Longitudinal Planner: Allow Non-MLSIM Models to Use MPC (#1012)

* gen 11 only api limit exceeded maybe not

* Try this for ModelDataV2.Action

* mpc mode

* Fix This

* Revert "Try this for ModelDataV2.Action"

This reverts commit e7db17980b3667de1399cac97ef92041f5d59eff.

* fix logic flaw

* Address comments for readability.

---------

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>

selfdrive/controls/lib/longitudinal_planner.py

@@ -94,9 +94,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
   def update(self, sm):
     self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if not self.mlsim:
+      self.mpc.mode = self.mode
     LongitudinalPlannerSP.update(self, sm)
     if dec_mpc_mode := self.get_mpc_mode():
       self.mode = dec_mpc_mode
+      if not self.mlsim:
+        self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -171,7 +175,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.mode == 'acc':
+    if self.mode == 'acc' or not self.mlsim:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
     else:

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
@@ -15,6 +16,12 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
+
+  @property
+  def mlsim(self) -> bool:
+    return self.generation == 11
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():