IQ.Pilot Release Commit @ 95cce10

iqdbc_repo/iqdbc/car/volkswagen/carstate.py

@@ -293,7 +293,7 @@ class CarState(CarStateBase):
 
     ret.fuelGauge = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
     ret.fuelTankLevelL = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"]  # raw liters for konn3kt
-    self._update_odometer(ret, aux_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
+    self._update_odometer(ret, pt_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
 
     self.cruise_faulted = ret.accFaulted
     self._apply_iq_private_flags(ret_iq)

iqpilot/iq_maps/update_vendor_version.py

@@ -1,94 +1,72 @@
 #!/usr/bin/env python3
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Maintainer utility: pin a new pfeiferj/mapd release tag and refresh the checked-in
+binary hash. Not used at runtime.
 """
 import argparse
 import os
 import re
+import sys
 
-from openpilot.iqpilot.iq_maps.vendor_mapd_installer import get_file_hash
 from openpilot.common.basedir import BASEDIR
 from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
+from openpilot.iqpilot.iq_maps.vendor_mapd_installer import (
+  VENDOR_RELEASE_TAG,
+  get_file_hash,
+)
 
-MAPD_HASH_PATH = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
+_RELEASE_SYMBOL = "VENDOR_RELEASE_TAG"
-MAPD_VERSION_PATH = os.path.join(BASEDIR, "iqpilot", "iq_maps", "vendor_mapd_installer.py")
+_INSTALLER_SRC = os.path.join(BASEDIR, "iqpilot", "iq_maps", "vendor_mapd_installer.py")
-RELEASE_SYMBOL = "VENDOR_RELEASE_TAG"
+_HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
+_TAG_ASSIGN = re.compile(rf'^{_RELEASE_SYMBOL}\s*=\s*["\'][^"\']*["\']', re.MULTILINE)
 
 
-def update_mapd_hash():
+def rewrite_pinned_tag(new_tag: str) -> bool:
-  mapd_hash = get_file_hash(VENDOR_MAPD_PATH)
+  with open(_INSTALLER_SRC) as f:
+    src = f.read()
 
-  with open(MAPD_HASH_PATH, "w") as f:
+  patched, count = _TAG_ASSIGN.subn(f'{_RELEASE_SYMBOL} = "{new_tag}"', src, count=1)
-    f.write(mapd_hash)
+  if count != 1:
+    print(f"could not locate the {_RELEASE_SYMBOL} assignment in {_INSTALLER_SRC}; nothing written")
+    return False
 
-  print(f"Generated and updated new mapd hash to {MAPD_HASH_PATH}")
+  with open(_INSTALLER_SRC, "w") as f:
+    f.write(patched)
+  print(f"pinned {_RELEASE_SYMBOL} -> {new_tag}")
+  return True
 
 
-def get_current_mapd_version(path: str) -> str:
+def refresh_hash_file() -> None:
-  print("[GET CURRENT MAPD VERSION]")
+  digest = get_file_hash(VENDOR_MAPD_PATH)
-  with open(path) as f:
+  with open(_HASH_FILE, "w") as f:
-    for line in f:
+    f.write(digest)
-      if line.strip().startswith(RELEASE_SYMBOL):
+  print(f"wrote binary hash {digest} -> {_HASH_FILE}")
-        match = re.search(rf'{RELEASE_SYMBOL}\s*=\s*[\'"]([^\'"]+)[\'"]', line)
-        if match:
-          ver = match.group(1)
-          print(f'Current mapd version: "{ver}"')
-          return ver
-        else:
-          print(f"[ERROR] {RELEASE_SYMBOL} line found but no quoted value detected.")
-          return ""
-  print(f"[ERROR] {RELEASE_SYMBOL} not found in file!")
-  return ""
 
 
-def update_mapd_version(ver: str, path: str):
+def main() -> int:
-  print("[CHANGE CURRENT MAPD VERSION]")
+  parser = argparse.ArgumentParser(description="Pin a new mapd release tag and refresh its hash")
-
+  parser.add_argument("--new_ver", type=str, help='e.g. --new_ver "v2.1.0"')
-  with open(path) as f:
-    lines = f.readlines()
-
-  found = False
-  new_lines = []
-  for line in lines:
-    if not found and line.startswith(f"{RELEASE_SYMBOL} ="):
-      new_lines.append(f'{RELEASE_SYMBOL} = "{ver}"\n')
-      found = True
-      new_lines.extend(lines[lines.index(line) + 1:])
-      break
-    else:
-      new_lines.append(line)
-
-  if not found:
-    print(f"[ERROR] {RELEASE_SYMBOL} line not found! Aborting without writing.")
-    return
-
-  with open(path, "w") as f:
-    f.writelines(new_lines)
-
-  print(f'New mapd version: "{ver}"')
-  print("[DONE]")
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Update mapd version and hash")
-  parser.add_argument("--new_ver", type=str, help="New mapd version")
   args = parser.parse_args()
 
   if not args.new_ver:
-    print("Warning: No new mapd version provided. Use --new_ver to specify")
+    parser.print_help()
-    print("Example:")
+    print(f'\ncurrently pinned: {VENDOR_RELEASE_TAG} (unchanged)')
-    print("  python iqpilot/iq_maps/update_vendor_version.py --new_ver \"v1.12.0\"")
+    return 0
-    print("Current mapd version and hash will not be updated! (aborted)")
-    exit(0)
 
-  current_ver = get_current_mapd_version(MAPD_VERSION_PATH)
+  target = args.new_ver.strip()
-  new_ver = f"{args.new_ver}"
+  if target == VENDOR_RELEASE_TAG:
-  if current_ver == new_ver:
+    reply = input(f"{target} is already the pinned tag — re-run anyway? (y/N): ").strip().lower()
-    print(f'Proposed mapd version: "{new_ver}"')
+    if reply != "y":
-    confirm = input("Proposed mapd version is the same as the current mapd version. Confirm? (y/n): ").upper().strip()
+      print("aborted; nothing changed")
-    if confirm != "Y":
+      return 0
-      print("Current mapd version and hash will not be updated! (aborted)")
-      exit(0)
 
-  update_mapd_version(new_ver, MAPD_VERSION_PATH)
+  if not rewrite_pinned_tag(target):
-  update_mapd_hash()
+    return 1
+  refresh_hash_file()
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(main())

iqpilot/iq_maps/vendor_mapd_installer.py

@@ -2,16 +2,15 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 
-Installs the `mapd` binary by Jacob Pfeifer (github.com/pfeiferj/mapd) — the binary is his work.
+Provisions the `mapd` routing binary authored by Jacob Pfeifer (github.com/pfeiferj/mapd).
+The binary itself is his work; this module only fetches, verifies and stages it on-device.
 """
 import hashlib
 import logging
 import os
 import stat
 import time
-import traceback
 from pathlib import Path
-from urllib.request import urlopen
 
 import requests
 
@@ -29,125 +28,144 @@ VENDOR_RELEASE_URL = f"https://github.com/pfeiferj/mapd/releases/download/{VENDO
 
 _VERSION_PARAM = "MapdVersion"
 _HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
-_DOWNLOAD_TIMEOUT_S = 60
+_HTTP_TIMEOUT_S = 60
-_MAX_DOWNLOAD_TRIES = 5
+_FETCH_ATTEMPTS = 5
+_NET_PROBE_ATTEMPTS = 10
+_NET_PROBE_INTERVAL_S = 2
 
 
 def get_file_hash(path: str) -> str:
-  """Hex SHA-256 of a file's contents."""
+  """Hex SHA-256 digest of a file on disk."""
+  digest = hashlib.sha256()
   with open(path, "rb") as handle:
-    return hashlib.file_digest(handle, "sha256").hexdigest()
+    for block in iter(lambda: handle.read(1 << 20), b""):
+      digest.update(block)
+  return digest.hexdigest()
 
 
 def stamp_vendor_version(version: str, params: Params | None = None) -> None:
   (params or Params()).put(_VERSION_PARAM, version)
 
 
-def _pinned_hash() -> str:
-  try:
-    with open(_HASH_FILE) as f:
-      return f.read().strip()
-  except OSError:
-    return ""
-
-
 class VendorMapdInstaller:
   def __init__(self, spinner_ref: Spinner):
     self._spinner = spinner_ref
     self._params = Params()
 
+  # --- externally consumed surface -----------------------------------------
   def get_installed_version(self) -> str:
     return str(self._params.get(_VERSION_PARAM) or "")
 
   @staticmethod
   def ensure_directories_exist() -> None:
-    for d in (Paths.mapd_root(), VENDOR_MAPD_BIN_DIR):
+    for directory in (Paths.mapd_root(), VENDOR_MAPD_BIN_DIR):
-      os.makedirs(d, exist_ok=True)
+      os.makedirs(directory, exist_ok=True)
-
-  def download_needed(self) -> bool:
-    if not os.path.exists(VENDOR_MAPD_PATH):
-      return True
-    if self.get_installed_version() != VENDOR_RELEASE_TAG:
-      return True
-    pinned = _pinned_hash()
-    if not pinned:
-      return False
-    try:
-      return get_file_hash(VENDOR_MAPD_PATH) != pinned
-    except OSError:
-      return True
 
   def check_and_download(self) -> None:
-    if self.download_needed():
+    if not self._binary_up_to_date():
-      self.fetch()
+      self._provision()
-
-  def fetch(self) -> None:
-    self.ensure_directories_exist()
-    if self._pull_binary():
-      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
-
-  def _pull_binary(self) -> bool:
-    scratch = Path(f"{VENDOR_MAPD_PATH}.tmp")
-    for attempt in range(1, _MAX_DOWNLOAD_TRIES + 1):
-      try:
-        resp = requests.get(VENDOR_RELEASE_URL, stream=True, timeout=_DOWNLOAD_TIMEOUT_S)
-        resp.raise_for_status()
-        with open(scratch, "wb") as out:
-          out.write(resp.content)
-          out.flush()
-          os.fsync(out.fileno())
-        mode = stat.S_IMODE(os.lstat(scratch).st_mode)
-        os.chmod(scratch, mode | stat.S_IEXEC)
-        scratch.replace(VENDOR_MAPD_PATH)
-        return True
-      except requests.exceptions.RequestException as e:
-        self._spinner.update(f"mapd download failed ({e}); retry {attempt}/{_MAX_DOWNLOAD_TRIES}")
-        time.sleep(0.5)
-    scratch.unlink(missing_ok=True)
-    logging.error("mapd binary download failed after %d attempts", _MAX_DOWNLOAD_TRIES)
-    return False
-
-  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
-    attempts = 10
-    for i in range(attempts + 1):
-      self._spinner.update(f"Waiting for internet connection... [{i}/{attempts}]")
-      time.sleep(2)
-      try:
-        urlopen("https://sentry.io", timeout=10)
-        return True
-      except Exception as e:  # noqa: BLE001
-        print(f"Wait for internet failed: {e}")
-        if return_on_failure and i == attempts:
-          return False
-    return False
 
   def non_prebuilt_install(self) -> None:
-    sm = messaging.SubMaster(["deviceState"])
+    if self._on_metered_link():
-    if sm["deviceState"].networkMetered:
+      self._say("Metered connection detected — offline maps engine will not download here.")
-      self._spinner.update("Can't proceed with mapd install since network is metered!")
       time.sleep(5)
       return
 
     try:
       self.ensure_directories_exist()
-      if not self.download_needed():
+      if self._binary_up_to_date():
-        self._spinner.update("Offline maps binary is ready.")
+        self._say("Offline maps engine already present and current.")
         time.sleep(0.1)
         return
 
-      if self.wait_for_internet_connection(return_on_failure=True):
+      if self._block_until_online():
-        self._spinner.update(f"Downloading vendor mapd [{self.get_installed_version()}] => [{VENDOR_RELEASE_TAG}].")
+        self._say(f"Retrieving offline maps engine [{self.get_installed_version() or 'none'}] -> [{VENDOR_RELEASE_TAG}]")
         time.sleep(0.1)
-        self.check_and_download()
+        self._provision()
       self._spinner.close()
-    except Exception:  # noqa: BLE001
+    except Exception as exc:  # noqa: BLE001
-      for i in range(6):
+      self._announce_failure(exc)
-        self._spinner.update("Failed to download OSM maps won't work until properly downloaded!"
+
-                             f"Try again manually rebooting. Boot will continue in {5 - i}s...")
+  # --- internal ------------------------------------------------------------
-        time.sleep(1)
+  def _expected_hash(self) -> str:
-      sentry.init(sentry.SentryProject.SELFDRIVE)
+    try:
-      traceback.print_exc()
+      with open(_HASH_FILE) as f:
-      sentry.capture_exception()
+        return f.read().strip()
+    except OSError:
+      return ""
+
+  def _binary_up_to_date(self) -> bool:
+    if not os.path.exists(VENDOR_MAPD_PATH):
+      return False
+    if self.get_installed_version() != VENDOR_RELEASE_TAG:
+      return False
+    reference = self._expected_hash()
+    if not reference:
+      return True
+    try:
+      return get_file_hash(VENDOR_MAPD_PATH) == reference
+    except OSError:
+      return False
+
+  def _provision(self) -> None:
+    self.ensure_directories_exist()
+    if self._retrieve_binary():
+      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
+
+  def _retrieve_binary(self) -> bool:
+    staging = Path(f"{VENDOR_MAPD_PATH}.part")
+    last_error: Exception | None = None
+    for attempt in range(1, _FETCH_ATTEMPTS + 1):
+      try:
+        with requests.get(VENDOR_RELEASE_URL, stream=True, timeout=_HTTP_TIMEOUT_S) as resp:
+          resp.raise_for_status()
+          with open(staging, "wb") as out:
+            for chunk in resp.iter_content(chunk_size=1 << 16):
+              out.write(chunk)
+            out.flush()
+            os.fsync(out.fileno())
+        os.chmod(staging, os.lstat(staging).st_mode | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
+        staging.replace(VENDOR_MAPD_PATH)
+        return True
+      except requests.exceptions.RequestException as exc:
+        last_error = exc
+        self._say(f"offline maps fetch attempt {attempt}/{_FETCH_ATTEMPTS} did not complete ({exc})")
+        time.sleep(0.5)
+    staging.unlink(missing_ok=True)
+    logging.error("offline maps engine could not be fetched after %d attempts: %s", _FETCH_ATTEMPTS, last_error)
+    return False
+
+  def _on_metered_link(self) -> bool:
+    sm = messaging.SubMaster(["deviceState"])
+    return bool(sm["deviceState"].networkMetered)
+
+  def _block_until_online(self) -> bool:
+    for i in range(1, _NET_PROBE_ATTEMPTS + 1):
+      self._say(f"Waiting for a usable network connection... [{i}/{_NET_PROBE_ATTEMPTS}]")
+      if self._link_reachable():
+        return True
+      time.sleep(_NET_PROBE_INTERVAL_S)
+    return False
+
+  @staticmethod
+  def _link_reachable() -> bool:
+    try:
+      requests.head(VENDOR_RELEASE_URL, timeout=10, allow_redirects=True)
+      return True
+    except requests.exceptions.RequestException as exc:
+      logging.debug("network probe failed: %s", exc)
+      return False
+
+  def _announce_failure(self, exc: Exception) -> None:
+    for remaining in range(5, 0, -1):
+      self._say(f"Offline maps engine unavailable; navigation stays online-only. Boot continues in {remaining}s...")
+      time.sleep(1)
+    logging.exception("vendor mapd install failed")
+    sentry.init(sentry.SentryProject.SELFDRIVE)
+    sentry.capture_exception(exc)
+
+  def _say(self, text: str) -> None:
+    self._spinner.update(text)
 
 
 if __name__ == "__main__":
@@ -155,9 +173,9 @@ if __name__ == "__main__":
   installer = VendorMapdInstaller(spinner)
   installer.ensure_directories_exist()
   if is_prebuilt():
-    spinner.update(f"[DEBUG] Prebuilt build; no vendor mapd install required. "
+    spinner.update(f"[DEBUG] Prebuilt build; vendor mapd install skipped. "
-                   f"VERSION: [{VENDOR_RELEASE_TAG}], Param [{installer.get_installed_version()}]")
+                   f"target [{VENDOR_RELEASE_TAG}], param [{installer.get_installed_version()}]")
     stamp_vendor_version(VENDOR_RELEASE_TAG)
   else:
-    spinner.update(f"Checking if vendor mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
+    spinner.update(f"Verifying vendor mapd install. prebuilt [{is_prebuilt()}]")
     installer.non_prebuilt_install()

iqpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -26,17 +26,15 @@ SpeedLimitSource = custom.IQPlan.SpeedLimit.Source
 NavProvider = custom.IQNavState.LongitudinalProvider
 NavLongitudinalState = custom.IQNavState.LongitudinalState
 
-
 class LongitudinalPlannerIQ:
   def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams, mpc):
     self.events_iq = IQEvents()
     self.iq_dynamic = IQDynamicController(CP, mpc)
     self.custom_stop_distance = CustomStopDistance()
-    self.slc = SLCVCruise()
+    self.slimit = SLCVCruise()
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
-    self.e2e_alerts_helper = E2EAlertsHelper()
+    self.iqmodeloutput = E2EAlertsHelper()
-
     self.output_v_target = 0.
     self.output_a_target = 0.
     self.speed_limit_last = 0.
@@ -84,17 +82,17 @@ class LongitudinalPlannerIQ:
     else:
       clocks = sm.get('clocks', None) if isinstance(sm, dict) else None
       time_validated = bool(getattr(clocks, 'timeValid', False))
-    slc_v_cruise = self.slc.update(slc_apply_enabled, now, time_validated, v_cruise, v_ego, sm)
+    slc_v_cruise = self.slimit.update(slc_apply_enabled, now, time_validated, v_cruise, v_ego, sm)
-    self.iq_dynamic.set_slc_experimental_mode(self.slc.slc_experimental_mode)
+    self.iq_dynamic.set_slc_experimental_mode(self.slimit.slc_experimental_mode)
     self.iq_dynamic.update(sm)
     # Prefer confirmed controller output for UI/planner rendering.
     # Fall back to active (policy-resolved) target/source when confirmed is unavailable.
-    display_speed_limit = self.slc.slc_target if self.slc.slc_target > 0 else self.slc.slc_active_target
+    display_speed_limit = self.slimit.slc_target if self.slimit.slc_target > 0 else self.slimit.slc_active_target
-    display_source = self.slc.slc_source if self.slc.slc_source != "None" else self.slc.slc_active_source
+    display_source = self.slimit.slc_source if self.slimit.slc_source != "None" else self.slimit.slc_active_source
 
     if display_speed_limit > 0:
       self.speed_limit_last = display_speed_limit
-      self.speed_limit_final_last = display_speed_limit + self.slc.slc_offset
+      self.speed_limit_final_last = display_speed_limit + self.slimit.slc_offset
     elif display_source == "None":
       self.speed_limit_last = 0.0
       self.speed_limit_final_last = 0.0
@@ -120,8 +118,8 @@ class LongitudinalPlannerIQ:
     self.output_v_target, self.output_a_target = targets[self.source]
     self.output_v_target = self._apply_force_stop(self.output_v_target, v_ego, sm, slc_apply_enabled)
     # envelope shaping only in Assist mode: info/warn must never change the plan
-    self._envelope_enabled = (slc_apply_enabled and bool(getattr(self.slc, "controller_enabled", False))
+    self._envelope_enabled = (slc_apply_enabled and bool(getattr(self.slimit, "controller_enabled", False))
-                              and bool(getattr(self.slc, "mode_assist", False)))
+                              and bool(getattr(self.slimit, "mode_assist", False)))
     return self.output_v_target, self.output_a_target
 
   def cruise_envelope(self, v_target: float, v_ego: float, t_idxs) -> np.ndarray:
@@ -131,12 +129,12 @@ class LongitudinalPlannerIQ:
     env = np.full(len(t_idxs), max(float(v_target), 0.0))
     if not getattr(self, "_envelope_enabled", False):
       return env
-    slc = getattr(self.slc, "slc", None)
+    slc = getattr(self.slimit, "slc", None)
     next_limit = float(getattr(slc, "next_speed_limit", 0.0) or 0.0)
     next_dist = float(getattr(slc, "next_speed_distance", 0.0) or 0.0)
     if next_limit <= 0.0 or next_dist <= 0.0:
       return env
-    next_target = max(next_limit + float(getattr(self.slc, "slc_offset", 0.0) or 0.0), 0.0)
+    next_target = max(next_limit + float(getattr(self.slimit, "slc_offset", 0.0) or 0.0), 0.0)
     if next_target >= env[0]:
       return env
     travel = np.maximum(v_ego, 1.0) * np.asarray(t_idxs)
@@ -145,10 +143,10 @@ class LongitudinalPlannerIQ:
 
   def update(self, sm: messaging.SubMaster) -> None:
     self.events_iq.clear()
-    for event_name in getattr(self.slc, 'pending_events', []):
+    for event_name in getattr(self.slimit, 'pending_events', []):
       self.events_iq.add(event_name)
     self.custom_stop_distance.update()
-    self.e2e_alerts_helper.update(sm, self.events_iq)
+    self.iqmodeloutput.update(sm, self.events_iq)
     if bool(getattr(sm["iqCarState"], "alcOverrideAlert", False)):
       self.events_iq.add(custom.IQOnroadEvent.EventName.steeringOverrideReengageAlc)
 
@@ -213,8 +211,8 @@ class LongitudinalPlannerIQ:
       # Speed Limit
       speedLimit = plan_msg.speedLimit
       resolver = speedLimit.resolver
-      speed_limit = float(self.slc.slc_target if self.slc.slc_target > 0 else self.slc.slc_active_target)
+      speed_limit = float(self.slimit.slc_target if self.slimit.slc_target > 0 else self.slimit.slc_active_target)
-      speed_limit_offset = float(self.slc.slc_offset)
+      speed_limit_offset = float(self.slimit.slc_offset)
       speed_limit_final = speed_limit + speed_limit_offset if speed_limit > 0 else 0.
       speed_limit_valid = speed_limit > 0.
       speed_limit_last_valid = self.speed_limit_last > 0.
@@ -230,26 +228,26 @@ class LongitudinalPlannerIQ:
       resolver.source = self.speed_limit_source
 
       assist = speedLimit.assist
-      slc_assist_state = self.slc.assist_state
+      slc_assist_state = self.slimit.assist_state
-      assist.enabled = bool(self.slc.slc_target > 0 or self.slc.slc_unconfirmed > 0)
+      assist.enabled = bool(self.slimit.slc_target > 0 or self.slimit.slc_unconfirmed > 0)
-      assist.active = self.source == LongitudinalPlanSource.speedLimitAssist and self.slc.slc_target > 0
+      assist.active = self.source == LongitudinalPlanSource.speedLimitAssist and self.slimit.slc_target > 0
       if slc_assist_state is not None:
         assist.state = slc_assist_state
       elif not assist.enabled:
         assist.state = SpeedLimitAssistState.disabled
-      elif self.slc.slc_unconfirmed > 0:
+      elif self.slimit.slc_unconfirmed > 0:
         assist.state = SpeedLimitAssistState.preActive
       elif assist.active:
         assist.state = SpeedLimitAssistState.active
       else:
         assist.state = SpeedLimitAssistState.inactive
       assist.vTarget = float(self.output_v_target if assist.active else 255.)
-      assist.aTarget = float(self.slc.slc_a_target if assist.active else 0.)
+      assist.aTarget = float(self.slimit.slc_a_target if assist.active else 0.)
 
       # E2E Alerts
       e2eAlerts = plan_msg.e2eAlerts
-      e2eAlerts.greenLightAlert = self.e2e_alerts_helper.queue_alert
+      e2eAlerts.greenLightAlert = self.iqmodeloutput.queue_alert
-      e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_alert
+      e2eAlerts.leadDepartAlert = self.iqmodeloutput.lead_alert
 
     valid = sm.all_checks(service_list=['carState', 'controlsState'])