Jason Wen 309304a352 Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Accel Control (#695) ...

* init

* more init

* keep it alive

* fixes

* more fixes

* more fix

* new submodule for nn data

* bump submodule

* update path to submodule

* spacing???

* update submodule path

* update submodule path

* bump

* dump

* bump

* introduce params

* Add Neural Network Lateral Control toggle to developer panel

This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.

* decouple even more

* static

* codespell

* remove debug

* in structs

* fix import

* convert to capnp

* fixes

* debug

* only initialize if NNLC is enabled or allow to enable

* oops

* fix initialization

* only allow engage if nnlc is off

* fix toggle param

* fix tests

* lint

* fix more test

* capnp test

* try this out

* validate if it's not None

* make it 33 to match

* align

* share the same friction input calculation

* return stock values if not enabled

* unused

* split base and child

* space

* rename

* NeuralNetworkFeedForwardModel

* less

* just use file name

* try this

* more explicit

* rename

* move it

* child class for additional controllers

* rename

* time to split out custom lateral acceleration

* move around

* space

* fix

* TODO-SP

* TODO-SP

* update regardless, it's an extension now

* update name and expose toggle

* ui: sunnypilot Panel -> Steering Panel

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

* merge

* move to steering panel

* no need for this

* live params in a thread

* no live for now

* new structs

* more ui

* more flexible

* more ui

* no longer needed

* another ui

* cereal changes

* bump opendbc

* simplify checks

* all in one place

* split Enhanced Lat Accel

* handle unrecognized platform

* test for fingerprinting

* fix fingerprint

* NNLC: Mock data for unrecognized cars

* fix fingerprints

* test to verify model loading

* bump neural_network_data

* use pytest

* use different one for now

* fix ui preview alignments

* typing

* more type

* show a platform

* show match

* init params for tests

* ok ruff

* make sure to loop through tests

* ok again ruff

* ok we need this lol

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Co-authored-by: DevTekVE <devtekve@gmail.com>

2025-03-22 09:40:29 -04:00

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