  from common.params import Params
  from common.realtime import DT_MDL
  from selfdrive.modeld.constants import T_IDXS
  from selfdrive.controls.lib.longcontrol import LongCtrlState
  from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
  from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
  from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
  from system.swaglog import cloudlog
  
  LON_MPC_STEP = 0.2  # first step is 0.2s
 
</s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = MAX_ACCEL

 </s> add  </s> remove     accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
    accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
 </s> add     if self.mpc.mode == 'acc':
      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
    else:
      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] </s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = self.cruise_max_a
 </s> add 
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
  from common.params import Params
  from common.realtime import DT_MDL
  from selfdrive.modeld.constants import T_IDXS
  from selfdrive.controls.lib.longcontrol import LongCtrlState
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
  from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
  from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
  from system.swaglog import cloudlog
  
  LON_MPC_STEP = 0.2  # first step is 0.2s
keep keep keep keep replace keep keep keep keep keep
 Add force decel to e2e long (#26448)

* add force decel to e2e

* Update longitudinal_planner.py 
selfdrive/controls/lib/longitudinal_planner.py