \
+            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
             ${{ github.workspace }}/${{ env.DM_ONNX }} \
-            ${{ github.workspace }}/${{ env.DM_PKL }} \
-            --out-of-band --benchmark-runs 1
+            ${{ github.workspace }}/${{ env.DM_PKL }}
 
       - name: Compile DM warp
         run: |

.github/workflows/lfs-maintenance.yaml

@@ -33,7 +33,7 @@ jobs:
 
       - name: LFS Fetch
         run: |
-          git lfs fetch || echo "::warning::some objects are missing on commaai/openpilot-lfs; mirroring the rest"
+          git lfs fetch
 
       - name: Set up Git
         run: |
@@ -68,7 +68,6 @@ jobs:
           git config lfs.activitytimeout 300
           git config lfs.transfer.maxretries 5
           git config lfs.concurrenttransfers 4
-          git config lfs.allowincompletepush true
 
       - name: Push LFS
         id: sync-and-commit
@@ -82,80 +81,3 @@ jobs:
           done
           echo "All push attempts failed"
           exit 1
-
-      - name: Checkout sunnypilot
-        uses: actions/checkout@v4
-        with:
-          repository: 'sunnypilot/sunnypilot'
-          path: sunnypilot
-          fetch-depth: 0
-          filter: blob:limit=1k
-          lfs: false
-
-      - name: Reference objects on sunnypilot-lfs
-        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
-        run: |
-          set -euo pipefail
-          GIT_LFS_SKIP_SMUDGE=1 git clone --quiet https://huggingface.co/sunnypilot/sunnypilot-lfs hf-lfs
-          mkdir -p hf-lfs/all
-          cat > scan_pointers.py <<'EOF'
-          import re, subprocess, sys, threading
-          repo = sys.argv[1]
-          chk = subprocess.run(["git", "-C", repo, "cat-file", "--batch-all-objects",
-                                "--batch-check=%(objectname) %(objecttype) %(objectsize)"],
-                               capture_output=True, text=True, check=True).stdout
-          small = [f[0] for f in (l.split() for l in chk.splitlines()) if f[1] == "blob" and int(f[2]) < 1024]
-          p = subprocess.Popen(["git", "-C", repo, "cat-file", "--batch=%(objectsize)"],
-                               stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-          def feed():
-            for sha in small:
-              p.stdin.write(sha.encode() + b"\n")
-            p.stdin.close()
-          threading.Thread(target=feed, daemon=True).start()
-          rx = re.compile(rb"^version https://git-lfs\.github\.com/spec/v1\noid sha256:([0-9a-f]{64})\nsize ([0-9]+)\n")
-          seen = {}
-          for _ in small:
-            n = int(p.stdout.readline()); body = p.stdout.read(n); p.stdout.read(1)
-            m = rx.match(body)
-            if m:
-              seen.setdefault(m.group(1).decode(), m.group(2).decode())
-          for oid, size in sorted(seen.items()):
-            print(oid, size)
-          EOF
-          for repo in . sunnypilot; do
-            python3 scan_pointers.py "$repo"
-          done | sort -u | while read -r oid size; do
-            [ -e "hf-lfs/all/$oid" ] && continue
-            printf 'version https://git-lfs.github.com/spec/v1\noid sha256:%s\nsize %s\n' "$oid" "$size" > "hf-lfs/all/$oid"
-            echo "$oid"
-          done > new_oids.txt
-          echo "new pointer files: $(wc -l < new_oids.txt)"
-
-          dropped=0
-          while mapfile -t -n 100 chunk && ((${#chunk[@]})); do
-            body=$(for oid in "${chunk[@]}"; do
-                     size=$(awk '/^size /{print $2}' "hf-lfs/all/$oid")
-                     printf '{"oid":"%s","size":%s}\n' "$oid" "$size"
-                   done | jq -s '{operation:"download",transfers:["basic"],objects:.}')
-            for attempt in 1 2 3 4 5; do
-              resp=$(curl -sS -u "user:${HF_TOKEN}" -w '\n%{http_code}' \
-                       -H 'Accept: application/vnd.git-lfs+json' -H 'Content-Type: application/vnd.git-lfs+json' \
-                       --data "$body" "${LFS_URL}/objects/batch") && [ "$(tail -n1 <<<"$resp")" = 200 ] && break
-              echo "batch check attempt $attempt failed ($(tail -n1 <<<"$resp")), retrying in 60s"; sleep 60
-            done
-            [ "$(tail -n1 <<<"$resp")" = 200 ] || { echo "batch check failed"; exit 1; }
-            for oid in $(sed '$d' <<<"$resp" | jq -r '.objects[] | select(.error) | .oid'); do
-              rm -f "hf-lfs/all/$oid"; dropped=$((dropped+1))
-            done
-          done < new_oids.txt
-          echo "dropped (not on HF): $dropped"
-
-          cd hf-lfs
-          git add -A all
-          if git diff --cached --quiet; then
-            echo "nothing new to reference"
-            exit 0
-          fi
-          git commit -q -m "Reference $(git diff --cached --name-only | wc -l | tr -d ' ') new LFS objects"
-          git push origin HEAD:main

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

@@ -594,14 +594,8 @@ jobs:
       - name: Publish chestnut branch
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
-          cp .lfsconfig "${{ env.OUTPUT_DIR }}/"
-          echo 'openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text' > "${{ env.OUTPUT_DIR }}/.gitattributes"
-          git lfs install
-          git config --global credential.helper store
-          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
@@ -39,7 +40,8 @@ def long_control_state_trans(CP_SP, active, long_control_state,
 
   return long_control_state
 
-class LongControl:
+
+class LongControl(LongControlSP):
   def __init__(self, CP, CP_SP):
     self.CP = CP
     self.CP_SP = CP_SP
@@ -68,7 +70,7 @@ class LongControl:
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         # TODO: can we just go straight to stopAccel?
-        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
+        output_accel -= self.stopping_decel_rate(CS.vEgo) * DT_CTRL
       self.reset()
 
     else:  # LongCtrlState.pid

openpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -1,6 +1,10 @@
+from types import SimpleNamespace
+from typing import cast
+
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
 
 
 class TestLongControlStateTransition(OpenpilotTestCase):
@@ -42,3 +46,21 @@ class TestLongControlStateTransition(OpenpilotTestCase):
     next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
+
+
+class TestStoppingHold:
+  def test_weak_brake_does_not_hold_stopping(self):
+    control = SimpleNamespace(last_output_accel=-0.109)
+    car_state = SimpleNamespace(vEgo=0.277, aEgo=-0.406)
+    assert not LongControlSP.should_hold_stopping(cast(LongControlSP, control), car_state, -0.072)
+
+  def test_sufficient_brake_holds_stopping(self):
+    control = SimpleNamespace(last_output_accel=-0.543)
+    car_state = SimpleNamespace(vEgo=0.209, aEgo=-0.534)
+    assert LongControlSP.should_hold_stopping(cast(LongControlSP, control), car_state, -0.469)
+
+  def test_stopping_decel_rate_is_smooth_while_rolling(self):
+    assert LongControlSP.stopping_decel_rate(0.1) == 0.3
+
+  def test_stopping_decel_rate_builds_holding_brake_at_stop(self):
+    assert LongControlSP.stopping_decel_rate(0.0) == 2.0

openpilot/selfdrive/modeld/SConscript

@@ -48,9 +48,8 @@ def compile_model(onnx_path, pkl_path):
     Action(cmd, "  [ONNX] $TARGET"),
   )
 
-if not os.getenv('SKIP_TINYGRAD_COMPILE'):
-  compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
-  compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
+compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
+compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 for cam_w, cam_h in camera_configs:
@@ -63,7 +62,7 @@ for cam_w, cam_h in camera_configs:
   lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cam_w, cam_h in [] if os.getenv('SKIP_TINYGRAD_COMPILE') else camera_configs:
+for cam_w, cam_h in camera_configs:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
   cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '

openpilot/selfdrive/modeld/modeld.py

@@ -7,7 +7,6 @@ from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
 os.environ.setdefault('AM_POWER_LIMIT', '100')
-os.environ.setdefault('AM_PERF_LEVEL', 'high')
 from tinygrad.device import Buffer, Device
 from tinygrad.dtype import DType, dtypes
 from tinygrad.engine.realize import lower_and_compile

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

@@ -8,6 +8,7 @@ from enum import IntEnum
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
@@ -29,6 +30,7 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
 ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
 
 
 class CruiseLayout(Widget):
@@ -54,7 +56,8 @@ class CruiseLayout(Widget):
 
     self.scc_m_toggle = toggle_item_sp(
       title=tr("Smart Cruise Control - Map"),
-      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
+                  tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
     self.custom_acc_toggle = toggle_item_sp(
@@ -139,7 +142,7 @@ class CruiseLayout(Widget):
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
-        self.scc_m_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
       else:
         ui_state.params.remove("CustomAccIncrementsEnabled")
         ui_state.params.remove("SmartCruiseControlVision")

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py

@@ -8,6 +8,8 @@ from collections.abc import Callable
 
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
 from openpilot.system.ui.widgets.network import NavButton
@@ -43,6 +45,8 @@ class SpeedLimitPolicyLayout(Widget):
       param="SpeedLimitPolicy",
       button_width=250,
     )
+    if not MAPD_AVAILABLE:
+      self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
 
     items = [
       self._speed_limit_policy
@@ -51,6 +55,8 @@ class SpeedLimitPolicyLayout(Widget):
 
   @staticmethod
   def _get_policy_description():
+    if not MAPD_AVAILABLE:
+      return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
     return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
 
   def _render(self, rect):

openpilot/sunnypilot/mapd/__init__.py

@@ -3,3 +3,7 @@ from openpilot.common.basedir import BASEDIR
 
 MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
+# map-based features stay off until mapd is rebuilt
+MAPD_AVAILABLE = False

openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -4,7 +4,6 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import json
 import math
 import platform
 
@@ -27,21 +26,6 @@ class OsmMapData(BaseMapData):
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
-    if self.last_position is None:
-      return
-
-    params = {
-      "latitude": self.last_position.latitude,
-      "longitude": self.last_position.longitude,
-    }
-
-    if self.last_bearing is not None:
-      params['bearing'] = self.last_bearing
-
-    # mapd reads its position from the memory params as JSON, so write it for the mapd binary.
-    # LastGPSPosition is registered as BYTES (ubloxd owns the persistent copy for pigeond),
-    # so the JSON payload has to be encoded here.
-    self.mem_params.put("LastGPSPosition", json.dumps(params).encode(), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)

openpilot/sunnypilot/mapd/mapd_manager.py

@@ -121,10 +121,6 @@ def update_osm_db() -> None:
   if not mem_params.get("OSMDownloadBounds"):
     mem_params.put("OSMDownloadBounds", "", block=True)
 
-  # mapd reads LastGPSPosition from the memory params as JSON, and it is registered as BYTES upstream
-  if not mem_params.get("LastGPSPosition"):
-    mem_params.put("LastGPSPosition", b"{}", block=True)
-
 
 def main_thread():
   update_installed_version(VERSION, params)

openpilot/sunnypilot/mapd/tests/test_osm_map_data.py

@@ -1,70 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import math
-import platform
-
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal import log
-from openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
-
-
-class TestOsmMapData(OpenpilotTestCase):
-  """The mapd binary reads its position from the memory params as JSON, so mapd_manager has to feed it."""
-
-  LATITUDE = 32.875134
-  LONGITUDE = -117.209777
-  ALTITUDE = 42.0
-  BEARING = 90.0
-
-  def setup_method(self):
-    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else Params()
-    self.mem_params.remove("LastGPSPosition")
-    self.map_data = OsmMapData()
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-
-  def location_message(self, status: log.LiveLocationKalman.Status, position_valid: bool):
-    msg = messaging.new_message('liveLocationKalman', valid=True)
-    location = msg.liveLocationKalman
-    location.status = status
-    location.positionGeodetic = {'value': [self.LATITUDE, self.LONGITUDE, self.ALTITUDE], 'valid': position_valid}
-    location.calibratedOrientationNED = {'value': [0.0, 0.0, math.radians(self.BEARING)], 'valid': True}
-    return msg
-
-  def send_location(self, status: log.LiveLocationKalman.Status, position_valid: bool) -> None:
-    # the first exchange synchronizes the PUB/SUB connection, the second one is actually received
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-
-  def read_position(self) -> dict:
-    value = self.mem_params.get("LastGPSPosition")
-    self.assertIsNotNone(value, "LastGPSPosition was not written for mapd")
-    return json.loads(value)
-
-  def test_writes_position_for_mapd(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['bearing'], self.BEARING, delta=1e-6)
-
-  def test_invalid_localizer_keeps_last_known_position(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    self.send_location(log.LiveLocationKalman.Status.uninitialized, False)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -10,7 +10,6 @@ import builtins
 import contextlib
 import dataclasses
 import functools
-import gc
 import hashlib
 import io
 import itertools
@@ -112,21 +111,17 @@ def read_parts(path: str) -> tuple[dict, dict]:
   return parts, _MetadataUnpickler(io.BytesIO(bytes(blob[slice(*header["extras"])]))).load()
 
 
-def _extended(path: str, extend) -> tuple[dict, dict, str, dict]:
+def _extended(path: str, extend) -> tuple[dict, dict, str]:
   parts, extras = read_parts(path)
   added = extend(parts, extras) if extend else {}
-  return parts | added, extras, _parts_digest(added) if added else "", {key: parts[key] for key in added if key in parts}
+  return parts | added, extras, _parts_digest(added) if added else ""
 
 
 def load_model(path: str, device_map: dict | None = None, verify: bool = True, cache: bool = True, extend=None) -> dict:
-  parts, extras, extra, replaced = _extended(path, extend)
+  parts, extras, extra = _extended(path, extend)
   if cache and (cached := _read_cache(path, parts, device_map, extra)) is not None:
     return extras | cached
   shared: dict = {}
-  if verify and replaced:
-    for header, blob in replaced.values():
-      PlainJit(header, blob, device_map, verify, shared)
-    gc.collect()
   jits = {key: PlainJit(header, blob, device_map, verify, shared) for key, (header, blob) in parts.items()}
   if cache:
     _write_cache(path, jits, device_map, extra)

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

@@ -0,0 +1,25 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+
+STOPPING_DISTANCE = 1.5
+STOPPED_SPEED = 0.02
+STOPPING_TIME = 2.5
+MIN_STOPPING_HOLD_ACCEL = -0.2
+STOPPING_DECEL_RATE = 0.3
+STOPPED_DECEL_RATE = 0.05
+
+
+class LongControlSP:
+  def should_hold_stopping(self, CS, a_target: float) -> bool:
+    return (self.last_output_accel <= MIN_STOPPING_HOLD_ACCEL and a_target >= self.last_output_accel and CS.vEgo > STOPPED_SPEED and CS.aEgo < 0.0
+            and CS.vEgo <= -CS.aEgo * STOPPING_TIME and CS.vEgo ** 2 <= -2.0 * CS.aEgo * STOPPING_DISTANCE)
+
+  @staticmethod
+  def stopping_decel_rate(v_ego: float) -> float:
+    return float(np.interp(v_ego, [0.0, 0.5, 1.5], [STOPPED_DECEL_RATE, 0.15, STOPPING_DECEL_RATE]))

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

@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.navd.helpers import Coordinate
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
@@ -75,7 +76,7 @@ class SmartCruiseControlMap:
   def __init__(self):
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
-    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
     self.long_enabled = False
     self.long_override = False
     self.is_enabled = False
@@ -101,7 +102,7 @@ class SmartCruiseControlMap:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+      self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
 
   def update_calculations(self, sm: messaging.SubMaster) -> None:
     gps = sm[self.gps_location_service]

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

@@ -8,7 +8,7 @@ import json
 import math
 import platform
 from types import SimpleNamespace
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
@@ -23,6 +23,8 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
+    self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
+    self.mapd_patch.start()
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
     self.reset_params()
@@ -30,6 +32,9 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     self.sm = MagicMock()
     self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
 
+  def teardown_method(self):
+    self.mapd_patch.stop()
+
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
@@ -50,6 +55,14 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     assert self.scc_m.state == VisionState.disabled
     assert not self.scc_m.is_active
 
+  def test_mapd_unavailable(self):
+    self.mapd_patch.stop()
+    self.scc_m = SmartCruiseControlMap()
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    self.mapd_patch.start()
+
   def test_disabled(self):
     for _ in range(int(10. / DT_MDL)):
       self.scc_m.update(self.sm, False, False, 0., 0., 0.)

openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -13,6 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -48,6 +49,8 @@ class SpeedLimitResolver:
       Policy.max().value,
       self.params
     )
+    if not MAPD_AVAILABLE:
+      self.policy = Policy.car_state_only
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -91,7 +94,7 @@ class SpeedLimitResolver:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
       self.is_metric = self.params.get_bool("IsMetric")
       self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
       self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -15,6 +15,7 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -43,6 +44,7 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "mapd_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,6 +67,7 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "mapd_available": "Map data available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -132,6 +135,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+  caps["mapd_available"] = MAPD_AVAILABLE
 
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -857,19 +857,47 @@
                     },
                     {
                       "value": 1,
-                      "label": "Map Data Only"
+                      "label": "Map Data Only",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 2,
-                      "label": "Car State Priority"
+                      "label": "Car State Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 3,
-                      "label": "Map Data Priority"
+                      "label": "Map Data Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 4,
-                      "label": "Combined"
+                      "label": "Combined",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     }
                   ]
                 },
@@ -1001,6 +1029,11 @@
                 }
               ],
               "enablement": [
+                {
+                  "type": "capability",
+                  "field": "mapd_available",
+                  "equals": true
+                },
                 {
                   "type": "any",
                   "conditions": [

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

@@ -167,12 +167,28 @@ sections:
         label: Car State Only
       - value: 1
         label: Map Data Only
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 2
         label: Car State Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 3
         label: Map Data Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 4
         label: Combined
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
     - key: SpeedLimitOffsetType
       widget: multiple_button
       title: Speed Limit Offset Type
@@ -246,6 +262,9 @@ sections:
         field: has_icbm
         equals: true
     enablement:
+    - type: capability
+      field: mapd_available
+      equals: true
     - type: any
       conditions:
       - type: capability