clearpilot: initial commit of full source

selfdrive/controls/.gitignore

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+calibration_param
+traces

selfdrive/controls/lib/alertmanager.py

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+import copy
+import os
+import json
+from collections import defaultdict
+from dataclasses import dataclass
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert
+
+
+with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  OFFROAD_ALERTS = json.load(f)
+
+
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+  if show_alert:
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
+    Params().put(alert, json.dumps(a))
+  else:
+    Params().remove(alert)
+
+
+@dataclass
+class AlertEntry:
+  alert: Alert | None = None
+  start_frame: int = -1
+  end_frame: int = -1
+
+  def active(self, frame: int) -> bool:
+    return frame <= self.end_frame
+
+class AlertManager:
+  def __init__(self):
+    self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
+
+  def add_many(self, frame: int, alerts: list[Alert]) -> None:
+    for alert in alerts:
+      entry = self.alerts[alert.alert_type]
+      entry.alert = alert
+      if not entry.active(frame):
+        entry.start_frame = frame
+      min_end_frame = entry.start_frame + alert.duration
+      entry.end_frame = max(frame + 1, min_end_frame)
+
+  def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None:
+    current_alert = AlertEntry()
+    for v in self.alerts.values():
+      if not v.alert:
+        continue
+
+      if v.alert.event_type in clear_event_types:
+        v.end_frame = -1
+
+      # sort by priority first and then by start_frame
+      greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
+      if v.active(frame) and greater:
+        current_alert = v
+
+    return current_alert.alert

selfdrive/controls/lib/alerts_offroad.json

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+{
+  "Offroad_TemperatureTooHigh": {
+    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
+    "severity": 1
+  },
+  "Offroad_ConnectivityNeededPrompt": {
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
+    "severity": 0,
+    "_comment": "Set extra field to number of days"
+  },
+  "Offroad_ConnectivityNeeded": {
+    "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
+    "severity": 1
+  },
+  "Offroad_UpdateFailed": {
+    "text": "Unable to download updates\n%1",
+    "severity": 1,
+    "_comment": "Set extra field to the failed reason."
+  },
+  "Offroad_InvalidTime": {
+    "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
+    "severity": 1
+  },
+  "Offroad_IsTakingSnapshot": {
+    "text": "Taking camera snapshots. System won't start until finished.",
+    "severity": 0
+  },
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
+    "severity": 0
+  },
+  "Offroad_UnofficialHardware": {
+    "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.",
+    "severity": 1
+  },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
+  "Offroad_BadNvme": {
+    "text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.",
+    "severity": 1
+  },
+  "Offroad_CarUnrecognized": {
+    "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
+    "severity": 0
+  },
+  "Offroad_NoFirmware": {
+    "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
+    "severity": 0
+  },
+  "Offroad_Recalibration": {
+    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "severity": 0
+  }
+}

selfdrive/controls/lib/desire_helper.py

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+from cereal import log
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = log.Desire
+
+LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
+LANE_CHANGE_TIME_MAX = 10.
+
+
+DESIRES = {
+  LaneChangeDirection.none: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.Desire.none,
+  },
+  LaneChangeDirection.left: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
+  },
+  LaneChangeDirection.right: {
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
+  },
+}
+
+TURN_DESIRES = {
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
+}
+
+class DesireHelper:
+  def __init__(self):
+    self.lane_change_state = LaneChangeState.off
+    self.lane_change_direction = LaneChangeDirection.none
+    self.lane_change_timer = 0.0
+    self.lane_change_ll_prob = 1.0
+    self.keep_pulse_timer = 0.0
+    self.prev_one_blinker = False
+    self.desire = log.Desire.none
+
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.turn_direction = TurnDirection.none
+
+    self.lane_change_completed = False
+    self.turn_completed = False
+
+    self.lane_change_wait_timer = 0
+
+    self.update_frogpilot_params()
+
+  def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
+    # Clearpilot test lane change no lat
+    clearpilot_disable_lat_on_lane_change = True
+
+    # Todo, we want to count how many lanes we have moved during this process either left or right.
+    # Then, if blinker left, but we have traveled rightwards, reenable lateral and vice versa.
+    # Also, if we are less than 25% twoards our lane change and we get a blind spot, reenable lateral
+    # with influence back to our lane on wheel.
+
+    v_ego = carstate.vEgo
+    one_blinker = carstate.leftBlinker != carstate.rightBlinker
+    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+
+    if not (self.lane_detection and one_blinker) or below_lane_change_speed:
+      lane_available = True
+    else:
+      desired_lane = frogpilotPlan.laneWidthLeft if carstate.leftBlinker else frogpilotPlan.laneWidthRight
+      lane_available = desired_lane >= self.lane_detection_width
+
+    if (not clearpilot_disable_lat_on_lane_change and not lateral_active) or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+      self.lane_change_state = LaneChangeState.off
+      self.lane_change_direction = LaneChangeDirection.none
+      self.turn_direction = TurnDirection.none
+    elif one_blinker and below_lane_change_speed and self.turn_desires:
+      self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
+      # Set the "turn_completed" flag to prevent lane changes after completing a turn
+      self.turn_completed = True
+    else:
+      self.turn_direction = TurnDirection.none
+
+      # LaneChangeState.off
+      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+        self.lane_change_state = LaneChangeState.preLaneChange
+        self.lane_change_ll_prob = 1.0
+        self.lane_change_wait_timer = 0
+
+      # LaneChangeState.preLaneChange
+      elif self.lane_change_state == LaneChangeState.preLaneChange:
+        # Set lane change direction
+        self.lane_change_direction = LaneChangeDirection.left if \
+          carstate.leftBlinker else LaneChangeDirection.right
+
+        torque_applied = carstate.steeringPressed and \
+                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
+                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
+
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+
+        self.lane_change_wait_timer += DT_MDL
+        if self.nudgeless and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= self.lane_change_delay:
+          torque_applied = True
+          self.lane_change_wait_timer = 0
+
+        if not one_blinker or below_lane_change_speed:
+          self.lane_change_state = LaneChangeState.off
+          self.lane_change_direction = LaneChangeDirection.none
+        elif torque_applied and not blindspot_detected:
+          self.lane_change_state = LaneChangeState.laneChangeStarting
+          self.lane_change_completed = True if self.one_lane_change else False
+
+      # LaneChangeState.laneChangeStarting
+      elif self.lane_change_state == LaneChangeState.laneChangeStarting:
+        if clearpilot_disable_lat_on_lane_change:
+          if not one_blinker:
+            self.lane_change_state = LaneChangeState.laneChangeFinishing
+        else:
+          # fade out over .5s
+          self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
+
+          # 98% certainty
+          if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
+            self.lane_change_state = LaneChangeState.laneChangeFinishing
+
+      # LaneChangeState.laneChangeFinishing
+      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
+        # fade in laneline over 1s
+        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
+
+        if self.lane_change_ll_prob > 0.99:
+          self.lane_change_direction = LaneChangeDirection.none
+          if one_blinker:
+            self.lane_change_state = LaneChangeState.preLaneChange
+          else:
+            self.lane_change_state = LaneChangeState.off
+
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
+      self.lane_change_timer = 0.0
+    else:
+      self.lane_change_timer += DT_MDL
+
+    self.lane_change_completed &= one_blinker
+    self.prev_one_blinker = one_blinker
+    self.turn_completed &= one_blinker
+
+    # Clearpilot test: disabling turn desires
+    # if self.turn_direction != TurnDirection.none:
+    #   self.desire = TURN_DESIRES[self.turn_direction]
+    # elif not self.turn_completed:
+    #   self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    # else:
+    #   self.desire = log.Desire.none
+
+    # Send keep pulse once per second during LaneChangeStart.preLaneChange
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
+      self.keep_pulse_timer = 0.0
+    elif self.lane_change_state == LaneChangeState.preLaneChange:
+      self.keep_pulse_timer += DT_MDL
+      if self.keep_pulse_timer > 1.0:
+        self.keep_pulse_timer = 0.0
+      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
+        self.desire = log.Desire.none
+
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def update_frogpilot_params(self):
+    is_metric = self.params.get_bool("IsMetric")
+
+    lateral_tune = self.params.get_bool("LateralTune")
+    self.turn_desires = lateral_tune and self.params.get_bool("TurnDesires")
+
+    self.nudgeless = self.params.get_bool("NudgelessLaneChange")
+    self.lane_change_delay = self.params.get_int("LaneChangeTime") if self.nudgeless else 0
+    self.lane_detection = self.nudgeless and self.params.get_int("LaneDetectionWidth") != 0
+    self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
+    self.one_lane_change = self.nudgeless and self.params.get_bool("OneLaneChange")

selfdrive/controls/lib/drive_helpers.py

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+import math
+
+from cereal import car, log
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+
+# WARNING: this value was determined based on the model's training distribution,
+#          model predictions above this speed can be unpredictable
+# V_CRUISE's are in kph
+V_CRUISE_MIN = 8
+V_CRUISE_MAX = 145
+V_CRUISE_UNSET = 255
+V_CRUISE_INITIAL = 40
+V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
+IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
+
+MIN_SPEED = 1.0
+CONTROL_N = 17
+CAR_ROTATION_RADIUS = 0.0
+
+# EU guidelines
+MAX_LATERAL_JERK = 5.0
+MAX_VEL_ERR = 5.0
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+CRUISE_LONG_PRESS = 50
+CRUISE_NEAREST_FUNC = {
+  ButtonType.accelCruise: math.ceil,
+  ButtonType.decelCruise: math.floor,
+}
+CRUISE_INTERVAL_SIGN = {
+  ButtonType.accelCruise: +1,
+  ButtonType.decelCruise: -1,
+}
+
+
+class VCruiseHelper:
+  def __init__(self, CP):
+    self.CP = CP
+    self.v_cruise_kph = V_CRUISE_UNSET
+    self.v_cruise_cluster_kph = V_CRUISE_UNSET
+    self.v_cruise_kph_last = 0
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
+
+    # FrogPilot variables
+    self.params_memory = Params("/dev/shm/params")
+
+  @property
+  def v_cruise_initialized(self):
+    return self.v_cruise_kph != V_CRUISE_UNSET
+
+  def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_variables):
+    self.v_cruise_kph_last = self.v_cruise_kph
+
+    if CS.cruiseState.available:
+      if not self.CP.pcmCruise:
+        # if stock cruise is completely disabled, then we can use our own set speed logic
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, frogpilot_variables)
+        self.v_cruise_cluster_kph = self.v_cruise_kph
+        self.update_button_timers(CS, enabled)
+      else:
+        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+    else:
+      self.v_cruise_kph = V_CRUISE_UNSET
+      self.v_cruise_cluster_kph = V_CRUISE_UNSET
+
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_variables):
+    # handle button presses. TODO: this should be in state_control, but a decelCruise press
+    # would have the effect of both enabling and changing speed is checked after the state transition
+    if not enabled:
+      return
+
+    long_press = False
+    button_type = None
+
+    v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
+
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers and not b.pressed:
+        if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
+          return  # end long press
+        button_type = b.type.raw
+        break
+    else:
+      for k in self.button_timers.keys():
+        if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
+          button_type = k
+          long_press = True
+          break
+
+    if button_type is None:
+      return
+
+    # Confirm or deny the new speed limit value
+    if speed_limit_changed:
+      if button_type == ButtonType.accelCruise:
+        self.params_memory.put_bool("SLCConfirmed", True)
+        self.params_memory.put_bool("SLCConfirmedPressed", True)
+        return
+      elif button_type == ButtonType.decelCruise:
+        self.params_memory.put_bool("SLCConfirmed", False)
+        self.params_memory.put_bool("SLCConfirmedPressed", True)
+        return
+
+    # Don't adjust speed when pressing resume to exit standstill
+    cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
+    if button_type == ButtonType.accelCruise and cruise_standstill:
+      return
+
+    # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
+    if not self.button_change_states[button_type]["enabled"]:
+      return
+
+    v_cruise_delta_interval = frogpilot_variables.custom_cruise_increase_long if long_press else frogpilot_variables.custom_cruise_increase
+    v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
+    if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
+    else:
+      self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
+
+    v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
+    if v_cruise_offset < 0:
+      v_cruise_offset = frogpilot_variables.set_speed_offset - v_cruise_delta
+    self.v_cruise_kph += v_cruise_offset
+
+    # If set is pressed while overriding, clip cruise speed to minimum of vEgo
+    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
+      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
+
+    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+
+  def update_button_timers(self, CS, enabled):
+    # increment timer for buttons still pressed
+    for k in self.button_timers:
+      if self.button_timers[k] > 0:
+        self.button_timers[k] += 1
+
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers:
+        # Start/end timer and store current state on change of button pressed
+        self.button_timers[b.type.raw] = 1 if b.pressed else 0
+        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
+
+  def initialize_v_cruise(self, CS, experimental_mode: bool, desired_speed_limit, frogpilot_variables) -> None:
+    # initializing is handled by the PCM
+    if self.CP.pcmCruise:
+      return
+
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+
+    # 250kph or above probably means we never had a set speed
+    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
+      self.v_cruise_kph = self.v_cruise_kph_last
+    else:
+      if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit:
+        self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
+      else:
+        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+
+    self.v_cruise_cluster_kph = self.v_cruise_kph
+
+
+def apply_deadzone(error, deadzone):
+  if error > deadzone:
+    error -= deadzone
+  elif error < - deadzone:
+    error += deadzone
+  else:
+    error = 0.
+  return error
+
+
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def clip_curvature(v_ego, prev_curvature, new_curvature):
+  v_ego = max(MIN_SPEED, v_ego)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  safe_desired_curvature = clip(new_curvature,
+                                prev_curvature - max_curvature_rate * DT_CTRL,
+                                prev_curvature + max_curvature_rate * DT_CTRL)
+
+  return safe_desired_curvature
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
+def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
+  # ToDo: Try relative error, and absolute speed
+  if len(modelV2.temporalPose.trans):
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    return float(vel_err)
+  return 0.0

selfdrive/controls/lib/latcontrol.py

@@ -0,0 +1,32 @@
+from abc import abstractmethod, ABC
+
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
+
+MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
+
+
+class LatControl(ABC):
+  def __init__(self, CP, CI):
+    self.sat_count_rate = 1.0 * DT_CTRL
+    self.sat_limit = CP.steerLimitTimer
+    self.sat_count = 0.
+    self.sat_check_min_speed = 10.
+
+    # we define the steer torque scale as [-1.0...1.0]
+    self.steer_max = 1.0
+
+  @abstractmethod
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None):
+    pass
+
+  def reset(self):
+    self.sat_count = 0.
+
+  def _check_saturation(self, saturated, CS, steer_limited):
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
+      self.sat_count += self.sat_count_rate
+    else:
+      self.sat_count -= self.sat_count_rate
+    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    return self.sat_count > (self.sat_limit - 1e-3)

selfdrive/controls/lib/latcontrol_angle.py

@@ -0,0 +1,29 @@
+import math
+
+from cereal import log
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+
+STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+
+
+class LatControlAngle(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.sat_check_min_speed = 5.
+
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None):
+    angle_log = log.ControlsState.LateralAngleState.new_message()
+
+    if not active:
+      angle_log.active = False
+      angle_steers_des = float(CS.steeringAngleDeg)
+    else:
+      angle_log.active = True
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+      angle_steers_des += params.angleOffsetDeg
+
+    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
+    angle_log.steeringAngleDesiredDeg = angle_steers_des
+    return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -0,0 +1,48 @@
+import math
+
+from cereal import log
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
+
+
+class LatControlPID(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
+                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
+                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.get_steer_feedforward = CI.get_steer_feedforward_function()
+
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None):
+    pid_log = log.ControlsState.LateralPIDState.new_message()
+    pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
+    pid_log.steeringRateDeg = float(CS.steeringRateDeg)
+
+    angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+    angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
+    error = angle_steers_des - CS.steeringAngleDeg
+
+    pid_log.steeringAngleDesiredDeg = angle_steers_des
+    pid_log.angleError = error
+    if not active:
+      output_steer = 0.0
+      pid_log.active = False
+      self.pid.reset()
+    else:
+      # offset does not contribute to resistive torque
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+
+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
+      pid_log.active = True
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.f = self.pid.f
+      pid_log.output = output_steer
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+
+    return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -0,0 +1,259 @@
+from collections import deque
+import math
+import numpy as np
+
+from cereal import log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.interfaces import LatControlInputs
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+# At higher speeds (25+mph) we can assume:
+# Lateral acceleration achieved by a specific car correlates to
+# torque applied to the steering rack. It does not correlate to
+# wheel slip, or to speed.
+
+# This controller applies torque to achieve desired lateral
+# accelerations. To compensate for the low speed effects we
+# use a LOW_SPEED_FACTOR in the error. Additionally, there is
+# friction in the steering wheel that needs to be overcome to
+# move it at all, this is compensated for too.
+
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [15, 13, 10, 5]
+LOW_SPEED_Y_NN = [12, 3, 1, 0]
+
+LAT_PLAN_MIN_IDX = 5
+
+def get_predicted_lateral_jerk(lat_accels, t_diffs):
+  # compute finite difference between subsequent model_data.acceleration.y values
+  # this is just two calls of np.diff followed by an element-wise division
+  lat_accel_diffs = np.diff(lat_accels)
+  lat_jerk = lat_accel_diffs / t_diffs
+  # return as python list
+  return lat_jerk.tolist()
+
+def sign(x):
+  return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0)
+
+def get_lookahead_value(future_vals, current_val):
+  if len(future_vals) == 0:
+    return current_val
+
+  same_sign_vals = [v for v in future_vals if sign(v) == sign(current_val)]
+
+  # if any future val has opposite sign of current val, return 0
+  if len(same_sign_vals) < len(future_vals):
+    return 0.0
+
+  # otherwise return the value with minimum absolute value
+  min_val = min(same_sign_vals + [current_val], key=lambda x: abs(x))
+  return min_val
+
+# At a given roll, if pitch magnitude increases, the
+# gravitational acceleration component starts pointing
+# in the longitudinal direction, decreasing the lateral
+# acceleration component. Here we do the same thing
+# to the roll value itself, then passed to nnff.
+def roll_pitch_adjust(roll, pitch):
+  return roll * math.cos(pitch)
+
+class LatControlTorque(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.torque_params = CP.lateralTuning.torque
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.use_steering_angle = self.torque_params.useSteeringAngle
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+
+    # Twilsonco's Lateral Neural Network Feedforward
+    self.use_nnff = CI.use_nnff
+    self.use_nnff_lite = CI.use_nnff_lite
+
+    if self.use_nnff or self.use_nnff_lite:
+      # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
+      # however, we can "look ahead" to the future planned lateral jerk in order to guage
+      # whether the current desired lateral jerk will persist into the future, i.e.
+      # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk.
+      # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent
+      # using a "future" value that is actually planned to occur before the "current" desired
+      # value, which is offset by the steerActuatorDelay.
+      self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments
+      self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments
+
+      # Scaling the lateral acceleration "friction response" could be helpful for some.
+      # Increase for a stronger response, decrease for a weaker response.
+      self.lat_jerk_friction_factor = 0.4
+      self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
+
+      # precompute time differences between ModelConstants.T_IDXS
+      self.t_diffs = np.diff(ModelConstants.T_IDXS)
+      self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+
+    if self.use_nnff:
+      self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
+      # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
+      # of lat accel and roll
+      # Past value is computed using previous desired lat accel and observed roll
+      self.torque_from_nn = CI.get_ff_nn
+      self.nn_friction_override = CI.lat_torque_nn_model.friction_override
+
+      # setup future time offsets
+      self.nn_time_offset = CP.steerActuatorDelay + 0.2
+      future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+      self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+      self.nn_future_times_np = np.array(self.nn_future_times)
+
+      # setup past time offsets
+      self.past_times = [-0.3, -0.2, -0.1]
+      history_check_frames = [int(abs(i)*100) for i in self.past_times]
+      self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames]
+      self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0])
+      self.roll_deque = deque(maxlen=history_check_frames[0])
+      self.error_deque = deque(maxlen=history_check_frames[0])
+      self.past_future_len = len(self.past_times) + len(self.nn_future_times)
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None):
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    nn_log = None
+
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      if self.use_steering_angle:
+        actual_curvature = actual_curvature_vm
+        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+        if self.use_nnff or self.use_nnff_lite:
+          actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+          actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+      else:
+        actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        curvature_deadzone = 0.0
+        actual_lateral_jerk = 0.0
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nnff else LOW_SPEED_Y_NN)**2
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
+
+      lateral_jerk_setpoint = 0
+      lateral_jerk_measurement = 0
+
+      if self.use_nnff or self.use_nnff_lite:
+        # prepare "look-ahead" desired lateral jerk
+        lat_accel_friction_factor = self.lat_accel_friction_factor
+        if len(model_data.acceleration.y) == ModelConstants.IDX_N:
+          lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
+          friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16)
+          predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
+          desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time
+          lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
+          if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
+            lookahead_lateral_jerk = 0.0
+            actual_lateral_jerk = 0.0
+            lat_accel_friction_factor = 1.0
+          lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
+        else:
+          lateral_jerk_setpoint = 0.0
+          lateral_jerk_measurement = 0.0
+          lookahead_lateral_jerk = 0.0
+
+      model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
+      if self.use_nnff and model_good:
+        # update past data
+        roll = params.roll
+        pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) if len(llk.calibratedOrientationNED.value) > 1 else 0.0
+        roll = roll_pitch_adjust(roll, pitch)
+        self.roll_deque.append(roll)
+        self.lateral_accel_desired_deque.append(desired_lateral_accel)
+
+        # prepare past and future values
+        # adjust future times to account for longitudinal acceleration
+        adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times]
+        past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets]
+        future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times]
+        past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets]
+        future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for t in adjusted_future_times]
+
+        # compute NNFF error response
+        nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \
+                              + [setpoint] * self.past_future_len \
+                              + past_rolls + future_rolls
+        # past lateral accel error shouldn't count, so use past desired like the setpoint input
+        nnff_measurement_input = [CS.vEgo, measurement, lateral_jerk_measurement, roll] \
+                              + [measurement] * self.past_future_len \
+                              + past_rolls + future_rolls
+        torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input)
+        torque_from_measurement = self.torque_from_nn(nnff_measurement_input)
+        pid_log.error = torque_from_setpoint - torque_from_measurement
+
+        # compute feedforward (same as nn setpoint output)
+        error = setpoint - measurement
+        friction_input = lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+        nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \
+                              + past_lateral_accels_desired + future_planned_lateral_accels \
+                              + past_rolls + future_rolls
+        ff = self.torque_from_nn(nn_input)
+
+        # apply friction override for cars with low NN friction response
+        if self.nn_friction_override:
+          pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
+                                                          friction_input, lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False)
+        nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input
+      else:
+        gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
+        torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                              lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_nnff_lite, gravity_adjusted=False)
+        torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                                 lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_nnff_lite, gravity_adjusted=False)
+        pid_log.error = torque_from_setpoint - torque_from_measurement
+        error = desired_lateral_accel - actual_lateral_accel
+        if self.use_nnff_lite:
+          friction_input = lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+        else:
+          friction_input = error
+        ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                            friction_input, lateral_accel_deadzone, friction_compensation=True,
+                                            gravity_adjusted=True)
+
+      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
+      output_torque = self.pid.update(pid_log.error,
+                                      feedforward=ff,
+                                      speed=CS.vEgo,
+                                      freeze_integrator=freeze_integrator)
+
+      pid_log.active = True
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.d = self.pid.d
+      pid_log.f = self.pid.f
+      pid_log.output = -output_torque
+      pid_log.actualLateralAccel = actual_lateral_accel
+      pid_log.desiredLateralAccel = desired_lateral_accel
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
+      if nn_log is not None:
+        pid_log.nnLog = nn_log
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log

selfdrive/controls/lib/lateral_mpc_lib/.gitignore

@@ -0,0 +1,2 @@
+acados_ocp_lat.json
+c_generated_code/

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -0,0 +1,90 @@
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
+
+gen = "c_generated_code"
+
+casadi_model = [
+  f'{gen}/lat_model/lat_expl_ode_fun.c',
+  f'{gen}/lat_model/lat_expl_vde_forw.c',
+]
+
+casadi_cost_y = [
+  f'{gen}/lat_cost/lat_cost_y_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_hess.c',
+]
+
+casadi_cost_e = [
+  f'{gen}/lat_cost/lat_cost_y_e_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_e_hess.c',
+]
+
+casadi_cost_0 = [
+  f'{gen}/lat_cost/lat_cost_y_0_fun.c',
+  f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
+  f'{gen}/lat_cost/lat_cost_y_0_hess.c',
+]
+
+build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
+
+# extra generated files used to trigger a rebuild
+generated_files = [
+  f'{gen}/Makefile',
+
+  f'{gen}/main_lat.c',
+  f'{gen}/main_sim_lat.c',
+  f'{gen}/acados_solver_lat.h',
+  f'{gen}/acados_sim_solver_lat.h',
+  f'{gen}/acados_sim_solver_lat.c',
+  f'{gen}/acados_solver.pxd',
+
+  f'{gen}/lat_model/lat_expl_vde_adj.c',
+
+  f'{gen}/lat_model/lat_model.h',
+  f'{gen}/lat_constraints/lat_constraints.h',
+  f'{gen}/lat_cost/lat_cost.h',
+] + build_files
+
+acados_dir = '#third_party/acados'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+
+source_list = ['lat_mpc.py',
+  '#selfdrive/modeld/constants.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_templates_dir}/acados_solver.in.c',
+]
+
+lenv = env.Clone()
+lenv.Clean(generated_files, Dir(gen))
+
+generated_lat = lenv.Command(generated_files,
+                             source_list,
+                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+lenv.Depends(generated_lat, [messaging_python, common_python, opendbc_python])
+
+lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CCFLAGS"].append("-Wno-unused")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
+                                build_files,
+                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
+
+# generate cython stuff
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
+libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
+
+lenv2 = envCython.Clone()
+lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2.Command(libacados_ocp_solver_c,
+  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
+  f'cython' + \
+  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
+  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
+  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
+  f' {acados_ocp_solver_pyx.get_labspath()}')
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lenv2.Depends(lib_cython, lib_solver)

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -0,0 +1,199 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+
+from casadi import SX, vertcat, sin, cos
+# WARNING: imports outside of constants will not trigger a rebuild
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+if __name__ == '__main__':  # generating code
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+else:
+  from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
+
+LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
+EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
+JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
+X_DIM = 4
+P_DIM = 2
+COST_E_DIM = 3
+COST_DIM = COST_E_DIM + 2
+SPEED_OFFSET = 10.0
+MODEL_NAME = 'lat'
+ACADOS_SOLVER_TYPE = 'SQP_RTI'
+N = 32
+
+def gen_lat_model():
+  model = AcadosModel()
+  model.name = MODEL_NAME
+
+  # set up states & controls
+  x_ego = SX.sym('x_ego')
+  y_ego = SX.sym('y_ego')
+  psi_ego = SX.sym('psi_ego')
+  psi_rate_ego = SX.sym('psi_rate_ego')
+  model.x = vertcat(x_ego, y_ego, psi_ego, psi_rate_ego)
+
+  # parameters
+  v_ego = SX.sym('v_ego')
+  rotation_radius = SX.sym('rotation_radius')
+  model.p = vertcat(v_ego, rotation_radius)
+
+  # controls
+  psi_accel_ego = SX.sym('psi_accel_ego')
+  model.u = vertcat(psi_accel_ego)
+
+  # xdot
+  x_ego_dot = SX.sym('x_ego_dot')
+  y_ego_dot = SX.sym('y_ego_dot')
+  psi_ego_dot = SX.sym('psi_ego_dot')
+  psi_rate_ego_dot = SX.sym('psi_rate_ego_dot')
+
+  model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, psi_rate_ego_dot)
+
+  # dynamics model
+  f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * psi_rate_ego,
+                   v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * psi_rate_ego,
+                   psi_rate_ego,
+                   psi_accel_ego)
+  model.f_impl_expr = model.xdot - f_expl
+  model.f_expl_expr = f_expl
+  return model
+
+
+def gen_lat_ocp():
+  ocp = AcadosOcp()
+  ocp.model = gen_lat_model()
+
+  Tf = np.array(ModelConstants.T_IDXS)[N]
+
+  # set dimensions
+  ocp.dims.N = N
+
+  # set cost module
+  ocp.cost.cost_type = 'NONLINEAR_LS'
+  ocp.cost.cost_type_e = 'NONLINEAR_LS'
+
+  Q = np.diag(np.zeros(COST_E_DIM))
+  QR = np.diag(np.zeros(COST_DIM))
+
+  ocp.cost.W = QR
+  ocp.cost.W_e = Q
+
+  y_ego, psi_ego, psi_rate_ego = ocp.model.x[1], ocp.model.x[2], ocp.model.x[3]
+  psi_rate_ego_dot = ocp.model.u[0]
+  v_ego = ocp.model.p[0]
+
+  ocp.parameter_values = np.zeros((P_DIM, ))
+
+  ocp.cost.yref = np.zeros((COST_DIM, ))
+  ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
+  # Add offset to smooth out low speed control
+  # TODO unclear if this right solution long term
+  v_ego_offset = v_ego + SPEED_OFFSET
+  # TODO there are two costs on psi_rate_ego_dot, one
+  # is correlated to jerk the other to steering wheel movement
+  # the steering wheel movement cost is added to prevent excessive
+  # wheel movements
+  ocp.model.cost_y_expr = vertcat(y_ego,
+                                  v_ego_offset * psi_ego,
+                                  v_ego_offset * psi_rate_ego,
+                                  v_ego_offset * psi_rate_ego_dot,
+                                  psi_rate_ego_dot / (v_ego + 0.1))
+  ocp.model.cost_y_expr_e = vertcat(y_ego,
+                                   v_ego_offset * psi_ego,
+                                   v_ego_offset * psi_rate_ego)
+
+  # set constraints
+  ocp.constraints.constr_type = 'BGH'
+  ocp.constraints.idxbx = np.array([2,3])
+  ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)])
+  ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)])
+  x0 = np.zeros((X_DIM,))
+  ocp.constraints.x0 = x0
+
+  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
+  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
+  ocp.solver_options.integrator_type = 'ERK'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
+  ocp.solver_options.qp_solver_iter_max = 1
+  ocp.solver_options.qp_solver_cond_N = 1
+
+  # set prediction horizon
+  ocp.solver_options.tf = Tf
+  ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
+
+  ocp.code_export_directory = EXPORT_DIR
+  return ocp
+
+
+class LateralMpc():
+  def __init__(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    self.reset(x0)
+
+  def reset(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N, 1))
+    self.yref = np.zeros((N+1, COST_DIM))
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
+
+    # Somehow needed for stable init
+    for i in range(N+1):
+      self.solver.set(i, 'x', np.zeros(X_DIM))
+      self.solver.set(i, 'p', np.zeros(P_DIM))
+    self.solver.constraints_set(0, "lbx", x0)
+    self.solver.constraints_set(0, "ubx", x0)
+    self.solver.solve()
+    self.solution_status = 0
+    self.solve_time = 0.0
+    self.cost = 0
+
+  def set_weights(self, path_weight, heading_weight,
+                  lat_accel_weight, lat_jerk_weight,
+                  steering_rate_weight):
+    W = np.asfortranarray(np.diag([path_weight, heading_weight,
+                                   lat_accel_weight, lat_jerk_weight,
+                                   steering_rate_weight]))
+    for i in range(N):
+      self.solver.cost_set(i, 'W', W)
+    self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM])
+
+  def run(self, x0, p, y_pts, heading_pts, yaw_rate_pts):
+    x0_cp = np.copy(x0)
+    p_cp = np.copy(p)
+    self.solver.constraints_set(0, "lbx", x0_cp)
+    self.solver.constraints_set(0, "ubx", x0_cp)
+    self.yref[:,0] = y_pts
+    v_ego = p_cp[0, 0]
+    # rotation_radius = p_cp[1]
+    self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
+    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+      self.solver.set(i, "p", p_cp[i])
+    self.solver.set(N, "p", p_cp[N])
+    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
+
+    t = time.monotonic()
+    self.solution_status = self.solver.solve()
+    self.solve_time = time.monotonic() - t
+
+    for i in range(N+1):
+      self.x_sol[i] = self.solver.get(i, 'x')
+    for i in range(N):
+      self.u_sol[i] = self.solver.get(i, 'u')
+    self.cost = self.solver.get_cost()
+
+
+if __name__ == "__main__":
+  ocp = gen_lat_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)

selfdrive/controls/lib/longcontrol.py

@@ -0,0 +1,155 @@
+from cereal import car
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+LongCtrlState = car.CarControl.Actuators.LongControlState
+
+
+def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
+                             v_target_1sec, brake_pressed, cruise_standstill):
+  # Ignore cruise standstill if car has a gas interceptor
+  cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
+  accelerating = v_target_1sec > v_target
+  planned_stop = (v_target < CP.vEgoStopping and
+                  v_target_1sec < CP.vEgoStopping and
+                  not accelerating)
+  stay_stopped = (v_ego < CP.vEgoStopping and
+                  (brake_pressed or cruise_standstill))
+  stopping_condition = planned_stop or stay_stopped
+
+  starting_condition = (v_target_1sec > CP.vEgoStarting and
+                        accelerating and
+                        not cruise_standstill and
+                        not brake_pressed)
+  started_condition = v_ego > CP.vEgoStarting
+
+  if not active:
+    long_control_state = LongCtrlState.off
+
+  else:
+    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
+      long_control_state = LongCtrlState.pid
+      if stopping_condition:
+        long_control_state = LongCtrlState.stopping
+
+    elif long_control_state == LongCtrlState.stopping:
+      if starting_condition and CP.startingState:
+        long_control_state = LongCtrlState.starting
+      elif starting_condition:
+        long_control_state = LongCtrlState.pid
+
+    elif long_control_state == LongCtrlState.starting:
+      if stopping_condition:
+        long_control_state = LongCtrlState.stopping
+      elif started_condition:
+        long_control_state = LongCtrlState.pid
+
+  return long_control_state
+
+
+class LongControl:
+  def __init__(self, CP):
+    self.CP = CP
+    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
+    self.v_pid = 0.0
+    self.last_output_accel = 0.0
+
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.update_frogpilot_params()
+
+  def reset(self, v_pid):
+    """Reset PID controller and change setpoint"""
+    self.pid.reset()
+    self.v_pid = v_pid
+
+  def update(self, active, CS, long_plan, accel_limits, t_since_plan):
+    """Update longitudinal control. This updates the state machine and runs a PID loop"""
+    # Interp control trajectory
+    speeds = long_plan.speeds
+    if len(speeds) == CONTROL_N:
+      v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
+
+      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
+
+      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
+
+      v_target = min(v_target_lower, v_target_upper)
+      a_target = min(a_target_lower, a_target_upper)
+
+      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+    else:
+      v_target = 0.0
+      v_target_now = 0.0
+      v_target_1sec = 0.0
+      a_target = 0.0
+
+    self.pid.neg_limit = accel_limits[0]
+    self.pid.pos_limit = accel_limits[1]
+
+    output_accel = self.last_output_accel
+    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
+                                                       v_target, v_target_1sec, CS.brakePressed,
+                                                       CS.cruiseState.standstill)
+
+    if self.long_control_state == LongCtrlState.off:
+      self.reset(CS.vEgo)
+      output_accel = 0.
+
+    elif self.long_control_state == LongCtrlState.stopping:
+      if output_accel > self.CP.stopAccel:
+        output_accel = min(output_accel, 0.0)
+        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
+      self.reset(CS.vEgo)
+
+    elif self.long_control_state == LongCtrlState.starting:
+      output_accel = self.CP.startAccel
+      self.reset(CS.vEgo)
+
+    elif self.long_control_state == LongCtrlState.pid:
+      self.v_pid = v_target_now
+
+      # Toyota starts braking more when it thinks you want to stop
+      # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
+      # TODO too complex, needs to be simplified and tested on toyotas
+      prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
+      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
+      freeze_integrator = prevent_overshoot
+
+      error = self.v_pid - CS.vEgo
+      error_deadzone = apply_deadzone(error, deadzone)
+      output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
+                                     feedforward=a_target,
+                                     freeze_integrator=freeze_integrator)
+
+    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
+
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+    return self.last_output_accel
+
+  def update_frogpilot_params(self):
+    kiV = [self.params.get_float("kiV1"), self.params.get_float("kiV2"), self.params.get_float("kiV3"), self.params.get_float("kiV4")]
+    kpV = [self.params.get_float("kpV1"), self.params.get_float("kpV2"), self.params.get_float("kpV3"), self.params.get_float("kpV4")]
+
+    if self.params.get_bool("Tuning"):
+      self.pid = PIDController((self.CP.longitudinalTuning.kpBP, kpV),
+                               (self.CP.longitudinalTuning.kiBP, kiV),
+                               k_f=self.CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
+    else:
+      self.pid = PIDController((self.CP.longitudinalTuning.kpBP, self.CP.longitudinalTuning.kpV),
+                               (self.CP.longitudinalTuning.kiBP, self.CP.longitudinalTuning.kiV),
+                               k_f=self.CP.longitudinalTuning.kf, rate=1 / DT_CTRL)

selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore

@@ -0,0 +1,2 @@
+acados_ocp_long.json
+c_generated_code/

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -0,0 +1,96 @@
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
+
+gen = "c_generated_code"
+
+casadi_model = [
+  f'{gen}/long_model/long_expl_ode_fun.c',
+  f'{gen}/long_model/long_expl_vde_forw.c',
+]
+
+casadi_cost_y = [
+  f'{gen}/long_cost/long_cost_y_fun.c',
+  f'{gen}/long_cost/long_cost_y_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_hess.c',
+]
+
+casadi_cost_e = [
+  f'{gen}/long_cost/long_cost_y_e_fun.c',
+  f'{gen}/long_cost/long_cost_y_e_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_e_hess.c',
+]
+
+casadi_cost_0 = [
+  f'{gen}/long_cost/long_cost_y_0_fun.c',
+  f'{gen}/long_cost/long_cost_y_0_fun_jac_ut_xt.c',
+  f'{gen}/long_cost/long_cost_y_0_hess.c',
+]
+
+casadi_constraints = [
+  f'{gen}/long_constraints/long_constr_h_fun.c',
+  f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
+]
+
+build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e +  \
+              casadi_cost_0 + casadi_constraints
+
+# extra generated files used to trigger a rebuild
+generated_files = [
+  f'{gen}/Makefile',
+
+  f'{gen}/main_long.c',
+  f'{gen}/main_sim_long.c',
+  f'{gen}/acados_solver_long.h',
+  f'{gen}/acados_sim_solver_long.h',
+  f'{gen}/acados_sim_solver_long.c',
+  f'{gen}/acados_solver.pxd',
+
+  f'{gen}/long_model/long_expl_vde_adj.c',
+
+  f'{gen}/long_model/long_model.h',
+  f'{gen}/long_constraints/long_constraints.h',
+  f'{gen}/long_cost/long_cost.h',
+] + build_files
+
+acados_dir = '#third_party/acados'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+
+source_list = ['long_mpc.py',
+  '#selfdrive/modeld/constants.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_templates_dir}/acados_solver.in.c',
+]
+
+lenv = env.Clone()
+lenv.Clean(generated_files, Dir(gen))
+
+generated_long = lenv.Command(generated_files,
+                              source_list,
+                              f"cd {Dir('.').abspath} && python3 long_mpc.py")
+lenv.Depends(generated_long, [messaging_python, common_python, opendbc_python])
+
+lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
+lenv["CCFLAGS"].append("-Wno-unused")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
+                                build_files,
+                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
+
+# generate cython stuff
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
+libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
+
+lenv2 = envCython.Clone()
+lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2.Command(libacados_ocp_solver_c,
+  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
+  f'cython' + \
+  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
+  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
+  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
+  f' {acados_ocp_solver_pyx.get_labspath()}')
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lenv2.Depends(lib_cython, lib_solver)

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -0,0 +1,496 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+from cereal import log
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+# WARNING: imports outside of constants will not trigger a rebuild
+from openpilot.selfdrive.modeld.constants import index_function
+from openpilot.selfdrive.car.interfaces import ACCEL_MIN
+
+if __name__ == '__main__':  # generating code
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+else:
+  from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
+
+from casadi import SX, vertcat
+
+MODEL_NAME = 'long'
+LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
+EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
+JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
+
+SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
+
+X_DIM = 3
+U_DIM = 1
+PARAM_DIM = 6
+COST_E_DIM = 5
+COST_DIM = COST_E_DIM + 1
+CONSTR_DIM = 4
+
+X_EGO_OBSTACLE_COST = 3.
+X_EGO_COST = 0.
+V_EGO_COST = 0.
+A_EGO_COST = 0.
+J_EGO_COST = 5.0
+A_CHANGE_COST = 200.
+DANGER_ZONE_COST = 100.
+CRASH_DISTANCE = .25
+LEAD_DANGER_FACTOR = 0.75
+LIMIT_COST = 1e6
+ACADOS_SOLVER_TYPE = 'SQP_RTI'
+# Default lead acceleration decay set to 50% at 1s
+LEAD_ACCEL_TAU = 1.5
+
+# Fewer timestamps don't hurt performance and lead to
+# much better convergence of the MPC with low iterations
+N = 12
+MAX_T = 10.0
+T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)]
+
+T_IDXS = np.array(T_IDXS_LST)
+FCW_IDXS = T_IDXS < 5.0
+T_DIFFS = np.diff(T_IDXS, prepend=[0.])
+COMFORT_BRAKE = 2.5
+STOP_DISTANCE = 6.0
+
+def get_jerk_factor(custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
+  if custom_personalities:
+    if personality==log.LongitudinalPersonality.relaxed:
+      return relaxed_jerk
+    elif personality==log.LongitudinalPersonality.standard:
+      return standard_jerk
+    elif personality==log.LongitudinalPersonality.aggressive:
+      return aggressive_jerk
+    else:
+      raise NotImplementedError("Longitudinal personality not supported")
+  else:
+    if personality==log.LongitudinalPersonality.relaxed:
+      return 1.0
+    elif personality==log.LongitudinalPersonality.standard:
+      return 1.0
+    elif personality==log.LongitudinalPersonality.aggressive:
+      return 0.5
+    else:
+      raise NotImplementedError("Longitudinal personality not supported")
+
+
+def get_T_FOLLOW(custom_personalities=False, aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, personality=log.LongitudinalPersonality.standard):
+  if custom_personalities:
+    if personality==log.LongitudinalPersonality.relaxed:
+      return relaxed_follow
+    elif personality==log.LongitudinalPersonality.standard:
+      return standard_follow
+    elif personality==log.LongitudinalPersonality.aggressive:
+      return aggressive_follow
+    else:
+      raise NotImplementedError("Longitudinal personality not supported")
+  else:
+    if personality==log.LongitudinalPersonality.relaxed:
+      return 1.75
+    elif personality==log.LongitudinalPersonality.standard:
+      return 1.45
+    elif personality==log.LongitudinalPersonality.aggressive:
+      return 1.25
+    else:
+      raise NotImplementedError("Longitudinal personality not supported")
+
+def get_stopped_equivalence_factor(v_lead):
+  return (v_lead**2) / (2 * COMFORT_BRAKE)
+
+def get_safe_obstacle_distance(v_ego, t_follow):
+  return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
+
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
+  if t_follow is None:
+    t_follow = get_T_FOLLOW()
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
+
+
+def gen_long_model():
+  model = AcadosModel()
+  model.name = MODEL_NAME
+
+  # set up states & controls
+  x_ego = SX.sym('x_ego')
+  v_ego = SX.sym('v_ego')
+  a_ego = SX.sym('a_ego')
+  model.x = vertcat(x_ego, v_ego, a_ego)
+
+  # controls
+  j_ego = SX.sym('j_ego')
+  model.u = vertcat(j_ego)
+
+  # xdot
+  x_ego_dot = SX.sym('x_ego_dot')
+  v_ego_dot = SX.sym('v_ego_dot')
+  a_ego_dot = SX.sym('a_ego_dot')
+  model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
+
+  # live parameters
+  a_min = SX.sym('a_min')
+  a_max = SX.sym('a_max')
+  x_obstacle = SX.sym('x_obstacle')
+  prev_a = SX.sym('prev_a')
+  lead_t_follow = SX.sym('lead_t_follow')
+  lead_danger_factor = SX.sym('lead_danger_factor')
+  model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
+
+  # dynamics model
+  f_expl = vertcat(v_ego, a_ego, j_ego)
+  model.f_impl_expr = model.xdot - f_expl
+  model.f_expl_expr = f_expl
+  return model
+
+
+def gen_long_ocp():
+  ocp = AcadosOcp()
+  ocp.model = gen_long_model()
+
+  Tf = T_IDXS[-1]
+
+  # set dimensions
+  ocp.dims.N = N
+
+  # set cost module
+  ocp.cost.cost_type = 'NONLINEAR_LS'
+  ocp.cost.cost_type_e = 'NONLINEAR_LS'
+
+  QR = np.zeros((COST_DIM, COST_DIM))
+  Q = np.zeros((COST_E_DIM, COST_E_DIM))
+
+  ocp.cost.W = QR
+  ocp.cost.W_e = Q
+
+  x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2]
+  j_ego = ocp.model.u[0]
+
+  a_min, a_max = ocp.model.p[0], ocp.model.p[1]
+  x_obstacle = ocp.model.p[2]
+  prev_a = ocp.model.p[3]
+  lead_t_follow = ocp.model.p[4]
+  lead_danger_factor = ocp.model.p[5]
+
+  ocp.cost.yref = np.zeros((COST_DIM, ))
+  ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
+
+  desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow)
+
+  # The main cost in normal operation is how close you are to the "desired" distance
+  # from an obstacle at every timestep. This obstacle can be a lead car
+  # or other object. In e2e mode we can use x_position targets as a cost
+  # instead.
+  costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.),
+           x_ego,
+           v_ego,
+           a_ego,
+           a_ego - prev_a,
+           j_ego]
+  ocp.model.cost_y_expr = vertcat(*costs)
+  ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
+
+  # Constraints on speed, acceleration and desired distance to
+  # the obstacle, which is treated as a slack constraint so it
+  # behaves like an asymmetrical cost.
+  constraints = vertcat(v_ego,
+                        (a_ego - a_min),
+                        (a_max - a_ego),
+                        ((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.))
+  ocp.model.con_h_expr = constraints
+
+  x0 = np.zeros(X_DIM)
+  ocp.constraints.x0 = x0
+  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
+
+
+  # We put all constraint cost weights to 0 and only set them at runtime
+  cost_weights = np.zeros(CONSTR_DIM)
+  ocp.cost.zl = cost_weights
+  ocp.cost.Zl = cost_weights
+  ocp.cost.Zu = cost_weights
+  ocp.cost.zu = cost_weights
+
+  ocp.constraints.lh = np.zeros(CONSTR_DIM)
+  ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM)
+  ocp.constraints.idxsh = np.arange(CONSTR_DIM)
+
+  # The HPIPM solver can give decent solutions even when it is stopped early
+  # Which is critical for our purpose where compute time is strictly bounded
+  # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This
+  # does not cause issues since the problem is well bounded.
+  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
+  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
+  ocp.solver_options.integrator_type = 'ERK'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
+  ocp.solver_options.qp_solver_cond_N = 1
+
+  # More iterations take too much time and less lead to inaccurate convergence in
+  # some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
+  ocp.solver_options.qp_solver_iter_max = 10
+  ocp.solver_options.qp_tol = 1e-3
+
+  # set prediction horizon
+  ocp.solver_options.tf = Tf
+  ocp.solver_options.shooting_nodes = T_IDXS
+
+  ocp.code_export_directory = EXPORT_DIR
+  return ocp
+
+
+class LongitudinalMpc:
+  def __init__(self, mode='acc'):
+    # FrogPilot variables
+    self.params_memory = Params("/dev/shm/params")
+
+    self.update_frogpilot_params()
+
+    self.mode = mode
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    self.reset()
+    self.source = SOURCES[2]
+
+  def reset(self):
+    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    self.solver.reset()
+    # self.solver.options_set('print_level', 2)
+    self.v_solution = np.zeros(N+1)
+    self.a_solution = np.zeros(N+1)
+    self.prev_a = np.array(self.a_solution)
+    self.j_solution = np.zeros(N)
+    self.yref = np.zeros((N+1, COST_DIM))
+    for i in range(N):
+      self.solver.cost_set(i, "yref", self.yref[i])
+    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N,1))
+    self.params = np.zeros((N+1, PARAM_DIM))
+    for i in range(N+1):
+      self.solver.set(i, 'x', np.zeros(X_DIM))
+    self.last_cloudlog_t = 0
+    self.status = False
+    self.crash_cnt = 0.0
+    self.solution_status = 0
+    # timers
+    self.solve_time = 0.0
+    self.time_qp_solution = 0.0
+    self.time_linearization = 0.0
+    self.time_integrator = 0.0
+    self.x0 = np.zeros(X_DIM)
+    self.set_weights()
+
+  def set_cost_weights(self, cost_weights, constraint_cost_weights):
+    W = np.asfortranarray(np.diag(cost_weights))
+    for i in range(N):
+      # TODO don't hardcode A_CHANGE_COST idx
+      # reduce the cost on (a-a_prev) later in the horizon.
+      W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0])
+      self.solver.cost_set(i, 'W', W)
+    # Setting the slice without the copy make the array not contiguous,
+    # causing issues with the C interface.
+    self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
+
+    # Set L2 slack cost on lower bound constraints
+    Zl = np.array(constraint_cost_weights)
+    for i in range(N):
+      self.solver.cost_set(i, 'Zl', Zl)
+
+  def set_weights(self, jerk_factor=1.0, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+    if self.mode == 'acc':
+      a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
+    elif self.mode == 'blended':
+      a_change_cost = 40.0 if prev_accel_constraint else 0
+      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
+    else:
+      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
+    self.set_cost_weights(cost_weights, constraint_cost_weights)
+
+  def set_cur_state(self, v, a):
+    v_prev = self.x0[1]
+    self.x0[1] = v
+    self.x0[2] = a
+    if abs(v_prev - v) > 2.:  # probably only helps if v < v_prev
+      for i in range(N+1):
+        self.solver.set(i, 'x', self.x0)
+
+  @staticmethod
+  def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau):
+    a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.)
+    v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8)
+    x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj)
+    lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
+    return lead_xv
+
+  def process_lead(self, lead, increased_stopping_distance=0):
+    v_ego = self.x0[1]
+    increased_stopping_distance = max(increased_stopping_distance - v_ego, 0)
+
+    if lead is not None and lead.status:
+      x_lead = lead.dRel - increased_stopping_distance
+      v_lead = lead.vLead
+      a_lead = lead.aLeadK
+      a_lead_tau = lead.aLeadTau
+    else:
+      # Fake a fast lead car, so mpc can keep running in the same mode
+      x_lead = 50.0
+      v_lead = v_ego + 10.0
+      a_lead = 0.0
+      a_lead_tau = LEAD_ACCEL_TAU
+
+    # MPC will not converge if immediate crash is expected
+    # Clip lead distance to what is still possible to brake for
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
+    x_lead = clip(x_lead, min_x_lead, 1e8)
+    v_lead = clip(v_lead, 0.0, 1e8)
+    a_lead = clip(a_lead, -10., 5.)
+    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
+    return lead_xv
+
+  def set_accel_limits(self, min_a, max_a):
+    # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
+    # needs refactor
+    self.cruise_min_a = min_a
+    self.max_a = max_a
+
+  def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_follow, trafficModeActive, personality=log.LongitudinalPersonality.standard):
+    v_ego = self.x0[1]
+    self.status = lead_one.status or lead_two.status
+
+    lead_xv_0 = self.process_lead(lead_one, self.increased_stopping_distance if not trafficModeActive else 0)
+    lead_xv_1 = self.process_lead(lead_two)
+
+    # To estimate a safe distance from a moving lead, we calculate how much stopping
+    # distance that lead needs as a minimum. We can add that to the current distance
+    # and then treat that as a stopped car/obstacle at this new distance.
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+
+    self.params[:,0] = ACCEL_MIN
+    self.params[:,1] = self.max_a
+
+    # Update in ACC mode or ACC/e2e blend
+    if self.mode == 'acc':
+      self.params[:,5] = LEAD_DANGER_FACTOR
+
+      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
+      # when the leads are no factor.
+      v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
+      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
+                                 v_lower,
+                                 v_upper)
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
+      x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+      self.source = SOURCES[np.argmin(x_obstacles[0])]
+
+      # These are not used in ACC mode
+      x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
+
+    elif self.mode == 'blended':
+      self.params[:,5] = 1.0
+
+      x_obstacles = np.column_stack([lead_0_obstacle,
+                                     lead_1_obstacle])
+      cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
+      xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
+      x = np.cumsum(np.insert(xforward, 0, x[0]))
+
+      x_and_cruise = np.column_stack([x, cruise_target])
+      x = np.min(x_and_cruise, axis=1)
+
+      self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'
+
+    else:
+      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
+
+    self.yref[:,1] = x
+    self.yref[:,2] = v
+    self.yref[:,3] = a
+    self.yref[:,5] = j
+    for i in range(N):
+      self.solver.set(i, "yref", self.yref[i])
+    self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
+
+    self.params[:,2] = np.min(x_obstacles, axis=1)
+    self.params[:,3] = np.copy(self.prev_a)
+    self.params[:,4] = t_follow
+
+    self.run()
+    lead_probability = lead_one.prob if radarless_model else lead_one.modelProb
+    if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and lead_probability > 0.9):
+      self.crash_cnt += 1
+    else:
+      self.crash_cnt = 0
+
+    # Check if it got within lead comfort range
+    # TODO This should be done cleaner
+    if self.mode == 'blended':
+      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
+        self.source = 'lead0'
+      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
+         (lead_1_obstacle[0] - lead_0_obstacle[0]):
+        self.source = 'lead1'
+
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def run(self):
+    # t0 = time.monotonic()
+    # reset = 0
+    for i in range(N+1):
+      self.solver.set(i, 'p', self.params[i])
+    self.solver.constraints_set(0, "lbx", self.x0)
+    self.solver.constraints_set(0, "ubx", self.x0)
+
+    self.solution_status = self.solver.solve()
+    self.solve_time = float(self.solver.get_stats('time_tot')[0])
+    self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
+    self.time_linearization = float(self.solver.get_stats('time_lin')[0])
+    self.time_integrator = float(self.solver.get_stats('time_sim')[0])
+
+    # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
+    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
+    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
+    # res = self.solver.get_residuals()
+    # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
+    # self.solver.print_statistics()
+
+    for i in range(N+1):
+      self.x_sol[i] = self.solver.get(i, 'x')
+    for i in range(N):
+      self.u_sol[i] = self.solver.get(i, 'u')
+
+    self.v_solution = self.x_sol[:,1]
+    self.a_solution = self.x_sol[:,2]
+    self.j_solution = self.u_sol[:,0]
+
+    self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
+
+    t = time.monotonic()
+    if self.solution_status != 0:
+      if t > self.last_cloudlog_t + 5.0:
+        self.last_cloudlog_t = t
+        cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
+      self.reset()
+      # reset = 1
+    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \
+    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
+
+  def update_frogpilot_params(self):
+    params = Params()
+
+    is_metric = params.get_bool("IsMetric")
+
+    longitudinal_tune = params.get_bool("LongitudinalTune")
+    self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0
+
+if __name__ == "__main__":
+  ocp = gen_long_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)

selfdrive/controls/lib/longitudinal_planner.py

@@ -0,0 +1,282 @@
+#!/usr/bin/env python3
+import math
+import numpy as np
+from openpilot.common.numpy_fast import clip, interp
+
+import cereal.messaging as messaging
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.simple_kalman import KF1D
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC, LEAD_ACCEL_TAU
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
+from openpilot.system.version import get_short_branch
+
+from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
+
+import sys
+
+LON_MPC_STEP = 0.2  # first step is 0.2s
+A_CRUISE_MIN = -1.2
+A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+
+# Lookup table for turns
+_A_TOTAL_MAX_V = [1.7, 3.2]
+_A_TOTAL_MAX_BP = [20., 40.]
+
+# Kalman filter states enum
+LEAD_KALMAN_SPEED, LEAD_KALMAN_ACCEL = 0, 1
+
+
+def get_max_accel(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+
+
+def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
+  """
+  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
+  this should avoid accelerating when losing the target in turns
+  """
+
+  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
+  # The lookup table for turns should also be updated if we do this
+  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
+  a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
+
+  return [a_target[0], min(a_target[1], a_x_allowed)]
+
+
+def lead_kf(v_lead: float, dt: float = 0.05):
+  # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
+  # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
+  assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s"
+  A = [[1.0, dt], [0.0, 1.0]]
+  C = [1.0, 0.0]
+  #Q = np.matrix([[10., 0.0], [0.0, 100.]])
+  #R = 1e3
+  #K = np.matrix([[ 0.05705578], [ 0.03073241]])
+  dts = [dt * 0.01 for dt in range(1, 21)]
+  K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
+        0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
+        0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
+        0.35353899, 0.36200124]
+  K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219,
+        0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
+        0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
+        0.26393339, 0.26278425]
+  K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+
+  kf = KF1D([[v_lead], [0.0]], A, C, K)
+  return kf
+
+
+class Lead:
+  def __init__(self):
+    self.dRel = 0.0
+    self.yRel = 0.0
+    self.vLead = 0.0
+    self.aLead = 0.0
+    self.vLeadK = 0.0
+    self.aLeadK = 0.0
+    self.aLeadTau = LEAD_ACCEL_TAU
+    self.prob = 0.0
+    self.status = False
+
+    self.kf: KF1D | None = None
+
+  def reset(self):
+    self.status = False
+    self.kf = None
+    self.aLeadTau = LEAD_ACCEL_TAU
+
+  def update(self, dRel: float, yRel: float, vLead: float, aLead: float, prob: float):
+    self.dRel = dRel
+    self.yRel = yRel
+    self.vLead = vLead
+    self.aLead = aLead
+    self.prob = prob
+    self.status = True
+
+    if self.kf is None:
+      self.kf = lead_kf(self.vLead)
+    else:
+      self.kf.update(self.vLead)
+
+    self.vLeadK = float(self.kf.x[LEAD_KALMAN_SPEED][0])
+    self.aLeadK = float(self.kf.x[LEAD_KALMAN_ACCEL][0])
+
+    # Learn if constant acceleration
+    if abs(self.aLeadK) < 0.5:
+      self.aLeadTau = LEAD_ACCEL_TAU
+    else:
+      self.aLeadTau *= 0.9
+
+
+class LongitudinalPlanner:
+  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+    self.CP = CP
+    self.mpc = LongitudinalMpc()
+    self.fcw = False
+    self.dt = dt
+
+    self.a_desired = init_a
+    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
+    self.v_model_error = 0.0
+
+    self.lead_one = Lead()
+    self.lead_two = Lead()
+
+    self.v_desired_trajectory = np.zeros(CONTROL_N)
+    self.a_desired_trajectory = np.zeros(CONTROL_N)
+    self.j_desired_trajectory = np.zeros(CONTROL_N)
+    self.solverExecutionTime = 0.0
+
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
+
+    self.release = get_short_branch() == "clearpilot"
+
+    self.update_frogpilot_params()
+
+  @staticmethod
+  def parse_model(model_msg, model_error, v_ego, taco_tune):
+    if (len(model_msg.position.x) == 33 and
+       len(model_msg.velocity.x) == 33 and
+       len(model_msg.acceleration.x) == 33):
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
+      j = np.zeros(len(T_IDXS_MPC))
+    else:
+      x = np.zeros(len(T_IDXS_MPC))
+      v = np.zeros(len(T_IDXS_MPC))
+      a = np.zeros(len(T_IDXS_MPC))
+      j = np.zeros(len(T_IDXS_MPC))
+
+    if taco_tune:
+      max_lat_accel = interp(v_ego, [5, 10, 20], [1.5, 2.0, 3.0])
+      curvatures = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0)
+      max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0
+      v = np.minimum(max_v, v)
+
+    return x, v, a, j
+
+  def update(self, sm):
+    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+
+    v_ego = sm['carState'].vEgo
+    v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
+    v_cruise = v_cruise_kph * CV.KPH_TO_MS
+
+    long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
+    force_slow_decel = sm['controlsState'].forceDecel
+
+    # Reset current state when not engaged, or user is controlling the speed
+    # clearpilot - might need changing
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
+
+    # No change cost when user is controlling the speed, or when standstill
+    prev_accel_constraint = not (reset_state or sm['carState'].standstill)
+
+    accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration]
+    if self.mpc.mode == 'acc':
+      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+    else:
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
+
+    if reset_state:
+      self.v_desired_filter.x = v_ego
+      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
+      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+
+    # Prevent divergence, smooth in current v_ego
+    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
+    # Compute model v_ego error
+    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
+
+    if force_slow_decel:
+      v_cruise = 0.0
+    # clip limits, cannot init MPC outside of bounds
+    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
+    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
+
+    if self.radarless_model:
+      model_leads = list(sm['modelV2'].leadsV3)
+      # TODO lead state should be invalidated if its different point than the previous one
+      lead_states = [self.lead_one, self.lead_two]
+      for index in range(len(lead_states)):
+        if len(model_leads) > index:
+          model_lead = model_leads[index]
+          lead_states[index].update(model_lead.x[0], model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob)
+        else:
+          lead_states[index].reset()
+    else:
+      self.lead_one = sm['radarState'].leadOne
+      self.lead_two = sm['radarState'].leadTwo
+
+    self.mpc.set_weights(sm['frogpilotPlan'].jerk, prev_accel_constraint, personality=sm['controlsState'].personality)
+    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
+    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
+    x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, self.taco_tune)
+    self.mpc.update(self.lead_one, self.lead_two, sm['frogpilotPlan'].vCruise, x, v, a, j, self.radarless_model, sm['frogpilotPlan'].tFollow,
+                    sm['frogpilotCarControl'].trafficModeActive, personality=sm['controlsState'].personality)
+
+    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
+    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
+    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
+    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+
+    # TODO counter is only needed because radar is glitchy, remove once radar is gone
+    self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
+    if self.fcw:
+      cloudlog.info("FCW triggered")
+
+    # Interpolate 0.05 seconds and save as starting point for next iteration
+    a_prev = self.a_desired
+    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
+
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def update_frogpilot_params(self):
+    lateral_tune = self.params.get_bool("LateralTune")
+    self.taco_tune = lateral_tune and self.params.get_bool("TacoTune") and not self.release
+
+  def publish(self, sm, pm):
+    plan_send = messaging.new_message('longitudinalPlan')
+
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+
+    longitudinalPlan = plan_send.longitudinalPlan
+    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
+    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+
+    longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
+    # print("LONG PLAN SPEEDS", sys.stderr)
+    # print(longitudinalPlan.speeds, sys.stderr)
+    # LONG PLAN SPEEDS <_io.TextIOWrapper name='<stderr>' mode='w' encoding='utf-8'>
+    # [10.240411, 10.242371, 10.248251, 10.257222, 10.267875, 10.281571, 10.285583, 10.283464, 10.281022, 10.281429, 10.281885, 10.282397, 10.282978, 10.283609, 10.282832, 10.281243, 10.279544] <_io.TextIOWrapper name='<stderr>' mode='w' encoding='utf-8'>
+
+    longitudinalPlan.accels = self.a_desired_trajectory.tolist()
+    longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
+
+    longitudinalPlan.hasLead = self.lead_one.status
+    longitudinalPlan.longitudinalPlanSource = self.mpc.source
+    longitudinalPlan.fcw = self.fcw
+
+    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+
+    pm.send('longitudinalPlan', plan_send)

selfdrive/controls/lib/pid.py

@@ -0,0 +1,75 @@
+import numpy as np
+from numbers import Number
+
+from openpilot.common.numpy_fast import clip, interp
+
+
+class PIDController():
+  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    self._k_d = k_d
+    self.k_f = k_f   # feedforward gain
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+    if isinstance(self._k_d, Number):
+      self._k_d = [[0], [self._k_d]]
+
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+    self.i_unwind_rate = 0.3 / rate
+    self.i_rate = 1.0 / rate
+    self.speed = 0.0
+
+    self.reset()
+
+  @property
+  def k_p(self):
+    return interp(self.speed, self._k_p[0], self._k_p[1])
+
+  @property
+  def k_i(self):
+    return interp(self.speed, self._k_i[0], self._k_i[1])
+
+  @property
+  def k_d(self):
+    return interp(self.speed, self._k_d[0], self._k_d[1])
+
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
+  def reset(self):
+    self.p = 0.0
+    self.i = 0.0
+    self.d = 0.0
+    self.f = 0.0
+    self.control = 0
+
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
+    self.speed = speed
+
+    self.p = float(error) * self.k_p
+    self.f = feedforward * self.k_f
+    self.d = error_rate * self.k_d
+
+    if override:
+      self.i -= self.i_unwind_rate * float(np.sign(self.i))
+    else:
+      i = self.i + error * self.k_i * self.i_rate
+      control = self.p + i + self.d + self.f
+
+      # Update when changing i will move the control away from the limits
+      # or when i will move towards the sign of the error
+      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+         not freeze_integrator:
+        self.i = i
+
+    control = self.p + self.i + self.d + self.f
+
+    self.control = clip(control, self.neg_limit, self.pos_limit)
+    return self.control

selfdrive/controls/lib/tests/test_alertmanager.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import random
+import unittest
+
+from openpilot.selfdrive.controls.lib.events import Alert, EVENTS
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
+
+
+class TestAlertManager(unittest.TestCase):
+
+  def test_duration(self):
+    """
+      Enforce that an alert lasts for max(alert duration, duration the alert is added)
+    """
+    for duration in range(1, 100):
+      alert = None
+      while not isinstance(alert, Alert):
+        event = random.choice([e for e in EVENTS.values() if len(e)])
+        alert = random.choice(list(event.values()))
+
+      alert.duration = duration
+
+      # check two cases:
+      # - alert is added to AM for <= the alert's duration
+      # - alert is added to AM for > alert's duration
+      for greater in (True, False):
+        if greater:
+          add_duration = duration + random.randint(1, 10)
+        else:
+          add_duration = random.randint(1, duration)
+        show_duration = max(duration, add_duration)
+
+        AM = AlertManager()
+        for frame in range(duration+10):
+          if frame < add_duration:
+            AM.add_many(frame, [alert, ])
+          current_alert = AM.process_alerts(frame, {})
+
+          shown = current_alert is not None
+          should_show = frame <= show_duration
+          self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}")
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import unittest
+
+from parameterized import parameterized
+
+from cereal import car, log
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.common.mock.generators import generate_liveLocationKalman
+
+
+class TestLatControl(unittest.TestCase):
+
+  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (NISSAN.LEAF, LatControlAngle)])
+  def test_saturation(self, car_name, controller):
+    CarInterface, CarController, CarState = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CI = CarInterface(CP, CarController, CarState)
+    VM = VehicleModel(CP)
+
+    controller = controller(CP, CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    llk = generate_liveLocationKalman()
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
+
+    self.assertTrue(lac_log.saturated)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import math
+import unittest
+
+import numpy as np
+from control import StateSpace
+
+from openpilot.selfdrive.car.honda.interface import CarInterface
+from openpilot.selfdrive.car.honda.values import CAR
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
+
+
+class TestVehicleModel(unittest.TestCase):
+  def setUp(self):
+    CP = CarInterface.get_non_essential_params(CAR.CIVIC)
+    self.VM = VehicleModel(CP)
+
+  def test_round_trip_yaw_rate(self):
+    # TODO: fix VM to work at zero speed
+    for u in np.linspace(1, 30, num=10):
+      for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
+        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
+          yr = self.VM.yaw_rate(sa, u, roll)
+          new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll)
+
+          self.assertAlmostEqual(sa, new_sa)
+
+  def test_dyn_ss_sol_against_yaw_rate(self):
+    """Verify that the yaw_rate helper function matches the results
+    from the state space model."""
+
+    for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
+      for u in np.linspace(1, 30, num=10):
+        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
+
+          # Compute yaw rate based on state space model
+          _, yr1 = dyn_ss_sol(sa, u, roll, self.VM)
+
+          # Compute yaw rate using direct computations
+          yr2 = self.VM.yaw_rate(sa, u, roll)
+          self.assertAlmostEqual(float(yr1[0]), yr2)
+
+  def test_syn_ss_sol_simulate(self):
+    """Verifies that dyn_ss_sol matches a simulation"""
+
+    for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
+      for u in np.linspace(1, 30, num=10):
+        A, B = create_dyn_state_matrices(u, self.VM)
+
+        # Convert to discrete time system
+        ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2)))
+        ss = ss.sample(0.01)
+
+        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
+          inp = np.array([[sa], [roll]])
+
+          # Simulate for 1 second
+          x1 = np.zeros((2, 1))
+          for _ in range(100):
+            x1 = ss.A @ x1 + ss.B @ inp
+
+          # Compute steady state solution directly
+          x2 = dyn_ss_sol(sa, u, roll, self.VM)
+
+          np.testing.assert_almost_equal(x1, x2, decimal=3)
+
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/lib/vehicle_model.py

@@ -0,0 +1,230 @@
+#!/usr/bin/env python3
+"""
+Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
+
+The state is x = [v, r]^T
+with v lateral speed [m/s], and r rotational speed [rad/s]
+
+The input u is the steering angle [rad], and roll [rad]
+
+The system is defined by
+x_dot = A*x + B*u
+
+A depends on longitudinal speed, u [m/s], and vehicle parameters CP
+"""
+
+import numpy as np
+from numpy.linalg import solve
+
+from cereal import car
+
+ACCELERATION_DUE_TO_GRAVITY = 9.8
+
+
+class VehicleModel:
+  def __init__(self, CP: car.CarParams):
+    """
+    Args:
+      CP: Car Parameters
+    """
+    # for math readability, convert long names car params into short names
+    self.m: float = CP.mass
+    self.j: float = CP.rotationalInertia
+    self.l: float = CP.wheelbase
+    self.aF: float = CP.centerToFront
+    self.aR: float = CP.wheelbase - CP.centerToFront
+    self.chi: float = CP.steerRatioRear
+
+    self.cF_orig: float = CP.tireStiffnessFront
+    self.cR_orig: float = CP.tireStiffnessRear
+    self.update_params(1.0, CP.steerRatio)
+
+  def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
+    """Update the vehicle model with a new stiffness factor and steer ratio"""
+    self.cF: float = stiffness_factor * self.cF_orig
+    self.cR: float = stiffness_factor * self.cR_orig
+    self.sR: float = steer_ratio
+
+  def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray:
+    """Returns the steady state solution.
+
+    If the speed is too low we can't use the dynamic model (tire slip is undefined),
+    we then have to use the kinematic model
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+      roll: Road Roll [rad]
+
+    Returns:
+      2x1 matrix with steady state solution (lateral speed, rotational speed)
+    """
+    if u > 0.1:
+      return dyn_ss_sol(sa, u, roll, self)
+    else:
+      return kin_ss_sol(sa, u, self)
+
+  def calc_curvature(self, sa: float, u: float, roll: float) -> float:
+    """Returns the curvature. Multiplied by the speed this will give the yaw rate.
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+      roll: Road Roll [rad]
+
+    Returns:
+      Curvature factor [1/m]
+    """
+    return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u)
+
+  def curvature_factor(self, u: float) -> float:
+    """Returns the curvature factor.
+    Multiplied by wheel angle (not steering wheel angle) this will give the curvature.
+
+    Args:
+      u: Speed [m/s]
+
+    Returns:
+      Curvature factor [1/m]
+    """
+    sf = calc_slip_factor(self)
+    return (1. - self.chi) / (1. - sf * u**2) / self.l
+
+  def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float:
+    """Calculates the required steering wheel angle for a given curvature
+
+    Args:
+      curv: Desired curvature [1/m]
+      u: Speed [m/s]
+      roll: Road Roll [rad]
+
+    Returns:
+      Steering wheel angle [rad]
+    """
+
+    return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u)
+
+  def roll_compensation(self, roll: float, u: float) -> float:
+    """Calculates the roll-compensation to curvature
+
+    Args:
+      roll: Road Roll [rad]
+      u: Speed [m/s]
+
+    Returns:
+      Roll compensation curvature [rad]
+    """
+    sf = calc_slip_factor(self)
+
+    if abs(sf) < 1e-6:
+      return 0
+    else:
+      return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2)
+
+  def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float:
+    """Calculates the required steering wheel angle for a given yaw_rate
+
+    Args:
+      yaw_rate: Desired yaw rate [rad/s]
+      u: Speed [m/s]
+      roll: Road Roll [rad]
+
+    Returns:
+      Steering wheel angle [rad]
+    """
+    curv = yaw_rate / u
+    return self.get_steer_from_curvature(curv, u, roll)
+
+  def yaw_rate(self, sa: float, u: float, roll: float) -> float:
+    """Calculate yaw rate
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+      roll: Road Roll [rad]
+
+    Returns:
+      Yaw rate [rad/s]
+    """
+    return self.calc_curvature(sa, u, roll) * u
+
+
+def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
+  """Calculate the steady state solution at low speeds
+  At low speeds the tire slip is undefined, so a kinematic
+  model is used.
+
+  Args:
+    sa: Steering angle [rad]
+    u: Speed [m/s]
+    VM: Vehicle model
+
+  Returns:
+    2x1 matrix with steady state solution
+  """
+  K = np.zeros((2, 1))
+  K[0, 0] = VM.aR / VM.sR / VM.l * u
+  K[1, 0] = 1. / VM.sR / VM.l * u
+  return K * sa
+
+
+def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]:
+  """Returns the A and B matrix for the dynamics system
+
+  Args:
+    u: Vehicle speed [m/s]
+    VM: Vehicle model
+
+  Returns:
+    A tuple with the 2x2 A matrix, and 2x2 B matrix
+
+  Parameters in the vehicle model:
+    cF: Tire stiffness Front [N/rad]
+    cR: Tire stiffness Front [N/rad]
+    aF: Distance from CG to front wheels [m]
+    aR: Distance from CG to rear wheels [m]
+    m: Mass [kg]
+    j: Rotational inertia [kg m^2]
+    sR: Steering ratio [-]
+    chi: Steer ratio rear [-]
+  """
+  A = np.zeros((2, 2))
+  B = np.zeros((2, 2))
+  A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u)
+  A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u
+  A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u)
+  A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u)
+
+  # Steering input
+  B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR
+  B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR
+
+  # Roll input
+  B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY
+
+  return A, B
+
+
+def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray:
+  """Calculate the steady state solution when x_dot = 0,
+  Ax + Bu = 0 => x = -A^{-1} B u
+
+  Args:
+    sa: Steering angle [rad]
+    u: Speed [m/s]
+    roll: Road Roll [rad]
+    VM: Vehicle model
+
+  Returns:
+    2x1 matrix with steady state solution
+  """
+  A, B = create_dyn_state_matrices(u, VM)
+  inp = np.array([[sa], [roll]])
+  return -solve(A, B) @ inp  # type: ignore
+
+
+def calc_slip_factor(VM: VehicleModel) -> float:
+  """The slip factor is a measure of how the curvature changes with speed
+  it's positive for Oversteering vehicle, negative (usual case) otherwise.
+  """
+  return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR)

selfdrive/controls/plannerd.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.common.realtime import Priority, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+import cereal.messaging as messaging
+
+def publish_ui_plan(sm, pm, longitudinal_planner):
+  ui_send = messaging.new_message('uiPlan')
+  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
+  uiPlan = ui_send.uiPlan
+  uiPlan.frameId = sm['modelV2'].frameId
+  uiPlan.position.x = list(sm['modelV2'].position.x)
+  uiPlan.position.y = list(sm['modelV2'].position.y)
+  uiPlan.position.z = list(sm['modelV2'].position.z)
+  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
+  pm.send('uiPlan', ui_send)
+
+def plannerd_thread():
+  config_realtime_process(5, Priority.CTRL_LOW)
+
+  cloudlog.info("plannerd is waiting for CarParams")
+  params = Params()
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = msg
+  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+
+  longitudinal_planner = LongitudinalPlanner(CP)
+  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotPlan'],
+                           poll='modelV2', ignore_avg_freq=['radarState'])
+
+  while True:
+    sm.update()
+    if sm.updated['modelV2']:
+      longitudinal_planner.update(sm)
+      longitudinal_planner.publish(sm, pm)
+      publish_ui_plan(sm, pm, longitudinal_planner)
+
+def main():
+  plannerd_thread()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/controls/radard.py

@@ -0,0 +1,336 @@
+#!/usr/bin/env python3
+import importlib
+import math
+from collections import deque
+from typing import Any, Optional
+
+import capnp
+from cereal import messaging, log, car
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.common.simple_kalman import KF1D
+
+
+# Default lead acceleration decay set to 50% at 1s
+_LEAD_ACCEL_TAU = 1.5
+
+# radar tracks
+SPEED, ACCEL = 0, 1     # Kalman filter states enum
+
+# stationary qualification parameters
+V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
+
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
+
+
+class KalmanParams:
+  def __init__(self, dt: float):
+    # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
+    # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
+    assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s"
+    self.A = [[1.0, dt], [0.0, 1.0]]
+    self.C = [1.0, 0.0]
+    #Q = np.matrix([[10., 0.0], [0.0, 100.]])
+    #R = 1e3
+    #K = np.matrix([[ 0.05705578], [ 0.03073241]])
+    dts = [dt * 0.01 for dt in range(1, 21)]
+    K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
+          0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
+          0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
+          0.35353899, 0.36200124]
+    K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219,
+          0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
+          0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
+          0.26393339, 0.26278425]
+    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+
+
+class Track:
+  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
+    self.identifier = identifier
+    self.cnt = 0
+    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.K_A = kalman_params.A
+    self.K_C = kalman_params.C
+    self.K_K = kalman_params.K
+    self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
+
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
+    # relative values, copy
+    self.dRel = d_rel   # LONG_DIST
+    self.yRel = y_rel   # -LAT_DIST
+    self.vRel = v_rel   # REL_SPEED
+    self.vLead = v_lead
+    self.measured = measured   # measured or estimate
+
+    # computed velocity and accelerations
+    if self.cnt > 0:
+      self.kf.update(self.vLead)
+
+    self.vLeadK = float(self.kf.x[SPEED][0])
+    self.aLeadK = float(self.kf.x[ACCEL][0])
+
+    # Learn if constant acceleration
+    if abs(self.aLeadK) < 0.5:
+      self.aLeadTau = _LEAD_ACCEL_TAU
+    else:
+      self.aLeadTau *= 0.9
+
+    self.cnt += 1
+
+  def get_key_for_cluster(self):
+    # Weigh y higher since radar is inaccurate in this dimension
+    return [self.dRel, self.yRel*2, self.vRel]
+
+  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
+    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
+    self.aLeadK = aLeadK
+    self.aLeadTau = aLeadTau
+
+  def get_RadarState(self, model_prob: float = 0.0):
+    return {
+      "dRel": float(self.dRel),
+      "yRel": float(self.yRel),
+      "vRel": float(self.vRel),
+      "vLead": float(self.vLead),
+      "vLeadK": float(self.vLeadK),
+      "aLeadK": float(self.aLeadK),
+      "aLeadTau": float(self.aLeadTau),
+      "status": True,
+      "fcw": self.is_potential_fcw(model_prob),
+      "modelProb": model_prob,
+      "radar": True,
+      "radarTrackId": self.identifier,
+    }
+
+  def potential_low_speed_lead(self, v_ego: float):
+    # stop for stuff in front of you and low speed, even without model confirmation
+    # Radar points closer than 0.75, are almost always glitches on toyota radars
+    return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25)
+
+  def is_potential_fcw(self, model_prob: float):
+    return model_prob > .9
+
+  def __str__(self):
+    ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
+    return ret
+
+
+def laplacian_pdf(x: float, mu: float, b: float):
+  b = max(b, 1e-4)
+  return math.exp(-abs(x-mu)/b)
+
+
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
+  offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
+
+  def prob(c):
+    prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
+    prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
+    prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
+
+    # This isn't exactly right, but it's a good heuristic
+    return prob_d * prob_y * prob_v
+
+  track = max(tracks.values(), key=prob)
+
+  # if no 'sane' match is found return -1
+  # stationary radar points can be false positives
+  dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
+  vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3)
+  if dist_sane and vel_sane:
+    return track
+  else:
+    return None
+
+
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+  lead_v_rel_pred = lead_msg.v[0] - model_v_ego
+  return {
+    "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
+    "yRel": float(-lead_msg.y[0]),
+    "vRel": float(lead_v_rel_pred),
+    "vLead": float(v_ego + lead_v_rel_pred),
+    "vLeadK": float(v_ego + lead_v_rel_pred),
+    "aLeadK": 0.0,
+    "aLeadTau": 0.3,
+    "fcw": False,
+    "modelProb": float(lead_msg.prob),
+    "status": True,
+    "radar": False,
+    "radarTrackId": -1,
+  }
+
+
+def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, lead_detection_threshold: float, low_speed_override: bool = True) -> dict[str, Any]:
+  # Determine leads, this is where the essential logic happens
+  if len(tracks) > 0 and ready and lead_msg.prob > lead_detection_threshold:
+    track = match_vision_to_track(v_ego, lead_msg, tracks)
+  else:
+    track = None
+
+  lead_dict = {'status': False}
+  if track is not None:
+    lead_dict = track.get_RadarState(lead_msg.prob)
+  elif (track is None) and ready and (lead_msg.prob > lead_detection_threshold):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+
+  if low_speed_override:
+    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
+    if len(low_speed_tracks) > 0:
+      closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
+
+      # Only choose new track if it is actually closer than the previous one
+      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+        lead_dict = closest_track.get_RadarState()
+
+  return lead_dict
+
+
+class RadarD:
+  def __init__(self, radar_ts: float, delay: int = 0):
+    self.current_time = 0.0
+
+    self.tracks: dict[int, Track] = {}
+    self.kalman_params = KalmanParams(radar_ts)
+
+    self.v_ego = 0.0
+    self.v_ego_hist = deque([0.0], maxlen=delay+1)
+    self.last_v_ego_frame = -1
+
+    self.radar_state: capnp._DynamicStructBuilder | None = None
+    self.radar_state_valid = False
+
+    self.ready = False
+
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.update_frogpilot_params()
+
+  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+    self.ready = sm.seen['modelV2']
+    self.current_time = 1e-9*max(sm.logMonoTime.values())
+
+    radar_points = []
+    radar_errors = []
+    if rr is not None:
+      radar_points = rr.points
+      radar_errors = rr.errors
+
+    if sm.recv_frame['carState'] != self.last_v_ego_frame:
+      self.v_ego = sm['carState'].vEgo
+      self.v_ego_hist.append(self.v_ego)
+      self.last_v_ego_frame = sm.recv_frame['carState']
+
+    ar_pts = {}
+    for pt in radar_points:
+      ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
+
+    # *** remove missing points from meta data ***
+    for ids in list(self.tracks.keys()):
+      if ids not in ar_pts:
+        self.tracks.pop(ids, None)
+
+    # *** compute the tracks ***
+    for ids in ar_pts:
+      rpt = ar_pts[ids]
+
+      # align v_ego by a fixed time to align it with the radar measurement
+      v_lead = rpt[2] + self.v_ego_hist[0]
+
+      # create the track if it doesn't exist or it's a new track
+      if ids not in self.tracks:
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
+      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
+
+    # *** publish radarState ***
+    self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0
+    self.radar_state = log.RadarState.new_message()
+    self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
+    self.radar_state.radarErrors = list(radar_errors)
+    self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
+
+    if len(sm['modelV2'].temporalPose.trans):
+      model_v_ego = sm['modelV2'].temporalPose.trans[0]
+    else:
+      model_v_ego = self.v_ego
+    leads_v3 = sm['modelV2'].leadsV3
+    if len(leads_v3) > 1:
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_detection_threshold, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_detection_threshold, low_speed_override=False)
+
+    # Update FrogPilot parameters
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def publish(self, pm: messaging.PubMaster, lag_ms: float):
+    assert self.radar_state is not None
+
+    radar_msg = messaging.new_message("radarState")
+    radar_msg.valid = self.radar_state_valid
+    radar_msg.radarState = self.radar_state
+    radar_msg.radarState.cumLagMs = lag_ms
+    pm.send("radarState", radar_msg)
+
+    # publish tracks for UI debugging (keep last)
+    tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
+    tracks_msg.valid = self.radar_state_valid
+    for index, tid in enumerate(sorted(self.tracks.keys())):
+      tracks_msg.liveTracks[index] = {
+        "trackId": tid,
+        "dRel": float(self.tracks[tid].dRel),
+        "yRel": float(self.tracks[tid].yRel),
+        "vRel": float(self.tracks[tid].vRel),
+      }
+    pm.send('liveTracks', tracks_msg)
+
+  def update_frogpilot_params(self):
+    longitudinal_tune = self.params.get_bool("LongitudinalTune")
+    self.lead_detection_threshold = self.params.get_int("LeadDetectionThreshold") / 100 if longitudinal_tune else .5
+
+# fuses camera and radar data for best lead detection
+def main():
+  config_realtime_process(5, Priority.CTRL_LOW)
+
+  # wait for stats about the car to come in from controls
+  cloudlog.info("radard is waiting for CarParams")
+  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+    CP = msg
+  cloudlog.info("radard got CarParams")
+
+  # import the radar from the fingerprint
+  cloudlog.info("radard is importing %s", CP.carName)
+  RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
+
+  # *** setup messaging
+  can_sock = messaging.sub_sock('can')
+  sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
+  pm = messaging.PubMaster(['radarState', 'liveTracks'])
+
+  RI = RadarInterface(CP)
+
+  rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
+  RD = RadarD(CP.radarTimeStep, RI.delay)
+
+  while 1:
+    can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
+    rr = RI.update(can_strings)
+    sm.update(0)
+    if rr is None:
+      continue
+
+    RD.update(sm, rr)
+    RD.publish(pm, -rk.remaining*1000.0)
+
+    rk.monitor_time()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/controls/radardless.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import importlib
+from typing import Optional
+
+from cereal import messaging, car
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+
+
+# radar tracks
+SPEED, ACCEL = 0, 1     # Kalman filter states enum
+
+# stationary qualification parameters
+V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
+
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
+
+
+class RadarD:
+  def __init__(self, radar_ts: float, delay: int = 0):
+    self.points: dict[int, tuple[float, float, float]] = {}
+
+    self.radar_tracks_valid = False
+
+  def update(self, rr: Optional[car.RadarData]):
+    radar_points = []
+    radar_errors = []
+    if rr is not None:
+      radar_points = rr.points
+      radar_errors = rr.errors
+
+    self.radar_tracks_valid = len(radar_errors) == 0
+
+    self.points = {}
+    for pt in radar_points:
+      self.points[pt.trackId] = (pt.dRel, pt.yRel, pt.vRel)
+
+  def publish(self):
+    tracks_msg = messaging.new_message('liveTracks', len(self.points))
+    tracks_msg.valid = self.radar_tracks_valid
+    for index, tid in enumerate(sorted(self.points.keys())):
+      tracks_msg.liveTracks[index] = {
+        "trackId": tid,
+        "dRel": float(self.points[tid][0]) + RADAR_TO_CAMERA,
+        "yRel": -float(self.points[tid][1]),
+        "vRel": float(self.points[tid][2]),
+      }
+
+    return tracks_msg
+
+
+# publishes radar tracks
+def main():
+  config_realtime_process(5, Priority.CTRL_LOW)
+
+  # wait for stats about the car to come in from controls
+  cloudlog.info("radard is waiting for CarParams")
+  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+    CP = msg
+  cloudlog.info("radard got CarParams")
+
+  # import the radar from the fingerprint
+  cloudlog.info("radard is importing %s", CP.carName)
+  RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
+
+  # *** setup messaging
+  can_sock = messaging.sub_sock('can')
+  pub_sock = messaging.pub_sock('liveTracks')
+
+  RI = RadarInterface(CP)
+
+  # TODO timing is different between cars, need a single time step for all cars
+  # TODO just take the fastest one for now, and keep resending same messages for slower radars
+  rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
+  RD = RadarD(CP.radarTimeStep, RI.delay)
+
+  while 1:
+    can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
+    rr = RI.update(can_strings)
+    if rr is None:
+      continue
+
+    RD.update(rr)
+    msg = RD.publish()
+    pub_sock.send(msg.to_bytes())
+
+    rk.monitor_time()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/controls/tests/test_alerts.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+import copy
+import json
+import os
+import unittest
+import random
+from PIL import Image, ImageDraw, ImageFont
+
+from cereal import log, car
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+
+AlertSize = log.ControlsState.AlertSize
+
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")
+
+# TODO: add callback alerts
+ALERTS = []
+for event_types in EVENTS.values():
+  for alert in event_types.values():
+    ALERTS.append(alert)
+
+
+class TestAlerts(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    with open(OFFROAD_ALERTS_PATH) as f:
+      cls.offroad_alerts = json.loads(f.read())
+
+      # Create fake objects for callback
+      cls.CS = car.CarState.new_message()
+      cls.CP = car.CarParams.new_message()
+      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cls.sm = SubMaster(cfg.pubs)
+
+  def test_events_defined(self):
+    # Ensure all events in capnp schema are defined in events.py
+    events = car.CarEvent.EventName.schema.enumerants
+
+    for name, e in events.items():
+      if not name.endswith("DEPRECATED"):
+        fail_msg = "%s @%d not in EVENTS" % (name, e)
+        self.assertTrue(e in EVENTS.keys(), msg=fail_msg)
+
+  # ensure alert text doesn't exceed allowed width
+  def test_alert_text_length(self):
+    font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+
+    max_text_width = 2160 - 300  # full screen width is usable, minus sidebar
+    draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
+
+    fonts = {
+      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+                      ImageFont.truetype(regular_font_path, 66)],
+    }
+
+    for alert in ALERTS:
+      if not isinstance(alert, Alert):
+        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100)
+
+      # for full size alerts, both text fields wrap the text,
+      # so it's unlikely that they  would go past the max width
+      if alert.alert_size in (AlertSize.none, AlertSize.full):
+        continue
+
+      for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
+        if i >= len(fonts[alert.alert_size]):
+          break
+
+        font = fonts[alert.alert_size][i]
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
+        msg = f"type: {alert.alert_type} msg: {txt}"
+        self.assertLessEqual(width, max_text_width, msg=msg)
+
+  def test_alert_sanity_check(self):
+    for event_types in EVENTS.values():
+      for event_type, a in event_types.items():
+        # TODO: add callback alerts
+        if not isinstance(a, Alert):
+          continue
+
+        if a.alert_size == AlertSize.none:
+          self.assertEqual(len(a.alert_text_1), 0)
+          self.assertEqual(len(a.alert_text_2), 0)
+        elif a.alert_size == AlertSize.small:
+          self.assertGreater(len(a.alert_text_1), 0)
+          self.assertEqual(len(a.alert_text_2), 0)
+        elif a.alert_size == AlertSize.mid:
+          self.assertGreater(len(a.alert_text_1), 0)
+          self.assertGreater(len(a.alert_text_2), 0)
+        else:
+          self.assertGreater(len(a.alert_text_1), 0)
+
+        self.assertGreaterEqual(a.duration, 0.)
+
+        if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
+          self.assertEqual(a.creation_delay, 0.)
+
+  def test_offroad_alerts(self):
+    params = Params()
+    for a in self.offroad_alerts:
+      # set the alert
+      alert = copy.copy(self.offroad_alerts[a])
+      set_offroad_alert(a, True)
+      alert['extra'] = ''
+      self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
+
+      # then delete it
+      set_offroad_alert(a, False)
+      self.assertTrue(params.get(a) is None)
+
+  def test_offroad_alerts_extra_text(self):
+    params = Params()
+    for i in range(50):
+      # set the alert
+      a = random.choice(list(self.offroad_alerts))
+      alert = self.offroad_alerts[a]
+      set_offroad_alert(a, True, extra_text="a"*i)
+
+      written_alert = json.loads(params.get(a, encoding='utf8'))
+      self.assertTrue("a"*i == written_alert['extra'])
+      self.assertTrue(alert["text"] == written_alert['text'])
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/tests/test_cruise_speed.py

@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+import itertools
+import numpy as np
+import unittest
+
+from parameterized import parameterized_class
+from cereal import log
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
+  man = Maneuver(
+    '',
+    duration=t_end,
+    initial_speed=max(cruise - 1., 0.0),
+    lead_relevancy=True,
+    initial_distance_lead=100,
+    cruise_values=[cruise],
+    prob_lead_values=[0.0],
+    breakpoints=[0.],
+    e2e=e2e,
+    personality=personality,
+  )
+  valid, output = man.evaluate()
+  assert valid
+  return output[-1, 3]
+
+
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      log.LongitudinalPersonality.schema.enumerants, # personality
+                      [5,35])) # speed
+class TestCruiseSpeed(unittest.TestCase):
+  def test_cruise_speed(self):
+    print(f'Testing {self.speed} m/s')
+    cruise_speed = float(self.speed)
+
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
+
+
+# TODO: test pcmCruise
+@parameterized_class(('pcm_cruise',), [(False,)])
+class TestVCruiseHelper(unittest.TestCase):
+  def setUp(self):
+    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.reset_cruise_speed_state()
+
+  def reset_cruise_speed_state(self):
+    # Two resets previous cruise speed
+    for _ in range(2):
+      self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
+
+  def enable(self, v_ego, experimental_mode):
+    # Simulates user pressing set with a current speed
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
+
+  def test_adjust_speed(self):
+    """
+    Asserts speed changes on falling edges of buttons.
+    """
+
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+
+    for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
+      for pressed in (True, False):
+        CS = car.CarState(cruiseState={"available": True})
+        CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)]
+
+        self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+        self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_rising_edge_enable(self):
+    """
+    Some car interfaces may enable on rising edge of a button,
+    ensure we don't adjust speed if enabled changes mid-press.
+    """
+
+    # NOTE: enabled is always one frame behind the result from button press in controlsd
+    for enabled, pressed in ((False, False),
+                             (False, True),
+                             (True, False)):
+      CS = car.CarState(cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
+      self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
+      if pressed:
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+
+      # Expected diff on enabling. Speed should not change on falling edge of pressed
+      self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_resume_in_standstill(self):
+    """
+    Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
+    """
+
+    self.enable(0, False)
+
+    for standstill in (True, False):
+      for pressed in (True, False):
+        CS = car.CarState(cruiseState={"available": True, "standstill": standstill})
+        CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)]
+        self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+
+        # speed should only update if not at standstill and button falling edge
+        should_equal = standstill or pressed
+        self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_set_gas_pressed(self):
+    """
+    Asserts pressing set while enabled with gas pressed sets
+    the speed to the maximum of vEgo and current cruise speed.
+    """
+
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+
+      # first decrement speed, then perform gas pressed logic
+      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
+      expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH)  # clip to min of vEgo
+      expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
+
+      CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+
+      # TODO: fix skipping first run due to enabled on rising edge exception
+      if v_ego == 0.0:
+        continue
+      self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
+
+  def test_initialize_v_cruise(self):
+    """
+    Asserts allowed cruise speeds on enabling with SET.
+    """
+
+    for experimental_mode in (True, False):
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
+
+        self.enable(float(v_ego), experimental_mode)
+        self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
+        self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/tests/test_following_distance.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import unittest
+import itertools
+from parameterized import parameterized_class
+
+from cereal import log
+
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+
+
+def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
+  man = Maneuver(
+    '',
+    duration=t_end,
+    initial_speed=float(v_lead),
+    lead_relevancy=True,
+    initial_distance_lead=100,
+    speed_lead_values=[v_lead],
+    breakpoints=[0.],
+    e2e=e2e,
+    personality=personality,
+  )
+  valid, output = man.evaluate()
+  assert valid
+  return output[-1,2] - output[-1,1]
+
+
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      [log.LongitudinalPersonality.relaxed, # personality
+                       log.LongitudinalPersonality.standard,
+                       log.LongitudinalPersonality.aggressive],
+                      [0,10,35])) # speed
+class TestFollowingDistance(unittest.TestCase):
+  def test_following_distance(self):
+    v_lead = float(self.speed)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
+    correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
+    err_ratio = 0.2 if self.e2e else 0.1
+    self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/tests/test_lateral_mpc.py

@@ -0,0 +1,89 @@
+import unittest
+import numpy as np
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
+from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
+
+
+def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
+            lane_width=3.6, poly_shift=0.):
+
+  if lat_mpc is None:
+    lat_mpc = LateralMpc()
+  lat_mpc.set_weights(1., .1, 0.0, .05, 800)
+
+  y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
+  heading_pts = np.zeros(LAT_MPC_N + 1)
+  curv_rate_pts = np.zeros(LAT_MPC_N + 1)
+
+  x0 = np.array([x_init, y_init, psi_init, curvature_init])
+  p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1),
+                      CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)])
+
+  # converge in no more than 10 iterations
+  for _ in range(10):
+    lat_mpc.run(x0, p,
+                y_pts, heading_pts, curv_rate_pts)
+  return lat_mpc.x_sol
+
+
+class TestLateralMpc(unittest.TestCase):
+
+  def _assert_null(self, sol, curvature=1e-6):
+    for i in range(len(sol)):
+      self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature)
+      self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature)
+      self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature)
+
+  def _assert_simmetry(self, sol, curvature=1e-6):
+    for i in range(len(sol)):
+      self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature)
+      self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature)
+      self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature)
+      self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature)
+
+  def test_straight(self):
+    sol = run_mpc()
+    self._assert_null(np.array([sol]))
+
+  def test_y_symmetry(self):
+    sol = []
+    for y_init in [-0.5, 0.5]:
+      sol.append(run_mpc(y_init=y_init))
+    self._assert_simmetry(np.array(sol))
+
+  def test_poly_symmetry(self):
+    sol = []
+    for poly_shift in [-1., 1.]:
+      sol.append(run_mpc(poly_shift=poly_shift))
+    self._assert_simmetry(np.array(sol))
+
+  def test_curvature_symmetry(self):
+    sol = []
+    for curvature_init in [-0.1, 0.1]:
+      sol.append(run_mpc(curvature_init=curvature_init))
+    self._assert_simmetry(np.array(sol))
+
+  def test_psi_symmetry(self):
+    sol = []
+    for psi_init in [-0.1, 0.1]:
+      sol.append(run_mpc(psi_init=psi_init))
+    self._assert_simmetry(np.array(sol))
+
+  def test_no_overshoot(self):
+    y_init = 1.
+    sol = run_mpc(y_init=y_init)
+    for y in list(sol[:,1]):
+      self.assertGreaterEqual(y_init, abs(y))
+
+  def test_switch_convergence(self):
+    lat_mpc = LateralMpc()
+    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=3.0, v_ref=7.0)
+    right_psi_deg = np.degrees(sol[:,2])
+    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0)
+    left_psi_deg = np.degrees(sol[:,2])
+    np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/tests/test_leads.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import unittest
+
+import cereal.messaging as messaging
+
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+
+
+class TestLeads(unittest.TestCase):
+  def test_radar_fault(self):
+    # if there's no radar-related can traffic, radard should either not respond or respond with an error
+    # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
+    def single_iter_pkg():
+      # single iter package, with meaningless cans and empty carState/modelV2
+      msgs = []
+      for _ in range(5):
+        can = messaging.new_message("can", 1)
+        cs = messaging.new_message("carState")
+        msgs.append(can.as_reader())
+        msgs.append(cs.as_reader())
+      model = messaging.new_message("modelV2")
+      msgs.append(model.as_reader())
+
+      return msgs
+
+    msgs = [m for _ in range(3) for m in single_iter_pkg()]
+    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2)
+    states = [m for m in out if m.which() == "radarState"]
+    failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
+
+    self.assertTrue(len(states) == 0 or all(failures))
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/tests/test_startup.py

@@ -0,0 +1,120 @@
+import os
+from parameterized import parameterized
+
+from cereal import log, car
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.controls.lib.events import EVENT_NAME
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+EventName = car.CarEvent.EventName
+Ecu = car.CarParams.Ecu
+
+COROLLA_FW_VERSIONS = [
+  (Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
+  (Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
+  (Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
+  (Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
+  (Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
+]
+COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
+COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
+
+CX5_FW_VERSIONS = [
+  (Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
+]
+
+
+@parameterized.expand([
+  # TODO: test EventName.startup for release branches
+
+  # officially supported car
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+
+  # dashcamOnly car
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+
+  # unrecognized car with no fw
+  (EventName.startupNoFw, None, None, ""),
+  (EventName.startupNoFw, None, None, ""),
+
+  # unrecognized car
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+
+  # fuzzy match
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+])
+def test_startup_alert(expected_event, car_model, fw_versions, brand):
+  controls_sock = messaging.sub_sock("controlsState")
+  pm = messaging.PubMaster(['can', 'pandaStates'])
+
+  params = Params()
+  params.put_bool("OpenpilotEnabledToggle", True)
+
+  # Build capnn version of FW array
+  if fw_versions is not None:
+    car_fw = []
+    cp = car.CarParams.new_message()
+    for ecu, addr, subaddress, version in fw_versions:
+      f = car.CarParams.CarFw.new_message()
+      f.ecu = ecu
+      f.address = addr
+      f.fwVersion = version
+      f.brand = brand
+
+      if subaddress is not None:
+        f.subAddress = subaddress
+
+      car_fw.append(f)
+    cp.carVin = "1" * 17
+    cp.carFw = car_fw
+    params.put("CarParamsCache", cp.to_bytes())
+  else:
+    os.environ['SKIP_FW_QUERY'] = '1'
+
+  managed_processes['controlsd'].start()
+
+  assert pm.wait_for_readers_to_update('can', 5)
+  pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+
+  assert pm.wait_for_readers_to_update('pandaStates', 5)
+  msg = messaging.new_message('pandaStates', 1)
+  msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+  pm.send('pandaStates', msg)
+
+  # fingerprint
+  if (car_model is None) or (fw_versions is not None):
+    finger = {addr: 1 for addr in range(1, 100)}
+  else:
+    finger = _FINGERPRINTS[car_model][0]
+
+  msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
+  for _ in range(1000):
+    # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+    if not params.get_bool("ObdMultiplexingChanged"):
+      params.put_bool("ObdMultiplexingChanged", True)
+
+    pm.send('can', can_list_to_can_capnp(msgs))
+    assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
+
+    ctrls = messaging.drain_sock(controls_sock)
+    if len(ctrls):
+      event_name = ctrls[0].controlsState.alertType.split("/")[0]
+      assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
+      break
+  else:
+    raise Exception(f"failed to fingerprint {car_model}")

selfdrive/controls/tests/test_state_machine.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import unittest
+
+from cereal import car, log
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
+from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
+                                          AudibleAlert, EVENTS
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
+
+State = log.ControlsState.OpenpilotState
+
+# The event types that maintain the current state
+MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
+                   State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
+ALL_STATES = tuple(State.schema.enumerants.values())
+# The event types checked in DISABLED section of state machine
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
+
+
+def make_event(event_types):
+  event = {}
+  for ev in event_types:
+    event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW,
+                      VisualAlert.none, AudibleAlert.none, 1.)
+  EVENTS[0] = event
+  return 0
+
+
+class TestStateMachine(unittest.TestCase):
+
+  def setUp(self):
+    CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
+    CP = CarInterface.get_non_essential_params(MOCK.MOCK)
+    CI = CarInterface(CP, CarController, CarState)
+
+    self.controlsd = Controls(CI=CI)
+    self.controlsd.events = Events()
+    self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+    self.CS = car.CarState()
+
+  def test_immediate_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
+
+  def test_user_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
+
+  def test_soft_disable(self):
+    for state in ALL_STATES:
+      if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
+        continue
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
+        self.controlsd.events.clear()
+
+  def test_soft_disable_timer(self):
+    self.controlsd.state = State.enabled
+    self.controlsd.events.add(make_event([ET.SOFT_DISABLE]))
+    self.controlsd.state_transition(self.CS)
+    for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
+      self.assertEqual(self.controlsd.state, State.softDisabling)
+      self.controlsd.state_transition(self.CS)
+
+    self.assertEqual(self.controlsd.state, State.disabled)
+
+  def test_no_entry(self):
+    # Make sure noEntry keeps us disabled
+    for et in ENABLE_EVENT_TYPES:
+      self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
+      self.controlsd.state_transition(self.CS)
+      self.assertEqual(self.controlsd.state, State.disabled)
+      self.controlsd.events.clear()
+
+  def test_no_entry_pre_enable(self):
+    # preEnabled with noEntry event
+    self.controlsd.state = State.preEnabled
+    self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
+    self.controlsd.state_transition(self.CS)
+    self.assertEqual(self.controlsd.state, State.preEnabled)
+
+  def test_maintain_states(self):
+    # Given current state's event type, we should maintain state
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.state = state
+        self.controlsd.events.add(make_event([et]))
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, state)
+        self.controlsd.events.clear()
+
+
+if __name__ == "__main__":
+  unittest.main()