Repair CI Contracts

opendbc_repo/opendbc/car/honda/tests/test_stock_aol.py

@@ -157,12 +157,24 @@ def civic_engagement_owner(*, enabled=True, lkas_action=AOL_TOGGLE, main_action=
   cp.alternativeExperience = 32
   assert cp.flags == 2060 and cp.safetyConfigs[0].safetyParam == 10
   settings = AolSettings(enabled, 5., lkas_action, main_action, (0, 0, 0), (0, 0, 0))
-  return cp, create_intent(cp, settings)
+  intent = create_intent(cp, settings)
+  intent.observe_full_engagement(state(), enabled=False, active=False, source_ns=1,
+                                  observation_valid=True, now_ns=1, fault_active=False)
+  return cp, intent
+
+
+def update_engagement(intent, cs, *, now_ns, standard_enabled=False, standard_active=False,
+                      fault_active=False, native_rejection_ns=0):
+  intent.update(cs, now_ns=now_ns, standard_enabled=standard_enabled,
+                fault_active=fault_active, native_rejection_ns=native_rejection_ns)
+  intent.observe_full_engagement(cs, enabled=standard_enabled or standard_active, active=standard_active,
+                                source_ns=now_ns, observation_valid=True, now_ns=now_ns,
+                                fault_active=fault_active, native_rejection_ns=native_rejection_ns)
 
 
 @pytest.mark.parametrize("main_action", (0, AOL_TOGGLE))
 @pytest.mark.parametrize("paused,temporary", ((False, False), (True, False), (False, True)))
-def test_active_engagement_arms_without_raw_cruise_and_preserves_output_pauses(main_action, paused, temporary):
+def test_active_engagement_arms_without_raw_cruise_resumes_lateral_and_preserves_long_pause(main_action, paused, temporary):
   from openpilot.starpilot.aol.runtime import decide_axes
 
   _, intent = civic_engagement_owner(main_action=main_action)
@@ -171,14 +183,14 @@ def test_active_engagement_arms_without_raw_cruise_and_preserves_output_pauses(m
   cs.gasPressed = True
   assert not cs.cruiseState.enabled  # Non-PCM host engagement can precede ACC_STATUS.
   intent.pause_lateral = intent.pause_longitudinal = paused
-  intent.update(cs.as_reader(), now_ns=10, fault_active=False, standard_enabled=True)
+  update_engagement(intent, cs.as_reader(), now_ns=10, fault_active=False, standard_enabled=True)
   assert not intent.allowed_latch  # Enabled/preEnabled alone is not the active edge.
-  intent.update(cs.as_reader(), now_ns=20, fault_active=False, standard_enabled=True, standard_active=True)
+  update_engagement(intent, cs.as_reader(), now_ns=20, fault_active=False, standard_enabled=True, standard_active=True)
   assert intent.allowed_latch
-  assert intent.pause_lateral is paused and intent.pause_longitudinal is paused
+  assert not intent.pause_lateral and intent.pause_longitudinal is paused
   cs.gasPressed = False
   cs.brakePressed = True
-  intent.update(cs.as_reader(), now_ns=30, fault_active=False, standard_active=False)
+  update_engagement(intent, cs.as_reader(), now_ns=30, fault_active=False, standard_active=False)
   assert intent.allowed_latch  # Braking drops normal cruise, retaining AOL intent.
   allowed, pause_lat, pause_long = intent.output(cs.as_reader())
   snapshot = SimpleNamespace(allowedLatch=allowed, pauseLateral=pause_lat, pauseLongitudinal=pause_long)
@@ -188,7 +200,7 @@ def test_active_engagement_arms_without_raw_cruise_and_preserves_output_pauses(m
                 car_state=cs.as_reader(), initialized=True, model_ready=True,
                 no_entry=False, immediate_disable=False, dm_lockout=False, pause_brake_mps=5.)
   decision = decide_axes(native=native, **kwargs)
-  assert decision.lateral_active == (not paused and not temporary)
+  assert decision.lateral_active == (not temporary)
   assert not decision.longitudinal_active
   assert not decide_axes(native=None, **kwargs).lateral_active
   cs.vEgo = 4.9
@@ -198,12 +210,12 @@ def test_active_engagement_arms_without_raw_cruise_and_preserves_output_pauses(m
   assert not decide_axes(native=native, **kwargs).lateral_active
 
 
-@pytest.mark.parametrize("blocked", ("disabled", "mapping", "main_off", "can_invalid", "timeout",
+@pytest.mark.parametrize("blocked", ("disabled", "main_off", "can_invalid", "timeout",
                                      "fatal", "permanent", "acc_fault", "native_rejection", "park", "unknown", "reverse", "neutral"))
 def test_blocked_engagement_edge_is_consumed_without_rearm_on_held_active(blocked):
-  _, intent = civic_engagement_owner(enabled=blocked != "disabled", lkas_action=0 if blocked == "mapping" else AOL_TOGGLE)
+  _, intent = civic_engagement_owner(enabled=blocked != "disabled")
   cs = structs.CarState(**state().to_dict())
-  intent.update(cs.as_reader(), now_ns=10, fault_active=False)
+  update_engagement(intent, cs.as_reader(), now_ns=10, fault_active=False)
   if blocked == "main_off":
     cs.cruiseState.available = False
   for case, field in (("can_invalid", "canValid"), ("timeout", "canTimeout"),
@@ -212,14 +224,14 @@ def test_blocked_engagement_edge_is_consumed_without_rearm_on_held_active(blocke
       setattr(cs, field, case != "can_invalid")
   if blocked in ("park", "unknown", "reverse", "neutral"):
     cs.gearShifter = blocked
-  intent.update(cs.as_reader(), now_ns=20, standard_enabled=True, standard_active=True,
+  update_engagement(intent, cs.as_reader(), now_ns=20, standard_enabled=True, standard_active=True,
                 fault_active=blocked == "fatal", native_rejection_ns=20 if blocked == "native_rejection" else 0)
   assert not intent.allowed_latch
   intent.settings = replace(intent.settings, enabled=True, lkas_action=AOL_TOGGLE)
-  intent.update(state(), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch
-  intent.update(state(), now_ns=40, fault_active=False)
-  intent.update(state(), now_ns=50, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(), now_ns=40, fault_active=False)
+  update_engagement(intent, state(), now_ns=50, standard_enabled=True, standard_active=True, fault_active=False)
   assert intent.allowed_latch
 
 
@@ -227,42 +239,65 @@ def test_blocked_engagement_edge_is_consumed_without_rearm_on_held_active(blocke
 def test_manual_gesture_takes_priority_over_coincident_active_edge(button):
   _, intent = civic_engagement_owner(main_action=AOL_TOGGLE)
   cs = structs.CarState(**state().to_dict())
-  intent.update(cs.as_reader(), now_ns=10, fault_active=False)
+  update_engagement(intent, cs.as_reader(), now_ns=10, fault_active=False)
   cs.buttonEvents = [structs.CarState.ButtonEvent(type=button, pressed=True)]
-  intent.update(cs.as_reader(), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, cs.as_reader(), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch
   cs.buttonEvents = [structs.CarState.ButtonEvent(type=button, pressed=False)]
-  intent.update(cs.as_reader(), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, cs.as_reader(), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch
 
 
 def test_manual_off_and_native_withdrawal_do_not_rearm_while_active_stays_high():
   _, intent = civic_engagement_owner()
-  intent.update(state(), now_ns=10, fault_active=False)
-  intent.update(state(), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(), now_ns=10, fault_active=False)
+  update_engagement(intent, state(), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
   assert intent.allowed_latch
-  intent.update(state(True), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(True), now_ns=30, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch and intent.pause_lateral
-  intent.update(state(False), now_ns=40, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(False), now_ns=40, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch and intent.pause_lateral
-  intent.update(state(), now_ns=50, fault_active=False)
-  intent.update(state(), now_ns=60, standard_enabled=True, standard_active=True, fault_active=False)
-  assert intent.allowed_latch and intent.pause_lateral  # A new SET edge keeps deliberate output pause.
-  intent.update(state(), now_ns=70, standard_enabled=True, standard_active=True, native_rejection_ns=70, fault_active=False)
+  update_engagement(intent, state(), now_ns=50, fault_active=False)
+  update_engagement(intent, state(), now_ns=60, standard_enabled=True, standard_active=True, fault_active=False)
+  assert intent.allowed_latch and not intent.pause_lateral  # A new full SET resumes lateral output.
+  update_engagement(intent, state(), now_ns=70, standard_enabled=True, standard_active=True, native_rejection_ns=70, fault_active=False)
   assert not intent.allowed_latch
-  intent.update(state(), now_ns=80, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(), now_ns=80, standard_enabled=True, standard_active=True, fault_active=False)
   assert not intent.allowed_latch
 
 
 @pytest.mark.parametrize("gear", ("drive", "sport", "low", "brake"))
 def test_supported_driving_gears_keep_active_engagement_intent(gear):
   _, intent = civic_engagement_owner()
-  intent.update(state(gear=gear), now_ns=10, fault_active=False)
-  intent.update(state(gear=gear), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
+  update_engagement(intent, state(gear=gear), now_ns=10, fault_active=False)
+  update_engagement(intent, state(gear=gear), now_ns=20, standard_enabled=True, standard_active=True, fault_active=False)
   assert intent.allowed_latch
 
 
-def test_actual_card_active_observation_requires_fresh_applied_command(monkeypatch):
+@pytest.mark.parametrize("lkas_action", (0, AOL_TOGGLE))
+def test_full_engagement_does_not_require_a_configured_lkas_toggle(lkas_action):
+  _, intent = civic_engagement_owner(lkas_action=lkas_action)
+  update_engagement(intent, state(), now_ns=10, standard_enabled=True, standard_active=False)
+  assert not intent.allowed_latch
+  update_engagement(intent, state(), now_ns=20, standard_enabled=True, standard_active=True)
+  assert intent.allowed_latch
+  update_engagement(intent, state(), now_ns=30, standard_enabled=False, standard_active=False)
+  assert intent.allowed_latch
+
+
+def test_starting_during_active_engagement_requires_a_fresh_disabled_epoch():
+  cp, seeded = civic_engagement_owner()
+  intent = create_intent(cp, seeded.settings)
+  update_engagement(intent, state(), now_ns=10, standard_enabled=True, standard_active=True)
+  update_engagement(intent, state(), now_ns=20, standard_enabled=True, standard_active=True)
+  assert not intent.allowed_latch
+  update_engagement(intent, state(), now_ns=30)
+  update_engagement(intent, state(), now_ns=40, standard_enabled=True, standard_active=True)
+  assert intent.allowed_latch
+
+
+def test_actual_card_active_observation_requires_fresh_selfdrive_state(monkeypatch):
+  from openpilot.cereal import log
   from openpilot.selfdrive.car import card as card_module
   from openpilot.selfdrive.car.card import Car
   from openpilot.starpilot.aol.intent import AolCardIntent
@@ -279,11 +314,13 @@ def test_actual_card_active_observation_requires_fresh_applied_command(monkeypat
   cs = state()
   now = 1_000_000_000
   control = structs.CarControl(enabled=False, latActive=False, longActive=False)
-  samples = Samples(carControl=control.as_reader(), onroadEvents=[])
-  samples.valid = {"carControl": True, "onroadEvents": True}
-  samples.alive = {"carControl": True}
+  engagement = log.SelfdriveState.new_message(enabled=False, active=False)
+  samples = Samples(carControl=control.as_reader(), onroadEvents=[], selfdriveState=engagement.as_reader())
+  samples.valid = {"carControl": True, "onroadEvents": True, "selfdriveState": True}
+  samples.alive = {"carControl": True, "selfdriveState": True}
+  samples.seen = {"selfdriveState": True}
   samples.updated = {"onroadEvents": True}
-  samples.logMonoTime = {"carControl": now, "onroadEvents": now}
+  samples.logMonoTime = {"carControl": now, "onroadEvents": now, "selfdriveState": now}
   host = Car.__new__(Car)
   host.CP, host.aol_card_intent = cp, intent
   host.CI = SimpleNamespace(update=lambda _: cs, CS=SimpleNamespace())
@@ -311,41 +348,45 @@ def test_actual_card_active_observation_requires_fresh_applied_command(monkeypat
                        "fixture-panda", host.slc_producer_session)
   monkeypatch.setattr(card_module, "current_native", lambda *args, **kwargs: native)
   observed = []
-  update = intent.update
+  observe = intent.observe_full_engagement
 
   def at_boundary(state, **kwargs):
     observed.append(kwargs)
-    update(state, **kwargs)
+    observe(state, **kwargs)
     raise BoundaryReached
 
-  monkeypatch.setattr(intent, "update", at_boundary)
+  monkeypatch.setattr(intent, "observe_full_engagement", at_boundary)
 
-  def tick(*, previous=False, enabled=True, lat=False, long=False, valid=True, alive=True, age=0):
+  def tick(*, enabled=True, active=False, valid=True, alive=True, seen=True, age=0, control_active=True):
     nonlocal now
     now += 10_000_000
-    control.enabled, control.latActive, control.longActive = enabled, lat, long
+    previous_enabled = bool(control.enabled)
+    control.enabled, control.latActive, control.longActive = enabled, control_active, False
+    engagement.enabled, engagement.active = enabled, active
     samples["carControl"] = control.as_reader()
-    samples.valid["carControl"], samples.alive["carControl"] = valid, alive
-    samples.logMonoTime.update(carControl=now - age, onroadEvents=now)
-    host.CC_prev = structs.CarControl(enabled=previous).as_reader()
+    samples["selfdriveState"] = engagement.as_reader()
+    samples.valid["selfdriveState"], samples.alive["selfdriveState"] = valid, alive
+    samples.seen["selfdriveState"] = seen
+    samples.logMonoTime.update(carControl=now, onroadEvents=now, selfdriveState=now - age)
+    host.CC_prev = structs.CarControl(enabled=previous_enabled).as_reader()
     with pytest.raises(BoundaryReached):
       host.state_update()
     return observed[-1]
 
-  assert not tick(previous=True)["standard_active"]  # PreEnabled: enabled with neither active axis.
+  assert not tick(enabled=False)["active"]
+  assert not tick()["active"]  # PreEnabled: fresh actuator activity cannot invent ordinary active state.
   assert not intent.allowed_latch
-  for kwargs in ({"previous": False}, {"previous": True, "valid": False},
-                 {"previous": True, "alive": False}, {"previous": True, "age": 200_000_000}):
-    assert not tick(lat=True, **kwargs)["standard_active"]
+  for kwargs in ({"valid": False}, {"alive": False}, {"seen": False}, {"age": 200_000_000}, {"age": -1}):
+    assert not tick(active=True, **kwargs)["observation_valid"]
     assert not intent.allowed_latch
-  assert tick(previous=True, lat=True)["standard_active"]
+  assert tick(active=True)["observation_valid"]
   assert intent.allowed_latch and not cs.cruiseState.enabled
   intent.allowed_latch = False
-  tick(previous=True, lat=True)
-  assert not intent.allowed_latch  # Repeating the same active level is not a new SET.
+  tick(active=True)
+  assert not intent.allowed_latch  # Repeating the same enabled epoch is not a new SET.
   tick(enabled=False)
-  assert tick(previous=True, long=True)["standard_active"]
-  assert intent.allowed_latch  # Actual normal long activity also proves active engagement.
+  assert tick(active=True, control_active=False)["active"]
+  assert intent.allowed_latch  # Actual ordinary state proves engagement independently of actuator samples.
 
   # The actual Card caller consumes the acknowledged native permission. Its
   # immediate rejection boundary remains strict; no host grace is extended.

opendbc_repo/opendbc/car/tests/routes.py

@@ -26,6 +26,9 @@ unrecorded_route_gaps = {
   GM.CHEVROLET_MALIBU_HYBRID_CC: "gm/tests/test_ordinary_cc.py",
   TOYOTA.TOYOTA_PRIUS_RETROFIT: "toyota/tests/test_retrofit.py",
   TESLA.TESLA_MODEL_S_HW1: "tesla/tests/test_hw1.py",
+  VOLVO.VOLVO_XC40_RECHARGE: "volvo/tests/test_cma.py",
+  VOLVO.VOLVO_S60_RECHARGE: "volvo/tests/test_cma.py",
+  VOLVO.POLESTAR_2: "volvo/tests/test_cma.py",
 }
 
 # FIXME: add routes for these cars

opendbc_repo/opendbc/car/tests/test_routes.py

@@ -6,6 +6,7 @@ from opendbc.car.tests.routes import non_tested_cars, routes, unrecorded_route_g
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.volvo.values import CAR as VOLVO
 
 
 class TestRoutes(unittest.TestCase):
@@ -19,6 +20,7 @@ class TestRoutes(unittest.TestCase):
   def test_explicit_unrecorded_configuration_gaps(self):
     self.assertEqual(set(unrecorded_route_gaps), {
       GM.CHEVROLET_VOLT_CC, GM.CHEVROLET_MALIBU_HYBRID_CC, TOYOTA.TOYOTA_PRIUS_RETROFIT, TESLA.TESLA_MODEL_S_HW1,
+      VOLVO.VOLVO_XC40_RECHARGE, VOLVO.VOLVO_S60_RECHARGE, VOLVO.POLESTAR_2,
     })
     self.assertFalse(set(unrecorded_route_gaps) & {route.car_model for route in routes})
     self.assertTrue(set(unrecorded_route_gaps) <= set(non_tested_cars))

opendbc_repo/opendbc/safety/tests/test_prepared_torque_ev_native.py

@@ -11,14 +11,14 @@ INVENTORY = (
 )
 
 
-def run_context(identity, alternate, aol):
+def run_context(identity, alternate, aol, *, cancel_assigned=False):
   from opendbc.can import CANPacker
   from opendbc.car import Bus, gen_empty_fingerprint, structs
   from opendbc.car.hyundai.interface import CarInterface
   from opendbc.car.hyundai.tests.test_torque_ev_startup import owner
   from opendbc.car.hyundai.values import DBC
   from opendbc.safety.tests.libsafety import libsafety_py
-  from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE
+  from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE, PAUSE_LATERAL
   from openpilot.starpilot.car.hyundai.aol import create_intent, policy_for
   from openpilot.starpilot.vehicle_startup import VehicleStartupOwner
   from openpilot.selfdrive.car.car_events import CarEvents
@@ -47,7 +47,8 @@ def run_context(identity, alternate, aol):
   assert int(cp.safetyConfigs[0].safetyParam) == ((0x95 if alternate else 0x15) | (0x800 if aol else 0))
   assert emitted and all(address == 0x730 and bus == 1 for address, _, bus in emitted)
   packer = CANPacker(DBC[identity][Bus.pt])
-  intent = create_intent(cp, AolSettings(aol, 0., AOL_TOGGLE, AOL_TOGGLE, (0, 0, 0), (0, 0, 0)))
+  cancel_actions = (PAUSE_LATERAL, 0, 0) if cancel_assigned else (0, 0, 0)
+  intent = create_intent(cp, AolSettings(aol, 0., AOL_TOGGLE, AOL_TOGGLE, (0, 0, 0), cancel_actions))
   safety = libsafety_py.libsafety
   safety.init_tests()
   safety.set_alternative_experience(int(cp.alternativeExperience))
@@ -62,10 +63,11 @@ def run_context(identity, alternate, aol):
   previous_control = structs.CarControl()
   active_long = False
   independent_lateral = False
+  pre_cancel_edge_ns = 0
   try:
     for tick in range(340):
       now = epoch + tick * 10_000_000
-      lda = tick in (40, 41, 150, 151, 300, 301)
+      lda = tick in (40, 41, 150, 151, 300, 301) or (aol and not cancel_assigned and tick in (160, 161))
       set_pressed = tick in (80, 81, 180, 181, 212, 213, 304, 305)
       cancel = tick in (120, 121)
       gas = 200 <= tick < 210
@@ -151,8 +153,24 @@ def run_context(identity, alternate, aol):
         independent_lateral |= bool(cc.latActive and not cc.longActive)
       if 202 <= tick < 210 or 232 <= tick < 240:
         assert not cc.longActive, (tick, 'physical pedal must withdraw LONG')
+      if aol and tick == 118:
+        pre_cancel_edge_ns = intent._last_latch_edge_ns
+        assert cc.latActive and cc.longActive and pre_cancel_edge_ns > 0
       if aol and 124 <= tick < 148:
-        assert not cc.latActive, (tick, 'cancel must revoke lateral')
+        assert not cc.longActive, (tick, 'cancel must revoke longitudinal')
+        if cancel_assigned:
+          assert not cc.latActive, (tick, 'cancel must revoke lateral')
+          assert not intent.allowed_latch and mask == 0
+        else:
+          # Unassigned CANCEL retains only the already claimed lateral token.
+          assert cc.latActive and intent.allowed_latch and mask == 1
+          assert intent._last_latch_edge_ns == pre_cancel_edge_ns, (tick, 'cancel cannot renew intent')
+      if aol and not cancel_assigned and 154 <= tick < 160:
+        assert not cc.latActive and intent.pause_lateral and not intent.allowed_latch
+        assert mask == 0, (tick, 'physical LDA off must withdraw native lateral')
+      if aol and not cancel_assigned and 164 <= tick < 178:
+        assert cc.latActive and not cc.longActive and mask == 1
+        assert intent._last_latch_edge_ns > pre_cancel_edge_ns, (tick, 'fresh LDA must rearm')
     assert active_long, 'No physical SET LONG epoch'
     assert independent_lateral == aol, 'Independent physical LDA epoch mismatch'
 
@@ -190,8 +208,9 @@ class TestPreparedTorqueEvNative(unittest.TestCase):
     for identity in (CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN):
       for alternate in (False, True):
         for aol in (False, True):
-          with self.subTest(identity=identity, alternate=alternate, aol=aol):
-            run_context(identity, alternate, aol)
+          for cancel_assigned in ((False, True) if aol else (False,)):
+            with self.subTest(identity=identity, alternate=alternate, aol=aol, cancel_assigned=cancel_assigned):
+              run_context(identity, alternate, aol, cancel_assigned=cancel_assigned)
 
   def test_release_raw_long_preserves_stock_neutral_contract(self):
     from opendbc.can import CANPacker

openpilot/selfdrive/pandad/SConscript

@@ -7,6 +7,9 @@ if GetOption('extras') or any(target.startswith('openpilot/selfdrive/pandad/test
     env.Program('tests/test_panda_usb', ['tests/test_panda_usb.cc', usb_test], LIBS=[common, 'pthread'])
   env.Program('tests/test_aol_protocol', ['tests/test_aol_protocol.cc'])
   env.Program('tests/test_aol_wire', ['tests/test_aol_wire.cc'], LIBS=[messaging, 'capnp', 'kj'])
+  # Compose producer freshness, session negotiation and native ACK wire contracts.
+  env.Program('tests/test_producer_timing', ['tests/test_producer_timing.cc'], LIBS=[messaging, 'capnp', 'kj'])
+  env.Program('tests/test_producer_sink', ['tests/test_producer_sink.cc'], LIBS=[messaging, 'capnp', 'kj'])
 
 if arch != "Darwin":
   libs = [common, messaging, 'pthread', 'usb-1.0']

openpilot/selfdrive/pandad/tests/test_producer_sink.cc

@@ -0,0 +1,103 @@
+// Compose native status parsing/negotiation with the actual wire encoder.
+// This is a header contract test, not a claim of pandad thread/IPC coverage.
+#include "common/tests/native_test.h"
+#include "selfdrive/pandad/aol_protocol.h"
+#include "selfdrive/pandad/aol_wire.h"
+#include "openpilot/starpilot/car/hyundai/aol_policy.h"
+
+namespace {
+constexpr uint64_t NOW = 1000000000ULL;
+const AolProfileRegistry REGISTRY{&HYUNDAI_AOL_PROFILE, 1U};
+
+aol_safety_health_t status(uint8_t request = 0U, uint8_t permission = 0U) {
+  return {AOL_SAFETY_PROTOCOL_MAGIC, AOL_SAFETY_PROTOCOL_VERSION, request, permission,
+          HYUNDAI_AOL_PROFILE.mode, 0x815U, 1U};
+}
+
+std::optional<aol_safety_health_t> parsed(const aol_safety_health_t &native) {
+  unsigned char bytes[sizeof(native)];
+  std::memcpy(bytes, &native, sizeof(native));
+  return parse_aol_status(bytes, sizeof(bytes));
+}
+
+void check_wire(const AolOutcome &outcome, const std::string &session,
+                uint8_t request, uint8_t permission) {
+  CHECK(outcome.compatible && outcome.status);
+  const auto &native = *outcome.status;
+  // Same outcome-to-fields projection as pandad.cc. Requested/allowed bits
+  // must originate in the observed ACK, never the desired axis/write plan.
+  AolSafetyWireFields fields{
+    AOL_SAFETY_PROTOCOL_VERSION, outcome.compatible, NOW, NOW + 200000000ULL,
+    native.safety_mode, native.safety_param,
+    (native.permission_mask & 1U) != 0U, (native.permission_mask & 2U) != 0U,
+    (native.request_mask & 1U) != 0U, (native.request_mask & 2U) != 0U,
+    "owner", outcome.session,
+    {NOW + 9000000000ULL, {{0U, "owner", native.safety_mode, native.safety_param, 32U, false, false, false, 0U}}}
+  };
+  auto encoded = encode_aol_safety_wire(fields);
+  CHECK(!encoded.empty() && encoded.size() <= 512U && encoded.size() % sizeof(capnp::word) == 0U);
+  auto aligned = kj::heapArray<capnp::word>(encoded.size() / sizeof(capnp::word));
+  std::memcpy(aligned.begin(), encoded.data(), encoded.size());
+  capnp::FlatArrayMessageReader reader(aligned.asPtr());
+  auto wire = reader.getRoot<cereal::AolAxisState::SafetyWire>();
+  CHECK(wire.getCompatible() && wire.getProtocolVersion() == AOL_SAFETY_PROTOCOL_VERSION);
+  CHECK(std::string(wire.getAxisSessionId().cStr()) == session);
+  CHECK(wire.getRequestedLateral() == ((request & 1U) != 0U));
+  CHECK(wire.getRequestedLongitudinal() == ((request & 2U) != 0U));
+  CHECK(wire.getLateralAllowed() == ((permission & 1U) != 0U));
+  CHECK(wire.getLongitudinalAllowed() == ((permission & 2U) != 0U));
+  CHECK(wire.getObservedMonoTime() == NOW && wire.getValidUntilMonoTime() == NOW + 200000000ULL);
+  CHECK(wire.getSourcePandaStatesMonoTime() == NOW + 9000000000ULL);
+  CHECK(wire.getPandaInventory().size() == 1U);
+  CHECK(wire.getPandaInventory()[0].getHardwareSerial() == "owner");
+}
+
+void test_native_ack_to_wire() {
+  AolAxisNegotiator negotiator(REGISTRY);
+  AolAxisInput axis{true, true, "axis-old", NOW, NOW + 30000000ULL, NOW, true, true};
+  auto plan = negotiator.prepare(parsed(status(3U, 3U)), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  CHECK(plan.capable && plan.request_mask == 0U);
+  auto outcome = negotiator.complete(plan, true, parsed(status()));
+  check_wire(outcome, "axis-old", 0U, 0U);
+
+  plan = negotiator.prepare(parsed(status()), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  CHECK(plan.request_mask == 3U);
+  // Native may acknowledge LAT before LONG. Serialize that exact observation.
+  outcome = negotiator.complete(plan, true, parsed(status(1U, 1U)));
+  check_wire(outcome, "axis-old", 1U, 1U);
+  plan = negotiator.prepare(parsed(status(1U, 1U)), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  outcome = negotiator.complete(plan, true, parsed(status(3U, 1U)));
+  check_wire(outcome, "axis-old", 3U, 1U);  // request is not permission
+
+  axis.session = "axis-new";
+  plan = negotiator.prepare(parsed(status(3U, 1U)), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  CHECK(plan.request_mask == 0U);
+  outcome = negotiator.complete(plan, true, parsed(status(3U, 1U)));
+  check_wire(outcome, "", 3U, 1U);  // delayed old ACK cannot bind the new session
+  plan = negotiator.prepare(parsed(status(3U, 1U)), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  CHECK(plan.request_mask == 0U);
+  outcome = negotiator.complete(plan, true, parsed(status()));
+  check_wire(outcome, "axis-new", 0U, 0U);
+  plan = negotiator.prepare(parsed(status()), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+  CHECK(plan.request_mask == 3U);
+  outcome = negotiator.complete(plan, true, parsed(status(3U, 3U)));
+  check_wire(outcome, "axis-new", 3U, 3U);
+
+  // Every failed completion requires a new zero ACK before another request.
+  for (unsigned failure = 0; failure < 4U; ++failure) {
+    plan = negotiator.prepare(parsed(status(3U, 3U)), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+    auto after = status(3U, 3U);
+    if (failure == 1U) after.magic = 0U;
+    if (failure == 2U) after.safety_param = 0U;
+    auto ack = failure == 3U ? std::optional<aol_safety_health_t>{} : parsed(after);
+    outcome = negotiator.complete(plan, failure != 0U, ack);
+    CHECK(!outcome.compatible && !outcome.status && outcome.session.empty());
+    plan = negotiator.prepare(parsed(status()), axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+    CHECK(plan.request_mask == 0U);
+    outcome = negotiator.complete(plan, true, parsed(status()));
+    check_wire(outcome, "axis-new", 0U, 0U);
+  }
+}
+}  // namespace
+
+int main() { return run_native_test(test_native_ack_to_wire); }

openpilot/selfdrive/pandad/tests/test_producer_timing.cc

@@ -0,0 +1,89 @@
+// Compose Card's real wire freshness predicate with native command negotiation.
+// No scheduler, clock, transport or production publisher is replaced here.
+#include "common/tests/native_test.h"
+#include "selfdrive/pandad/aol_protocol.h"
+#include "selfdrive/pandad/aol_wire.h"
+#include "openpilot/starpilot/car/hyundai/aol_policy.h"
+
+namespace {
+constexpr uint64_t NOW = 1000000000ULL;
+constexpr uint64_t CARD = NOW - 10000000ULL;
+constexpr uint64_t SOURCE = CARD - 40000000ULL;
+const AolProfileRegistry REGISTRY{&HYUNDAI_AOL_PROFILE, 1U};
+
+const aol_safety_health_t STATUS{AOL_SAFETY_PROTOCOL_MAGIC, AOL_SAFETY_PROTOCOL_VERSION,
+                                0U, 0U, HYUNDAI_AOL_PROFILE.mode, 0x815U, 1U};
+
+void test_card_and_axis_leases() {
+  // A current Card arm can outlive an axis's short command lease, only in
+  // the axis session that has already completed its own native zero ACK.
+  for (unsigned mutation = 0; mutation < 10U; ++mutation) {
+    AolAxisNegotiator negotiator(REGISTRY);
+    AolAxisInput axis{true, true, "axis-1", NOW - 40000000ULL, NOW - 1U,
+                      NOW - 40000000ULL, true, true};
+    auto initial = axis;
+    initial.observed_ns = initial.message_ns = NOW;
+    initial.valid_until_ns = NOW + 30000000ULL;
+    auto zero = negotiator.prepare(STATUS, initial, NOW, HYUNDAI_AOL_PROFILE.mode);
+    CHECK(zero.capable && zero.request_mask == 0U);
+    CHECK(negotiator.complete(zero, true, STATUS).session == "axis-1");
+
+    capnp::MallocMessageBuilder builder;
+    auto intent = builder.initRoot<cereal::AolAxisState::IntentWire>();
+    intent.setKind(2U);
+    intent.setVersion(1U);
+    intent.setProducerSessionId("card-1");
+    intent.setSequence(1U);
+    intent.setCarStateLogMonoTime(CARD);
+    intent.setObservedMonoTime(CARD);
+    intent.setValidUntilMonoTime(NOW + 20000000ULL);
+    intent.setSettingsQualified(true);
+    intent.setLateralArmed(true);
+    uint64_t stamp = CARD;
+    uint64_t source = SOURCE;
+    std::string producer = "card-1";
+    if (mutation == 1U) producer = "replacement-card";
+    if (mutation == 2U) stamp = NOW - 30000001ULL;
+    if (mutation == 3U) intent.setSequence(0U);
+    if (mutation == 4U) intent.setSettingsQualified(false);
+    if (mutation == 5U) intent.setLateralArmed(false);
+    if (mutation == 6U) intent.setObservedMonoTime(CARD - 1U);
+    if (mutation == 7U) source = CARD - 200000001ULL;
+    if (mutation == 8U) axis.session = "replacement-axis";
+    if (mutation == 9U) axis.alive_valid = false;
+    auto flat = capnp::messageToFlatArray(builder);
+    axis.retain_lateral_arm = aol_armed_intent(flat.asBytes(), stamp, source, NOW, false, producer);
+    CHECK(axis.retain_lateral_arm == (mutation == 0U || mutation >= 8U));
+    const auto expired = negotiator.prepare(STATUS, axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+    CHECK(expired.capable && expired.request_mask == 0U);
+    CHECK(expired.retain_lateral_arm == (mutation == 0U));
+    // No intent flag or source/session mutation can resurrect either command.
+    CHECK((expired.request_mask & 3U) == 0U);
+  }
+
+  // Boundary composition: Card and axis age limits are independent. A Card
+  // at exactly 30 ms retains an expired axis arm at exactly 200 ms; moving
+  // either clock one nanosecond past its own boundary removes retention.
+  for (unsigned boundary = 0; boundary < 3U; ++boundary) {
+    AolAxisNegotiator negotiator(REGISTRY);
+    AolAxisInput axis{true, true, "boundary", NOW, NOW + 1U, NOW, true, true};
+    auto zero = negotiator.prepare(STATUS, axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+    CHECK(negotiator.complete(zero, true, STATUS).session == "boundary");
+    const uint64_t card_ns = NOW - 30000000ULL - (boundary == 1U ? 1U : 0U);
+    axis.observed_ns = axis.message_ns = NOW - AOL_AXIS_MESSAGE_MAX_AGE_NS - (boundary == 2U ? 1U : 0U);
+    axis.valid_until_ns = axis.observed_ns + 30000000ULL;
+    capnp::MallocMessageBuilder builder;
+    auto intent = builder.initRoot<cereal::AolAxisState::IntentWire>();
+    intent.setKind(2U); intent.setVersion(1U); intent.setSequence(1U);
+    intent.setProducerSessionId("card-boundary");
+    intent.setCarStateLogMonoTime(card_ns); intent.setObservedMonoTime(card_ns);
+    intent.setValidUntilMonoTime(NOW); intent.setSettingsQualified(true); intent.setLateralArmed(true);
+    auto flat = capnp::messageToFlatArray(builder);
+    axis.retain_lateral_arm = aol_armed_intent(flat.asBytes(), card_ns, axis.observed_ns, NOW, false, "card-boundary");
+    auto plan = negotiator.prepare(STATUS, axis, NOW, HYUNDAI_AOL_PROFILE.mode);
+    CHECK(plan.request_mask == 0U && plan.retain_lateral_arm == (boundary == 0U));
+  }
+}
+}  // namespace
+
+int main() { return run_native_test(test_card_and_axis_leases); }

openpilot/starpilot/flm/canonical_surface_adapter.py

@@ -117,7 +117,7 @@ def canonical_names(names):
 _RAW_BY_NAME = MappingProxyType({name: (value, limits) for name, value, limits in RAW_DOMAINS})
 
 
-def _coordinate_bounds_static(name):
+def _coordinate_bounds_static(name) -> tuple[float, float]:
   if name not in NAMES:
     raise ValueError('unknown canonical coordinate')
   original, (raw_low, raw_high) = _RAW_BY_NAME[name]
@@ -134,7 +134,7 @@ def _coordinate_bounds_static(name):
 _COORDINATE_BOUNDS = MappingProxyType({name: _coordinate_bounds_static(name) for name in NAMES})
 
 
-def coordinate_bounds(name):
+def coordinate_bounds(name) -> tuple[float, float]:
   if type(name) is not str or name not in _COORDINATE_BOUNDS:
     raise ValueError('unknown canonical coordinate')
   return _COORDINATE_BOUNDS[name]

openpilot/starpilot/flm/controller_replay.py

@@ -574,7 +574,7 @@ class ControllerReplay:
     self.recent_states = OrderedDict()
     self.cached_validation = None
     self.cached_key = None
-    self.replay_windows = ()
+    self.replay_windows: tuple[tuple[int, int], ...] = ()
     self.raw_mode = False
     self.actual_centre_friction_values = OrderedDict()
     from openpilot.starpilot.flm.torque_emission_replay import EmissionHistory
@@ -1107,7 +1107,7 @@ class ControllerReplay:
         return None
       calibration_ids = set(model.train_blocks + model.heldout_blocks)
       gains = {'left': [], 'right': []}
-      points = {'left': 0, 'right': 0}
+      points: dict[str, float] = {'left': 0, 'right': 0}
       baseline_controller, baseline_vm = self.factory.create()
       candidate_controller, candidate_vm = self.factory.create()
       total_frames = 0
@@ -1369,11 +1369,11 @@ class ControllerReplay:
     except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
       return False
 
-  def to_snapshot(self, blocks=None, *, event_windows=None):
+  def to_snapshot(self, blocks=None, *, event_windows: tuple[tuple[int, int], ...] | None = None):
     """Primitive child-fitter payload, outside all100Hz controller processes."""
     from dataclasses import asdict
 
-    windows = []
+    windows: list[tuple[int, int]] = []
     if blocks is not None:
       if not 8 <= len(blocks) <= 24:
         raise ValueError('fit job maneuver bound')

openpilot/starpilot/flm/event_controller_replay.py

@@ -1,4 +1,6 @@
 """Child-only canonical effect trials through complete selected controller/CAN history."""
+
+from typing import cast
 from collections.abc import Mapping
 import math
 
@@ -15,37 +17,39 @@ POLICY = 'event_effect_coordinate_v2'
 RESTORE_POLICY = 'event_effect_restore_v1'
 
 
-class _LazyControllerRequests(Mapping):
+class _LazyControllerRequests(Mapping[int, float]):
   """Only original native replay may pull this child-local controller iterator.
 
   Values are cached by their exact control timestamp. Native apply-order stays
   owned by EmissionHistory.rollout, including duplicate/older requested stamps.
   No result is successful until finish() exhausts all original controller guards.
   """
-  def __init__(self, values, frames):
-    self.values, self.frames = values, frames
+  _values: dict[int, float]
+
+  def __init__(self, values: dict[int, float], frames):
+    self._values, self.frames = values, frames
     self.finished = False
 
   def __contains__(self, stamp):
-    while stamp not in self.values and not self.finished:
+    while stamp not in self._values and not self.finished:
       try:
         next(self.frames)
       except StopIteration:
         self.finished = True
-    return stamp in self.values
+    return stamp in self._values
 
   def __getitem__(self, stamp):
     if stamp not in self:
       raise KeyError(stamp)
-    return self.values[stamp]
+    return self._values[stamp]
 
   def __iter__(self):
     self.finish()
-    return iter(self.values)
+    return iter(self._values)
 
   def __len__(self):
     self.finish()
-    return len(self.values)
+    return len(self._values)
 
   def close(self):
     self.frames.close()
@@ -247,7 +251,7 @@ class EventControllerReplay:
       not restore_target and restore_omit_group is None and _prefix_context is not None)
     build_prefix = bool(prefix_eligible and _prefix_context[1] and not shadow and tuple(coordinates) == self.reference)
     certificate = self.__dict__.get('_EventControllerReplay__controller_prefix') if prefix_eligible and not build_prefix else None
-    if certificate is not None and certificate[0] != _prefix_context[0]:
+    if certificate is not None and certificate[0] != cast(tuple[object, bool], _prefix_context)[0]:
       certificate = None
     prefix_requests, prefix_saturated, prefix_states = {}, {}, {}
 
@@ -359,7 +363,7 @@ class EventControllerReplay:
       # original final-window/tick guard must ALSO finish before any result exists.
       lazy_requests.finish()
       if build_prefix and prefix_requests and prefix_states:
-        self.__pending_controller_prefix = (_prefix_context[0], MappingProxyType(prefix_requests),
+        self.__pending_controller_prefix = (cast(tuple[object, bool], _prefix_context)[0], MappingProxyType(prefix_requests),
           MappingProxyType(prefix_saturated), MappingProxyType(prefix_states))
       return requests, encoded, saturated
     finally:

openpilot/starpilot/flm/event_fit_factory.py

@@ -1,4 +1,8 @@
 """Actual child dispatch for canonical full30 event trials, never a helper-only path."""
+
+from typing import TypedDict, cast
+
+
 from openpilot.starpilot.flm.clipping_quality import event_clipping_quality
 from dataclasses import asdict
 import itertools
@@ -14,6 +18,13 @@ from openpilot.starpilot.flm.torque_emission_replay import delivered
 from openpilot.starpilot.flm.torque_raw_fit import output_from_dict
 
 
+class _EffectObjectiveFields(TypedDict):
+  group: str
+  names: tuple[str, ...]
+  anchor_digest: str
+  context_key: str
+
+
 def _identified(engine, raw):
   # Selection uses actual feature support ONLY, before any target/loss. A
   # globally excited column cannot qualify episodes that lack that column.
@@ -76,7 +87,7 @@ def fit_event_snapshot(payload, factory, replay_payload):
     raise ValueError('whole-map activation is restore-only')
   if payload['event_version'] == 3 and (payload.get('event_operation') != 'trial' or envelope.operation != 'trial'):
     raise ValueError('declared activation requires original trial operation')
-  objective = EffectObjective(**{**payload['event_objective'], 'names': tuple(payload['event_objective']['names'])})
+  objective = EffectObjective(**cast(_EffectObjectiveFields, {**payload['event_objective'], 'names': tuple(payload['event_objective']['names'])}))
   if (envelope.trial_names != objective.names or envelope.trial_anchor != objective.anchor_digest or
       envelope.context_key != objective.context_key or envelope.source_epoch != objective.context_key or
       envelope.selected_baseline_revision != replay_payload['baseline_revision']):

openpilot/starpilot/flm/full_surface_store.py

@@ -5,6 +5,8 @@ updates use prior-full-hash CAS and native Params byte-exact commit. Never retur
 an active Profile, publication lease, native permission or restored fit receipt.
 """
 
+from typing import cast
+
 from dataclasses import dataclass, replace
 import hashlib
 from openpilot.starpilot.flm.full_surface_profile import (
@@ -91,7 +93,7 @@ def remember_full(raw, profile, *, validation_sha256):
   # to full surface coordinates or treated as live/accepted new-policy evidence.
   if doc['version'] == 1:
     doc = {'version': 2, 'profiles': doc['profiles'], NAMESPACE: {}}
-  rows = doc[NAMESPACE]
+  rows = cast(dict[str, dict[str, object]], doc[NAMESPACE])
   # Stable settings hashes are opaque: a different reset may also represent a
   # different saved configuration. Never evict another scope by guessing that
   # only reset changed; the fixed store bound fails closed when full.
@@ -119,7 +121,7 @@ def remember_full(raw, profile, *, validation_sha256):
     raise ValueError('full profile store full')
   rows[envelope.scope()] = {
     'current': envelope_dict(envelope),
-    'previous': None if previous is None else {'envelope': envelope_dict(previous), 'validation': row['validation']},
+    'previous': None if previous is None else {'envelope': envelope_dict(previous), 'validation': cast(dict[str, object], row)['validation']},
     'validation': validation_sha256,
   }
   return encode(doc)

openpilot/starpilot/flm/fullrate_collector.py

@@ -5,6 +5,8 @@ Inputs are decoded custom evidence produced by actual owners; no Params/default
 controller selection is inferred here. Domain adapters qualify response inverse.
 """
 
+from typing import TypeGuard, cast
+
 from collections import Counter, OrderedDict, deque
 from openpilot.starpilot.flm.torque_eligibility import asynchronous_hint, bounded_context_output, exact_unclipped_pair, consumed_sources_current
 
@@ -30,8 +32,8 @@ MAX_WIRE_BYTES = 32768
 MAX_SNAPSHOT_WIRE_BYTES = 131072
 
 
-def finite(value):
-  return type(value) in (int, float) and math.isfinite(value)
+def finite(value: object) -> TypeGuard[int | float]:
+  return (type(value) is int or type(value) is float) and math.isfinite(value)
 
 
 def replay_values(value, bound):
@@ -596,7 +598,8 @@ class FullrateCollector:
       control = self.raw_points[0].control
       self.blocks.append(
         RawBlock(
-          control.identity, f'{self.session}:{self.block_sequence}', self.cohort, control.stage_revision, control.response_revision, tuple(self.raw_points)
+          control.identity, f'{self.session}:{self.block_sequence}', cast(str, self.cohort),
+          control.stage_revision, control.response_revision, tuple(self.raw_points)
         )
       )
       self.block_sequence += 1

openpilot/starpilot/flm/learned_lifecycle.py

@@ -1,5 +1,8 @@
 """Bounded historical profile storage and current application display."""
 
+from collections.abc import Callable
+from typing import cast
+
 from openpilot.starpilot.flm.adaptive_profile import ApplicationOutcome
 import json
 import hashlib
@@ -65,7 +68,7 @@ def decode(raw):
         or len(parameter) != 2
         or any(type(x) is not str or not x or len(x) > 128 for x in parameter)
         or parameter[0] in names
-        or type(value) not in (int, float)
+        or (type(value) is not int and type(value) is not float)
         or not math.isfinite(value)
       ):
         raise ValueError('Invalid stored coordinate')
@@ -239,7 +242,7 @@ class ProducerPersistence:
         return False
 
     def authorized():
-      return current_sources() == captured and (full_binding is None or current_full_binding() == full_binding)
+      return current_sources() == captured and (full_binding is None or cast(Callable[[], object], current_full_binding)() == full_binding)
 
     committed = self.storage.save(profile, reset=reset, replay_validation=replay_validation, authorized=authorized, full_binding=full_binding)
     if committed:

openpilot/starpilot/flm/learner_factory.py

@@ -1,5 +1,8 @@
 """Raw parent recordings, one bounded child fit, real selected-controller replay."""
 
+from typing import TypedDict, cast
+
+
 import base64
 from openpilot.starpilot.flm.physical_response import request_force_accel
 from itertools import islice
@@ -23,6 +26,14 @@ from openpilot.starpilot.flm.controller_replay import (
   factory_from_snapshot,
 )
 
+
+class _EffectObjectiveFields(TypedDict):
+  group: str
+  names: tuple[str, ...]
+  anchor_digest: str
+  context_key: str
+
+
 RAW_TORQUE = 'torque-selected-stage-snapshot-v1'
 FF_KEYS = tuple(('feedforward', speed, phase) for speed in ('low', 'high') for phase in ('steady', 'turn_in', 'unwind'))
 
@@ -464,7 +475,7 @@ def fit_snapshot(snapshot):
   if event_job:
     from openpilot.starpilot.flm.event_objective import EffectObjective
     objective_row = payload['event_objective']
-    event_objective = EffectObjective(**{**objective_row, 'names': tuple(objective_row['names'])})
+    event_objective = EffectObjective(**cast(_EffectObjectiveFields, {**objective_row, 'names': tuple(objective_row['names'])}))
     # A fixed historical full-map restore is not a friction-only trial. It
     # must retain independent qualification for every active group, including
     # FF; choosing a friction protocol marker cannot bypass its noise gate.

openpilot/starpilot/flm/learning_wire.py

@@ -1,5 +1,8 @@
 """Typed custom child snapshots; legacy Event fields and linear fit unchanged."""
 
+from typing import TypedDict, cast
+
+
 from functools import lru_cache
 
 from capnp.lib.capnp import _DynamicStructReader
@@ -7,6 +10,29 @@ from openpilot.cereal import custom, messaging
 from openpilot.starpilot.flm.adaptive_profile import Parameter, Profile, ReplayValidation, replay_accepts
 from openpilot.starpilot.flm.fullrate_collector import ControlEvidence, AppliedEvidence, identity, finite
 
+
+class _FullSurfaceFields(TypedDict):
+  version: int
+  manifest_sha256: str
+  full_original_anchor: str
+  trial_anchor: str
+  context_key: str
+  cp_sha256: str
+  controller_revision: str
+  source_epoch: str
+  reset_generation: str
+  selected_baseline_revision: str
+  prior_full_profile_sha256: str
+  full_profile_sha256: str
+  prior_coordinates: tuple[tuple[str, float], ...]
+  coordinates: tuple[tuple[str, float], ...]
+  trial_names: tuple[str, ...]
+  persistent_source_epoch: str
+  operation: str
+  history_full_profile_sha256: str
+  restore_transaction_sha256: str
+
+
 VERSION = 1
 MAX_FIELDS = 8
 MAX_IDS = 24
@@ -70,7 +96,8 @@ def _read_effect_trace(row):
     raise ValueError('effect trace original envelope')
   values=[tuple((str(v.name),float(v.value)) for v in getattr(row,n)) for n in ('before','target','applied')]
   return FullEffectTrace(1,envelope,int(row.controlMonoTime),int(row.previousMonoTime),bool(row.qualified),
-    *values,str(row.appliedFullProfileSha256)).validate()
+    *cast(tuple[tuple[tuple[str, float], ...], tuple[tuple[str, float], ...], tuple[tuple[str, float], ...]], values),
+    str(row.appliedFullProfileSha256)).validate()
 
 
 def write_control(parent, evidence):
@@ -279,11 +306,11 @@ def _read_full_surface(row):
   try:
     if row.version not in (1, 2) or len(row.priorCoordinates) != 30 or len(row.coordinates) != 30 or not 1 <= len(row.trialNames) <= 4:
       return None
-    values = {field: str(getattr(row, wire)) for wire, field in _FULL_FIELDS}
+    values: dict[str, object] = {field: str(getattr(row, wire)) for wire, field in _FULL_FIELDS}
     values.update(version=int(row.version), prior_coordinates=tuple((str(point.name), float(point.value)) for point in row.priorCoordinates),
                   coordinates=tuple((str(point.name), float(point.value)) for point in row.coordinates),
                   trial_names=tuple(str(name) for name in row.trialNames))
-    return FullSurfaceEnvelope(**values).validate()
+    return FullSurfaceEnvelope(**cast(_FullSurfaceFields, values)).validate()
   except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
     return None
 

openpilot/starpilot/flm/pid_stages.py

@@ -109,6 +109,7 @@ def error_for_frame(parent, cs, baseline_error, *, active, limited):
   source = getattr(parent, 'automatic_flm_effects', None)
   if (
     source is None
+    or observation is None
     or frame is None
     or not getattr(parent, 'automatic_pid_stage_admitted', False)
     or not frame.valid()
@@ -222,6 +223,7 @@ def finish_frame(parent, cs, *, desired_angle_deg, actual_angle_deg, baseline_ou
   if (
     source is None
     or not getattr(parent, 'automatic_pid_stage_admitted', False)
+    or observation is None
     or frame is None
     or not frame.valid()
     or not active

openpilot/starpilot/flm/projection_wire.py

@@ -1,5 +1,7 @@
 """Exact bounded CarController emission metadata; no permission or plant claim."""
 
+from typing import cast
+
 FIELDS = (
   ('version', 'version'),
   ('family', 'family'),
@@ -30,7 +32,7 @@ def write_projection(value):
   from opendbc.car.steering_projection import projection_to_dict
   from openpilot.starpilot.flm.learning_wire import _named_values
 
-  data = projection_to_dict(value)
+  data = cast(dict[str, object], projection_to_dict(value))
   result = {wire: data[key] for wire, key in FIELDS}
   # Honda's normalized limiter can have no unlimited integer command: its
   # lookup encoder runs AFTER limiting. Preserve absence rather than inventing
@@ -38,8 +40,8 @@ def write_projection(value):
   result['version'] = 2
   result['unlimitedRawPresent'] = data['unlimited_raw'] is not None
   result['unlimitedRaw'] = 0 if data['unlimited_raw'] is None else data['unlimited_raw']
-  result['limits'] = [{'name': name, 'value': amount} for name, amount in data['limits']]
-  result['shape'] = _named_values(tuple((str(index), item) for index, item in enumerate(data['shape'])))
+  result['limits'] = [{'name': name, 'value': amount} for name, amount in cast(tuple[tuple[str, float], ...], data['limits'])]
+  result['shape'] = _named_values(tuple((str(index), item) for index, item in enumerate(cast(tuple[float | bool, ...], data['shape']))))
   return result
 
 

openpilot/starpilot/flm/restore_activation.py

@@ -1,4 +1,8 @@
 """Restore-only fixed-map declaration; no finite differences or live authority."""
+
+from typing import TypedDict, cast
+
+
 from dataclasses import asdict, dataclass
 import hashlib
 import json
@@ -11,6 +15,19 @@ from openpilot.starpilot.flm.event_activation import EventActivationPlan, EXACT_
 from openpilot.starpilot.flm.full_surface_profile import FullSurfaceEnvelope
 
 
+class _ActivationFields(TypedDict):
+  version: str
+  identity: str
+  baseline_revision: str
+  source_epoch: str
+  physical_context: str
+  calibration_train_blocks: tuple[str, ...]
+  calibration_heldout_blocks: tuple[str, ...]
+  cutoff_ns: int
+  stage_blocks: tuple[str, ...]
+  windows: tuple[tuple[int, int, int, int], ...]
+
+
 def restore_envelope_digest(envelope):
   if type(envelope) is not FullSurfaceEnvelope or envelope.operation != 'restore' or envelope.version != 2:
     raise ValueError('typed full-map historical restore envelope')
@@ -29,7 +46,7 @@ class WholeMapRestorePlan(EventActivationPlan):
       raise ValueError('whole-map restore plan version/envelope')
     # Reuse only the chronology/lineage validator; never decode this as a trial.
     fields = {name: getattr(self, name) for name in EventActivationPlan.__dataclass_fields__}
-    EventActivationPlan(**{**fields, 'version': EXACT_EMISSION_ACTIVATION_VERSION}).validate()
+    EventActivationPlan(**cast(_ActivationFields, {**fields, 'version': EXACT_EMISSION_ACTIVATION_VERSION})).validate()
     return self
 
   @property

openpilot/starpilot/flm/runtime_adapter_registry.py

@@ -1,5 +1,7 @@
 """Shared actual-selected controller identities; physical fitting stays in learner."""
 
+from typing import cast
+
 from dataclasses import dataclass, field, replace
 import hashlib
 import json
@@ -24,11 +26,12 @@ def implementation_revision(controller_type, interface_type):
   values. Formatting changes conservatively discard stored priors too.
   """
   here = Path(__file__).resolve().parent
-  controller_root = Path(importlib.import_module(controller_type.__module__).__file__).resolve().parent
-  brand_root = Path(importlib.import_module(interface_type.__module__).__file__).resolve().parent
+  controller_root = Path(cast(str, importlib.import_module(controller_type.__module__).__file__)).resolve().parent
+  brand_root = Path(cast(str, importlib.import_module(interface_type.__module__).__file__)).resolve().parent
   common_root = here.parents[1] / 'common'
   inherited_roots = tuple(
-    Path(importlib.import_module(base.__module__).__file__).resolve().parent for base in controller_type.__mro__ if base.__module__.startswith('openpilot.')
+    Path(cast(str, importlib.import_module(base.__module__).__file__)).resolve().parent
+    for base in controller_type.__mro__ if base.__module__.startswith('openpilot.')
   )
   roots = (here, here.parent / 'lateral', controller_root, brand_root, brand_root.parent, common_root, *inherited_roots)
   files = tuple(sorted({path for root in roots for path in root.glob('*.py')}))

openpilot/starpilot/flm/selected_effects.py

@@ -5,6 +5,8 @@
 No saved tune/PID/native writes; admission remains in the controls runtime.
 """
 
+from typing import cast
+
 from dataclasses import dataclass
 import math
 from openpilot.starpilot.flm.adaptive_profile import ProfileOwner, ReplayValidation
@@ -43,7 +45,7 @@ class EffectTrial:
     expected = original_anchor(self.selected_baseline_revision, names)
     if self.objective.anchor_digest != expected:
       raise ValueError('recentered or foreign effect objective')
-    payload = self.original_anchor
+    payload = cast(dict[str, object], self.original_anchor)
     fields = {
       'version',
       'manifest_sha256',
@@ -71,7 +73,7 @@ class EffectTrial:
       or payload['selected_baseline_revision'] != self.selected_baseline_revision
     ):
       raise ValueError('effect full-profile context')
-    entries = payload['accumulated']
+    entries = cast(tuple[tuple[str, float], ...], payload['accumulated'])
     if type(entries) is not tuple or len(entries) != len(NAMES) or tuple(n for n, _ in entries) != NAMES:
       raise ValueError('exact full30 prior profile required')
     accumulated = dict(entries)

openpilot/starpilot/flm/steerlearnerd.py

@@ -4,6 +4,10 @@ Actual controller baseline and independent physical model adapters are selected
 from received source-bound evidence, never another process's startup preference.
 """
 
+from collections.abc import Callable
+from typing import cast
+from openpilot.starpilot.flm.runtime_adapter_registry import SourceState
+
 import os
 import uuid
 import time
@@ -100,7 +104,7 @@ def run(
   *,
   clock=time.monotonic_ns,
   reporter=None,
-  publication_source_reader=None,
+  publication_source_reader: Callable[[int], SourceState | None] | None = None,
 ):
   from openpilot.starpilot.flm.native_health import current_native_health
 
@@ -152,7 +156,7 @@ def run(
         sm.update(0)
         now = clock()
       reader = publication_source_reader if publication else source_reader
-      source = reader(now)
+      source = cast(Callable[[int], SourceState | None], reader)(now)
       now = clock()
     known = _source_config_known(source, now)
     if known and (not source.enabled or source.manual):

openpilot/starpilot/flm/tests/test_analyze.py

@@ -1,55 +0,0 @@
-"""The desktop report joins real local-file admission, decompression and events."""
-
-import json
-
-import pytest
-import zstandard as zstd
-
-from openpilot.cereal import messaging
-from openpilot.starpilot.flm import analyze
-from openpilot.starpilot.flm.local_logs import LocalLogUnavailable
-
-
-SEGMENT = "1234abcd--0123456789--0"
-
-
-def test_desktop_report_for_missing_controller_is_honest_and_source_bound(tmp_path, monkeypatch, capsys):
-  monkeypatch.setattr(analyze, "PC", True)
-  folder = tmp_path / SEGMENT
-  folder.mkdir()
-  event = messaging.new_message("carState", valid=True)
-  event.logMonoTime = 100
-  (folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
-  assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT]) == 0
-  report = json.loads(capsys.readouterr().out)
-  assert report["purpose"] == "offline_tracking_diagnostics"
-  assert report["vehicleQualification"] is False and report["tuneRecommendation"] is None
-  segment = report["segments"][0]
-  assert segment["analysis"]["status"] == "missing_car_params"
-  assert segment["analysis"]["mean_abs_error"] is None
-  assert len(segment["source"]["sha256"]) == 64
-  assert segment["source"]["segmentName"] == SEGMENT
-  output = tmp_path / "report.json"
-  args = ["--log-root", str(tmp_path.resolve()), "--output", str(output), SEGMENT]
-  assert analyze.main(args) == 0
-  assert json.loads(output.read_text()) == report
-  original = output.read_bytes()
-  assert analyze.main(args) == 1
-  assert output.read_bytes() == original
-
-
-def test_device_duplicate_and_failed_second_segment_never_emit_partial_report(tmp_path, monkeypatch, capsys):
-  monkeypatch.setattr(analyze, "PC", False)
-  with pytest.raises(ValueError, match="desktop"):
-    analyze.analyze_local(tmp_path.resolve(), [SEGMENT])
-  monkeypatch.setattr(analyze, "PC", True)
-  with pytest.raises(ValueError, match="distinct"):
-    analyze.analyze_local(tmp_path.resolve(), [SEGMENT, SEGMENT])
-  folder = tmp_path / SEGMENT
-  folder.mkdir()
-  event = messaging.new_message("carState", valid=True)
-  (folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
-  assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT, "1234abcd--0123456789--1"]) == 1
-  assert capsys.readouterr().out == ""
-  with pytest.raises(LocalLogUnavailable):
-    analyze.analyze_local(tmp_path.resolve(), [SEGMENT], cancelled=lambda: True)

openpilot/starpilot/flm/tests/test_canonical_cost.py

@@ -1,5 +1,8 @@
 """Immutable bounded caches preserve original digest and reject mutated maps."""
 
+from collections.abc import MutableMapping
+from typing import cast
+
 import hashlib
 from unittest.mock import patch
 import pytest
@@ -75,7 +78,7 @@ def test_immutable_parameter_tuple_cache_and_fixed_bounds():
   with pytest.raises((AttributeError, TypeError)):
     first[0].high = 0.9
   with pytest.raises(TypeError):
-    a._COORDINATE_BOUNDS['center_taper_max'] = (0.0, 0.9)
+    cast(MutableMapping[str, tuple[float, float]], a._COORDINATE_BOUNDS)['center_taper_max'] = (0.0, 0.9)
   assert a.coordinate_bounds('center_taper_max') == (0.0, 0.18)
 
 

openpilot/starpilot/flm/tests/test_event_admission_clock.py

@@ -46,6 +46,9 @@ class ClockedBoundaryAdapter(BoundaryAdapter, EventCollectionAdapter):
   raw_collection = False
   decisions = None
 
+  def physical_observable(self, row=None, *, value=None):
+    return super().physical_observable(row if value is None else value)
+
   def current_admission(self, profile, control, output, context, *, now_ns=None):
     self.decisions = now_ns
     return BoundaryAdapter.current_admission(self, profile, control, output, context)

openpilot/starpilot/flm/tests/test_optional_learning_failures.py

@@ -1,5 +1,6 @@
 """Root-only actual Card/Controls boundaries; no optional failure masks core errors."""
 from types import SimpleNamespace
+from typing import cast
 from unittest import mock
 
 import pytest
@@ -49,17 +50,17 @@ def card_fixture():
   sm.update_msgs(NOW / 1e9, [control.as_reader(), pandas.as_reader()])
   card = Car.__new__(Car)
   card.CP, card.CI, card.sm = cp, ci, sm
-  card.pm = Sink()
+  cast(SimpleNamespace, card).pm = Sink()
   card.vehicle_startup = VehicleStartupOwner()
   card.ci_initialized, card.ioniq6_long_prearmed = True, False
   card.ioniq6_keepalive = None
   card.aol_replay = card.slc_replay = card.curve_replay = card.conditional_replay = False
   card.car_params_published = False
   card.can_rcv_cum_timeout_counter = 0
-  card.rk = SimpleNamespace(remaining=0.0)
+  cast(SimpleNamespace, card).rk = SimpleNamespace(remaining=0.0)
   card.can_log_mono_time = NOW
   card.last_actuators_output = structs.CarControl.Actuators()
-  card.v_cruise_helper = SimpleNamespace(slc_cruise_change=None)
+  cast(SimpleNamespace, card).v_cruise_helper = SimpleNamespace(slc_cruise_change=None)
   card.car_gps_publisher = CarGpsPublisher()
   card.learning_stamp_observer = card.record_learning_send_stamp
   card.learning_car_state_source_ns = NOW - 1_000_000

openpilot/starpilot/flm/tests/test_production_event_contract.py

@@ -44,7 +44,7 @@ def capture(controls):
         startup_rejections += 1
         continue
       return evidence, source, startup_rejections
-  pytest.fail('actual source-bound controller checkpoint was not captured')
+  raise pytest.fail.Exception('actual source-bound controller checkpoint was not captured')
 
 
 @pytest.mark.parametrize('platform,mode,domain', [

openpilot/starpilot/flm/tests/test_snapshot_readiness.py

@@ -1,6 +1,7 @@
 """Actual parent selection/collector/reporter; synthetic goals confer no fit proof."""
 from collections import deque
 from types import SimpleNamespace
+from typing import cast
 from unittest.mock import patch
 
 import pytest
@@ -21,16 +22,16 @@ def actual_selection_collector(count, *, checkpoint=True):
     desired_physical_accel=goal) for tick, goal in enumerate(goals))
   adapter = EventCollectionAdapter.__new__(EventCollectionAdapter)
   adapter.envelope = object()
-  adapter.event_objective = SimpleNamespace(context_key='context', required_cohorts=('whole',))
-  adapter.objective = SimpleNamespace(required_cohorts=())
+  cast(SimpleNamespace, adapter).event_objective = SimpleNamespace(context_key='context', required_cohorts=('whole',))
+  cast(SimpleNamespace, adapter).objective = SimpleNamespace(required_cohorts=())
   adapter.key = ('event', 'center')
   adapter.snapshot_readiness = None
   adapter.model = None
-  adapter.replay = SimpleNamespace(records=frames, replay_windows=(), _frame_context=lambda _frame: True,
+  cast(SimpleNamespace, adapter).replay = SimpleNamespace(records=frames, replay_windows=(), _frame_context=lambda _frame: True,
     checkpoints=((NOW, None),) if checkpoint else (), identity=control.identity, baseline_revision='baseline')
   collector = EventFullrateCollector(adapter)
-  collector.context = ('source',)
-  collector.physical_context = ('physical',)
+  cast(SimpleNamespace, collector).context = ('source',)
+  cast(SimpleNamespace, collector).physical_context = ('physical',)
   collector.ready.append((control, output))
   points = tuple(RawPoint(frame.control_ns, frame.control_ns + 1, frame.control_ns + 2,
     control, output, {}, ('physical',)) for frame in frames[:-60])

openpilot/starpilot/flm/tests/test_worker_limits.py

@@ -1,21 +0,0 @@
-from unittest.mock import patch
-
-from openpilot.starpilot.flm import operation_worker as worker
-
-
-def test_unlimited_linux_limits_get_finite_ceiling():
-  with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
-       patch.object(worker.resource, "getrlimit", return_value=(-1, -1)), \
-       patch.object(worker.resource, "setrlimit") as set_limit:
-    worker._limits()
-  assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (worker.LINUX_ADDRESS_SPACE_BYTES, -1))
-  assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (worker.LINUX_CPU_SECONDS, -1))
-
-
-def test_existing_tighter_linux_limits_are_preserved():
-  with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
-       patch.object(worker.resource, "getrlimit", side_effect=[(1000000, 2000000), (-1, 60)]), \
-       patch.object(worker.resource, "setrlimit") as set_limit:
-    worker._limits()
-  assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (1000000, 2000000))
-  assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (60, 60))

openpilot/starpilot/flm/torque_emission_replay.py

@@ -4,6 +4,8 @@ Parent record() copies bounded typed metadata only. CAN decoding, encoder/filter
 steps and finite differences belong to the child or existing bounded4Hz probe.
 """
 
+from typing import cast
+
 from collections import OrderedDict
 from dataclasses import dataclass, asdict
 from types import SimpleNamespace
@@ -247,7 +249,7 @@ class EncoderBranch:
     if witness.shape:
       from opendbc.car.honda.modified_civic_steering import get_civic_bosch_modified_steering_pressed
 
-      lpf, previous, filtered, was_pressed, speed, pressed, driver = shape
+      lpf, previous, filtered, was_pressed, speed, pressed, driver = cast(tuple[float, float, float, bool, float, bool, float], shape)
       filtered, pressed = get_civic_bosch_modified_steering_pressed(pressed, driver, float32(request), filtered, was_pressed)
       if pressed:
         raise ValueError('candidate driver override')

openpilot/starpilot/flm/training_report.py

@@ -1,4 +1,6 @@
 """Bounded read-only RAM telemetry; never restores a learned profile."""
+
+from typing import cast
 import json
 import math
 import os
@@ -229,8 +231,8 @@ class TrainingReporter:
     }
     if collector is not None and getattr(collector.adapter, 'event_collection', False):
       readiness_reader = getattr(collector, 'snapshot_readiness_report', None)
-      readiness = readiness_reader() if callable(readiness_reader) else {'reason': 'snapshot_not_attempted'}
-      stamp = readiness.pop('observedMonoTime', None)
+      readiness: dict[str, object] = readiness_reader() if callable(readiness_reader) else {'reason': 'snapshot_not_attempted'}
+      stamp = cast(int | None, readiness.pop('observedMonoTime', None))
       readiness['ageSeconds'] = None if stamp is None else max(0., (now_ns - stamp) / 1e9)
       details.update({'Snapshot readiness': readiness,
         'Snapshot selection attempts (collector lifetime)': getattr(collector, 'snapshot_attempts', 0),

openpilot/starpilot/galaxy/tests/test_layout_preview_http.py

@@ -5,6 +5,7 @@ import tempfile
 import threading
 import time
 import unittest
+from typing import TypedDict
 
 from openpilot.common.params import Params
 from openpilot.starpilot.galaxy.access import GalaxyAccessOwner
@@ -15,6 +16,12 @@ from openpilot.starpilot.ui.onroad_customization import PARAM_KEY, default_docum
 from openpilot.starpilot.ui.tests.test_layout_preview_transport import png
 
 
+class PreviewPayload(TypedDict):
+  document: dict
+  profile: str
+  scene: str
+
+
 class TestLayoutPreviewHttp(unittest.TestCase):
   def setUp(self):
     temp = tempfile.TemporaryDirectory()
@@ -34,7 +41,7 @@ class TestLayoutPreviewHttp(unittest.TestCase):
     self.worker = threading.Thread(target=self.server.serve_forever, kwargs={'poll_interval': .01}, daemon=True)
     self.worker.start()
     self.addCleanup(self.stop)
-    self.payload = {'document': default_document(), 'profile': 'large', 'scene': 'aol'}
+    self.payload: PreviewPayload = {'document': default_document(), 'profile': 'large', 'scene': 'aol'}
 
   def stop(self):
     self.server.shutdown()

openpilot/starpilot/galaxy/tests/test_onroad_layout.mjs

@@ -1,6 +1,7 @@
 import assert from "node:assert/strict"
 import * as documentHelpers from "../web/js/onroad-layout-document.js"
 import * as layoutModule from "../web/js/onroad-layout.js"
+import { ONROAD_LAYOUT_TEMPLATE } from "../web/js/onroad-layout-template.js"
 import { readFileSync } from "node:fs"
 import { LayoutWidgetPreview, OnroadLayoutFeed, OnroadLayoutPage, validSnapshot, validDocument, clampPlacement, previewPoint, withAlpha, widgetPalette,
   withDisplay, layoutDocument, previewDocument } from "../web/js/onroad-layout.js"
@@ -804,10 +805,13 @@ assert.ok(appSource.includes('@target="go($event ==='))
 assert.match(appSource, /goFromMenu\(path\)/)
 assert.match(appSource, /requestLeave\(proceed, presentation\)/)
 assert.match(appSource, /@click="goFromMenu\(item\.path\)"/)
-assert.match(editorSource, /<LayoutWidgetPreview :widget="widget"/)
-assert.doesNotMatch(editorSource, /<LayoutWidgetPreview v-if="!state\.preview\.url"/)
-assert.match(editorSource, /<image v-if="nativeBackdropReady" :href="state\.backdrop\.url"/)
+assert.equal(OnroadLayoutPage.template, ONROAD_LAYOUT_TEMPLATE, "the page uses the extracted template")
+assert.equal(OnroadLayoutPage.components.LayoutWidgetPreview, LayoutWidgetPreview, "the template preview uses the actual component")
+assert.match(OnroadLayoutPage.template, /<LayoutWidgetPreview :widget="widget"/)
+assert.doesNotMatch(OnroadLayoutPage.template, /<LayoutWidgetPreview v-if="!state\.preview\.url"/)
+assert.match(OnroadLayoutPage.template, /<image v-if="nativeBackdropReady" :href="state\.backdrop\.url"/)
 assert.doesNotMatch(editorSource, /devicePreviewOpen|gx-layout__device|selectPreview/)
+assert.doesNotMatch(OnroadLayoutPage.template, /devicePreviewOpen|gx-layout__device|selectPreview/)
 const loadedCatalog = await loadCatalog({ fetcher: async (url) => ({ ok: true,
   json: async () => url.endsWith("catalog.json") ? catalog : { schemaVersion: 1, monitor: "local" },
 }) })

openpilot/starpilot/galaxy/tests/test_saved_torque_page.py

@@ -49,8 +49,9 @@ class TestSavedTorquePage(unittest.TestCase):
     learning = rows['Use StarPilot Auto Learn']
     self.assertTrue(learning['available'])
     self.assertEqual(learning['value'], 'Off')
-    self.assertIn('StarPilot Controller uses its vehicle tune', learning['reason'])
-    self.assertIn('automatic learning is currently unavailable', learning['reason'])
+    self.assertTrue(learning['reason'].startswith(
+      'StarPilot’s FLM tuning will attempt to automatically correct torque profiles as you drive.'))
+    self.assertIn('controller eligibility are initialized when driving processes start', learning['reason'])
     cp = self.context.sample().cp
     assert cp is not None
     self.assertFalse(learning_allowed(self.params, cp))
@@ -61,7 +62,7 @@ class TestSavedTorquePage(unittest.TestCase):
     self.assertTrue(preference.enabled)
     self.assertEqual(preference.source, 'scope')
     self.assertTrue(self.params.get_bool('ForceAutoTuneOff'))
-    self.assertFalse(learning_allowed(self.params, cp), 'Saving On does not admit the selected nonlinear controller')
+    self.assertTrue(learning_allowed(self.params, cp), 'Scoped On allows native refinement with either selected controller')
     page = self.page()
 
     index = next(i for i, row in enumerate(page['rows']) if row['label'] == 'Friction')

openpilot/starpilot/galaxy/web/js/onroad-layout-template.js

@@ -0,0 +1,392 @@
+export const ONROAD_LAYOUT_TEMPLATE = `
+    <section class="gx-settings gx-layout" aria-label="Colors and layout" :aria-busy="busy || undefined">
+      <div class="gx-settings__header gx-page-header"><div><h2>{{ projection ? 'Android Auto Layout' : 'Colors & Layout' }}</h2></div>
+        <button class="gx-icon-btn gx-layout__info" type="button" :aria-expanded="state.aboutOpen" aria-controls="gx-layout-about" aria-label="About this editor" title="About this editor" @click="state.aboutOpen = !state.aboutOpen"><i class="bi bi-info-circle" aria-hidden="true"></i></button>
+      </div>
+      <GxNotice v-if="mode === 'local' && state.data && !state.data.editable && !(projection && state.data.reason)" tone="warn">Park the vehicle and reload to edit. If it stays unavailable, reload saved settings.</GxNotice>
+      <div class="gx-layout__targets">
+        <nav class="gx-layout__tabs gx-layout__segment" aria-label="Layout target">
+          <button class="gx-btn gx-btn--tonal" :aria-pressed="!projection" :disabled="!!state.drag" @click="$emit('target', 'device')">Comma</button>
+          <button class="gx-btn gx-btn--tonal" :aria-pressed="projection" :disabled="!!state.drag" @click="$emit('target', 'projection')">Android Auto</button>
+        </nav>
+        <div v-if="mode === 'local' && state.data && state.draft && !projection && availableProfiles.length" class="gx-layout__tabs gx-layout__segment" role="group" aria-label="Layout size">
+          <button v-for="tab in [{id:'large',label:'Big'}, {id:'compact',label:'Small'}].filter(tab => availableProfiles.includes(tab.id))" :key="tab.id" class="gx-btn gx-btn--tonal" type="button"
+            :aria-pressed="state.profile === tab.id" :disabled="!!state.drag" @click="selectProfile(tab.id)">{{ tab.label }}<span v-if="state.data.activeProfile === tab.id" class="gx-layout__active" title="Active UI on the comma"><span class="gx-sr-only"> (active UI)</span></span></button>
+        </div>
+      </div>
+      <div v-show="state.aboutOpen" id="gx-layout-about" class="gx-layout__about">
+        <p v-if="!projection" class="gx-note">Choose a widget to move it or change its colors. Edit the layout available on this comma.</p><p v-else class="gx-note">Move widgets for the last connected Android Auto screen. The comma layout stays separate. Colors follow the comma theme. Changes apply on the next connection.</p>
+        <p v-if="projection && state.data?.screen" class="gx-note">Last usable screen: {{ state.data.screen.width - state.data.screen.margin_width }} × {{ state.data.screen.height - state.data.screen.margin_height }} pixels.</p>
+      </div>
+      <p v-if="projection && state.data?.reason" class="gx-note">{{ state.data.reason }}</p>
+      <GxState v-if="mode !== 'local'">Connect to local Galaxy to edit this device’s colors and layouts.</GxState>
+      <template v-else>
+        <div ref="leaveBar" class="gx-layout__savebar" :class="{'gx-layout__savebar--leave': inlineLeavePrompt, 'is-stuck': state.stuck.leaveBar}" :inert="busy">
+          <div v-if="snapInBar && !inlineLeavePrompt" class="gx-layout__savebar-snap" aria-hidden="true"><i class="bi bi-magnet" aria-hidden="true"></i>{{ snapSummary }}</div>
+          <span role="status" :class="{'is-dirty': dirty && !inlineLeavePrompt && state.status !== 'saving'}">{{ inlineLeavePrompt ? (pendingLeave ? 'Leave without saving your changes?' : 'Discard your edits and reload the saved colors and layouts?') : state.status === 'saving' ? 'Saving…' : state.status === 'loading' ? 'Loading…' : !state.data ? 'No saved layout loaded' : dirty ? 'Unsaved' : state.notice || 'Saved' }}</span>
+          <template v-if="inlineLeavePrompt">
+            <button class="gx-btn gx-btn--tonal" type="button" aria-label="Keep editing" title="Keep editing" @click="cancelLeave"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M4 12a8 8 0 1 0 3-6M4 4v6h6"/></svg><span class="gx-layout__action-label">Keep editing</span></button>
+            <button class="gx-btn gx-btn--danger" type="button" :aria-label="pendingLeave ? 'Discard and leave' : 'Discard and reload'" :title="pendingLeave ? 'Discard and leave' : 'Discard and reload'" @click="leave(state.discard)"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M4 7h16M9 7V4h6v3m-8 0 1 13h8l1-13"/></svg><span class="gx-layout__action-label">{{ pendingLeave ? 'Discard and leave' : 'Discard and reload' }}</span></button>
+            <button v-if="pendingLeave" class="gx-btn" type="button" :disabled="!saveAvailable" aria-label="Save changes" title="Save changes" @click="saveAndLeave"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M5 3h12l4 4v14H3V3h2Zm2 0v6h10V3M7 21v-8h10v8"/></svg><span class="gx-layout__action-label">{{ state.status === 'saving' ? 'Saving…' : 'Save changes' }}</span></button>
+          </template>
+          <template v-else>
+            <button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !canUndo || !!state.drag || !!state.layerDrag" aria-label="Undo" title="Undo" @click="undo"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M9 5 4 10l5 5M4 10h10a6 6 0 0 1 0 12"/></svg><span class="gx-layout__action-label">Undo</span></button>
+            <button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !canRedo || !!state.drag || !!state.layerDrag" aria-label="Redo" title="Redo" @click="redo"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="m15 5 5 5-5 5m5-5H10a6 6 0 0 0 0 12"/></svg><span class="gx-layout__action-label">Redo</span></button>
+            <div ref="moreMenu" class="gx-layout__more" @keydown.esc="closeFloating('moreOpen')">
+              <button class="gx-btn gx-btn--tonal" type="button" :aria-expanded="state.moreOpen" aria-haspopup="menu" aria-label="More actions" title="More actions" @click="toggleFloating('moreOpen', 'moreMenu')"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="currentColor" aria-hidden="true"><circle cx="5" cy="12" r="1.8"/><circle cx="12" cy="12" r="1.8"/><circle cx="19" cy="12" r="1.8"/></svg><span class="gx-layout__action-label">More</span></button>
+              <template v-if="state.moreOpen">
+                <div class="gx-layout__menu" role="menu" aria-label="More actions">
+                  <button class="gx-layout__menu-item" type="button" role="menuitem" :disabled="!!state.drag || !!state.layerDrag" @click="closeFloating('moreOpen'); requestLeave('reload')"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M20 7v5h-5M20 12a8 8 0 1 0-2 5"/></svg>Reload saved</button>
+                  <button class="gx-layout__menu-item" type="button" role="menuitem" :disabled="!editAvailable || !stockChanged || !!state.drag || !!state.layerDrag" @click="closeFloating('moreOpen'); resetToStock()"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="m3 11 9-8 9 8M5 10v11h14V10M9 21v-7h6v7"/></svg>Reset to stock StarPilot</button>
+                </div>
+              </template>
+            </div>
+            <button class="gx-btn gx-layout__save" type="button" :disabled="!editAvailable || !dirty || !!state.drag || !!state.layerDrag" aria-label="Save changes" title="Save changes" @click="save"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M5 3h12l4 4v14H3V3h2Zm2 0v6h10V3M7 21v-8h10v8"/></svg><span class="gx-layout__action-label gx-layout__save-label">Save<span class="gx-layout__long"> changes</span></span></button>
+          </template>
+        </div>
+        <GxNotice tone="danger" v-if="state.error">{{ state.error }}</GxNotice>
+        <template v-if="state.data && state.draft">
+          <p v-if="!state.data.valid" class="gx-note" role="status">{{ projection ? 'Default Android Auto positions are shown. Save to keep your separate layout.' : 'The saved customization is invalid. Default colors and positions are shown; save your edits to replace it.' }}</p>
+          <div class="gx-layout__workspace" :inert="busy">
+            <section ref="pinned" class="gx-card gx-layout__preview-card" :class="{'is-stuck': state.stuck.pinned}" aria-label="Driving screen preview" :style="{'--layout-ratio': profile.width / profile.height}">
+              <div class="gx-layout__subhead"><strong>Layout preview</strong><span>{{ state.layerDrag ? "Adjusting " + selectedWidget.label : state.art.status === 'updating' || state.backdrop.status === 'updating' ? 'Updating preview…' : profile.width + " × " + profile.height }}</span></div>
+              <div class="gx-layout__preview-bar">
+                <GalaxySelect class="gx-field gx-field--full" aria-label="Preview scene" :value="state.scene" :disabled="!!state.drag || !!state.layerDrag" @change="state.scene = $event.target.value">
+                  <optgroup v-for="group in sceneGroups" :key="group.label" :label="group.label">
+                    <option v-for="scene in group.scenes" :key="scene.id" :value="scene.id">{{ scene.label }}</option>
+                  </optgroup>
+                </GalaxySelect>
+                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.snapEnabled" :disabled="!!state.drag || !!state.layerDrag" aria-label="Snap to edges and centers" title="Snap to edges and centers" @click="toggleSnap"><i class="bi bi-magnet" aria-hidden="true"></i></button>
+                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.showEditingAids" aria-label="Show editing aids" title="Show editing aids" @click="toggleEditingAids"><i class="bi bi-bounding-box" aria-hidden="true"></i></button>
+                <button v-if="!projection && profile.inputZones?.length" class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.showFavoriteZones" aria-label="Show Favorite tap areas" title="Show Favorite tap areas" @click="state.showFavoriteZones = !state.showFavoriteZones"><i class="bi bi-grid-3x3-gap" aria-hidden="true"></i></button>
+                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-expanded="state.tipsOpen" aria-controls="gx-layout-tips" aria-label="Preview tips and display behavior" title="Preview tips and display behavior" @click="state.tipsOpen = !state.tipsOpen"><i class="bi bi-question-circle" aria-hidden="true"></i></button>
+              </div>
+              <p class="gx-note">{{ state.scene === 'general' ? 'Arrange all enabled widgets with sample readings. Use a driving scene to check when they appear.' : 'Eyes follow this driving scene. Choose General edit to arrange widgets hidden here.' }}</p>
+              <p v-if="state.backdrop.status === 'unavailable'" class="gx-note" role="status">{{ nativeBackdropReady ? 'The comma screen could not refresh. Showing the last one.' : 'The comma screen is unavailable. Showing a sketch.' }}</p>
+              <p v-if="state.art.status === 'unavailable'" class="gx-note" role="status">{{ state.art.url ? 'Widget preview could not refresh. Showing the last preview.' : 'Widget preview unavailable. Placement controls remain available.' }}</p>
+              <div class="gx-layout__stage">
+              <span v-if="state.showEditingAids && state.snapGuides.length && !snapInBar" class="gx-layout__stage-chip gx-layout__stage-chip--start" :class="{'gx-layout__stage-chip--with-tap-areas': !projection && state.showFavoriteZones && state.profile !== 'compact'}" aria-hidden="true">{{ snapSummary }}</span>
+              <span v-if="!projection && state.showFavoriteZones && state.showEditingAids && state.profile !== 'compact'" class="gx-layout__stage-chip" aria-hidden="true"><i class="bi bi-grid-3x3-gap"></i>Tap areas</span>
+              <svg ref="preview" class="gx-layout__preview" :style="{'--layout-glow': state.profile === 'compact' ? '4px' : '14px'}" :viewBox="'0 0 ' + profile.width + ' ' + profile.height" :width="profile.width" :height="profile.height"
+                @pointermove="moveDrag" @pointerup="endDrag" @pointercancel="cancelDrag" @lostpointercapture="cancelDrag"
+                role="group" :aria-label="projection ? 'Android Auto layout preview' : (state.profile === 'large' ? 'Big' : 'Small') + ' layout preview'">
+                <image v-if="nativeBackdropReady" :href="state.backdrop.url" :width="profile.width" :height="profile.height" preserveAspectRatio="none" data-preview-source="device-backdrop" />
+                <template v-else>
+                <rect width="100%" height="100%" fill="#252b32" />
+                <polygon :points="roadPoints([[0,1],[.4,.45],[.55,.45],[.83,1]])" fill="#303943" />
+                <defs><linearGradient id="layout-road-gradient" gradientUnits="userSpaceOnUse" x1="0" :y1="profile.bounds.y" x2="0" :y2="profile.bounds.y + profile.bounds.height">
+                  <stop v-for="stop in roadGradient" :key="stop.offset" :offset="stop.offset" :stop-color="stop.color" :stop-opacity="stop.alpha" />
+                </linearGradient></defs>
+                <defs><linearGradient id="layout-edge-gradient" gradientUnits="userSpaceOnUse" x1="0" :y1="profile.bounds.y" x2="0" :y2="profile.bounds.y + profile.bounds.height">
+                  <stop offset="0" :stop-color="roadColors.pathEdge.slice(0,7)" stop-opacity="0" />
+                  <stop offset=".5" :stop-color="roadColors.pathEdge.slice(0,7)" :stop-opacity="Math.floor(alpha(roadColors.pathEdge) * .35) / 255" />
+                  <stop offset="1" :stop-color="roadColors.pathEdge.slice(0,7)" :stop-opacity="Math.floor(alpha(roadColors.pathEdge) * .4) / 255" />
+                </linearGradient></defs>
+                <polygon v-if="state.profile === 'large' && roadStyle.pathEdge" v-for="strip in [[[.18,1],[.44,.45],[.447,.45],[.231,1]], [[.639,1],[.503,.45],[.51,.45],[.69,1]]]"
+                  :points="roadPoints(strip)" fill="url(#layout-edge-gradient)" />
+                <polygon :points="roadPoints(state.profile === 'large' && roadStyle.pathEdge ? [[.231,1],[.447,.45],[.503,.45],[.639,1]] : [[.18,1],[.44,.45],[.51,.45],[.69,1]])" fill="url(#layout-road-gradient)" />
+                <path v-for="(line,index) in [[[.16,1],[.43,.45]],[[.71,1],[.52,.45]],[[.02,1],[.38,.45]],[[.85,1],[.57,.45]]]" :key="'road-line-'+index"
+                  :d="'M'+roadPoints(line).replace(' ', ' L')"
+                  :stroke="state.profile === 'compact' && index < 2 ? (roadStyle.pathEdge || '#00ff40ff') : roadColors.laneLines"
+                  opacity=".7" :stroke-width="state.profile === 'compact' ? 2 : 5" />
+                <rect v-if="!projection && !expandedRoad" :x="state.profile === 'large' ? 1860 : 476" y="0" :width="state.profile === 'large' ? 300 : 60" :height="profile.height" fill="#090c10" />
+                <g v-if="!projection && state.profile === 'large' && !expandedRoad" aria-hidden="true" pointer-events="none">
+                  <g v-for="(sample, index) in [{label:'ACCEL',value:'1.08 ft/s²',accent:'#ffffff'}, {label:'STEER DELAY',value:'0.15000',accent:'#3b82f6'}, {label:'FRICTION',value:'0.12000',accent:'#22c55e'}, {label:'LAT ACCEL',value:'2.50000',accent:'#3b82f6'}, {label:'LATERAL %',value:'78.00%',accent:'#ffffff'}, {label:'TORQUE %',value:'42%',accent:'#ffffff'}, {label:'CHESTNUT',value:'',accent:'#ffffff'}]" :key="sample.label" :transform="'translate(1873 ' + (24 + index * 150) + ')'">
+                    <rect width="275" height="126" rx="16" fill="#000000" stroke="#ffffff55" stroke-width="2" />
+                    <rect x="253" y="4" width="18" height="118" rx="4" :fill="sample.accent" />
+                    <text x="137" :y="sample.value ? 51 : 75" text-anchor="middle" :font-size="sample.label === 'STEER DELAY' ? 26 : 30" font-weight="600" fill="#ffffff">{{ sample.label }}</text>
+                    <text v-if="sample.value" x="137" y="91" text-anchor="middle" font-size="30" font-weight="600" fill="#ffffff">{{ sample.value }}</text>
+                  </g>
+                </g>
+                </template>
+                <rect v-if="!nativeBackdropReady" data-preview-source="scene-border"
+                  :x="state.profile === 'compact' ? 4 : profile.bounds.x" :y="state.profile === 'compact' ? 4 : profile.bounds.y"
+                  :width="state.profile === 'compact' ? 468 : roadBounds.width" :height="state.profile === 'compact' ? 232 : profile.bounds.height"
+                  :rx="state.profile === 'compact' ? 14 : 61" fill="none" :stroke="sceneBorder" :stroke-width="state.profile === 'compact' ? 8 : 30" />
+                <rect v-if="state.showEditingAids" :x="roadBounds.x" :y="roadBounds.y" :width="roadBounds.width" :height="roadBounds.height" fill="none" stroke="#8495a855" stroke-width="2" stroke-dasharray="8 8" />
+                <g v-if="!projection && state.showFavoriteZones && state.showEditingAids" aria-hidden="true" pointer-events="none">
+                  <g v-for="zone in profile.inputZones || []" :key="zone.id">
+                    <rect :x="zone.x" :y="zone.y" :width="zone.width" :height="zone.height" fill="#b799ff16" stroke="#b799ff88" :stroke-width="state.profile === 'large' ? 3 : 1" stroke-dasharray="5 5" />
+                    <text :x="zone.x + zone.width / 2" :y="zone.y + zone.height - 8" text-anchor="middle" :font-size="state.profile === 'large' ? 20 : 10" fill="#d8c8ff">{{ zone.label }}</text>
+                  </g>
+                </g>
+                <g v-for="widget in renderWidgets" :key="widget.id" class="gx-layout__widget" :class="{'is-selected': state.drag?.id === widget.id, 'is-editing': state.showEditingAids && state.inspectorPanel === 'edit' && state.selected === widget.id}"
+                  :transform="'translate(' + previewX(widget.id) + ' ' + layout[widget.id].y + ')'" tabindex="0" role="button"
+                  :aria-label="widget.label + ', x ' + previewX(widget.id) + ', y ' + layout[widget.id].y +
+                    (widget.frontmost ? '. Arrow keys move; Shift moves ten pixels; required and always frontmost widget.' :
+                      widget.required ? '. Arrow keys move; Shift moves ten pixels; required widget.' : '. Arrow keys move; Shift moves ten pixels; Delete removes.')"
+                  :aria-pressed="state.selected === widget.id" @focus="state.selected = widget.id" @keydown="onKey(widget.id, $event)"
+                  @pointerdown="startDrag(widget.id, $event)">
+                  <rect class="gx-layout__hit" :y="-(widget.visualInsetTop || 0)" :width="widget.width" :height="widget.height + (widget.visualInsetTop || 0) + (widget.visualInsetBottom || 0)" fill="transparent" />
+                  <LayoutWidgetPreview :widget="widget" :palette="widgetColors(widget.id)" :profile="state.profile" :scene="state.scene" :clock24-hour="!!state.draft.clock24Hour" :native="runtimeWidget(widget.id)" :art="state.art" />
+                  <rect class="gx-layout__selection" :y="-(widget.visualInsetTop || 0)" :width="widget.width" :height="widget.height + (widget.visualInsetTop || 0) + (widget.visualInsetBottom || 0)" fill="none" stroke="#b799ff" :stroke-width="state.profile === 'large' ? 5 : 1.5" stroke-dasharray="6 4" />
+                  <g v-if="widget.box && state.selected === widget.id && editable" class="gx-layout__resize" role="button" :aria-label="'Resize ' + widget.label"
+                    :transform="'translate(' + widget.width + ' ' + widget.height + ')'" @pointerdown="startResize(widget.id, $event)">
+                    <circle r="34" fill="transparent" /><circle r="16" fill="#b799ff" stroke="#16121f" stroke-width="4" />
+                    <path d="M-6 6 L6 -6 M0 6 L6 0" stroke="#16121f" stroke-width="3" stroke-linecap="round" />
+                  </g>
+                </g>
+                <g v-if="projection && !nativeBackdropReady" data-preview-source="fixed-wordmark" role="img" aria-label="StarPilot, fixed logo" pointer-events="none"
+                  :transform="'translate(' + (profile.width - projectionWordmark.right) + ' ' + (profile.height - projectionWordmark.bottom) + ') scale(' + projectionWordmark.scale + ')'">
+                  <svg v-for="(glyph, index) in projectionWordmark.glyphs" :key="index" :x="glyph.offsetX" :y="glyph.offsetY"
+                    :width="glyph.width" :height="glyph.height" :viewBox="[glyph.x, glyph.y, glyph.width, glyph.height].join(' ')" aria-hidden="true">
+                    <image href="./assets/starpilot-wordmark.png" width="1024" height="512" />
+                  </svg>
+                </g>
+                <g v-if="state.showEditingAids && state.snapGuides.length" class="gx-layout__guides" aria-hidden="true" pointer-events="none">
+                  <line v-for="guide in state.snapGuides" :key="guide.axis + guide.value" :class="'gx-layout__guide gx-layout__guide--' + guide.kind"
+                    :x1="guide.axis === 'x' ? guide.value + previewShift(state.drag?.id) : 0" :x2="guide.axis === 'x' ? guide.value + previewShift(state.drag?.id) : profile.width"
+                    :y1="guide.axis === 'y' ? guide.value : 0" :y2="guide.axis === 'y' ? guide.value : profile.height" vector-effect="non-scaling-stroke" />
+                </g>
+                <rect v-if="state.showEditingAids && selectionBox" class="gx-layout__outline" :x="selectionBox.x" :y="selectionBox.y" :width="selectionBox.width" :height="selectionBox.height" rx="4" fill="none" stroke="#d4baff" stroke-width="2" vector-effect="non-scaling-stroke" />
+              </svg>
+              </div>
+              <!-- The Small screen is too short to carry the chip over the layout; it sits underneath instead. -->
+              <span v-if="!projection && state.showFavoriteZones && state.showEditingAids && state.profile === 'compact'" class="gx-layout__stage-chip gx-layout__stage-chip--below" aria-hidden="true"><i class="bi bi-grid-3x3-gap"></i>Tap areas</span>
+              <div v-show="state.tipsOpen" id="gx-layout-tips" class="gx-layout__tips">
+                <p class="gx-note">Drag widgets to place them. Behind them is the comma's own screen for the chosen scene, including its border, road and alerts. Readings are samples.</p>
+                <p class="gx-note">Widgets snap to the screen edges, the center and other widgets. Turn snapping off with the magnet button, or hold Option (Alt) while dragging.</p>
+              <p class="gx-note">General edit shows samples of all enabled widgets together. Driving scenes hide widgets that would be absent, and the eyes follow the scene. Eye changes stay with that scene; your General edit eyes are remembered.</p>
+              <p class="gx-note">The stopped timer appears in General edit and Stopped timer. Turn off editing aids to see the screen without outlines and guides.</p>
+              <p class="gx-note">The steering wheel and driver monitoring icon can be resized in each layout{{ projection ? ', and the map overlay takes any size and opacity' : '' }}. Existing display preferences and driving state still control when widgets appear.</p>
+              <p v-if="!projection" class="gx-note">Small speed-limit signs can overlap confirmation actions. Live confirmations hide an overlapping sign until the decision ends. Select either widget in the list to edit it.</p>
+              <p v-if="!projection && state.showFavoriteZones" class="gx-note">Favorite tap areas apply to enabled slots. Speed-limit controls and the steering wheel take priority when the drawer is closed.</p>
+              </div>
+              <p v-if="state.placementError" class="gx-note" role="status">{{ state.placementError }}</p>
+            </section>
+            <section class="gx-card gx-layout__inspector" aria-label="Widget placement" @focusin="revealField"> <!-- codespell:ignore focusin -->
+              <nav ref="sections" class="gx-layout__switcher gx-layout__sections gx-settings-tabs" :class="{'is-stuck': state.stuck.sections}" aria-label="Editor sections">
+                <button class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'widgets'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'widgets'">Widgets</button>
+                <button class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'edit'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'edit'"><span>Edit<span class="gx-layout__long"> widget</span></span></button>
+                <button v-if="!projection" class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'road'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'road'"><span>Road<span class="gx-layout__long"> colors</span></span></button>
+                <button v-if="projection || displayGroups.length" class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'display'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'display'">Options</button>
+              </nav>
+              <div v-show="state.inspectorPanel === 'widgets'" class="gx-layout__panel">
+              <div ref="widgetsHelp" class="gx-layout__subhead gx-layout__help-anchor"><h3>Widgets</h3><span>{{ activeWidgets.length }} active</span>
+                <button class="gx-icon-btn gx-layout__info" type="button" :aria-expanded="state.widgetsHelpOpen" aria-controls="gx-layout-widgets-help" aria-label="How the widget list works" title="How the widget list works" @click="toggleFloating('widgetsHelpOpen', 'widgetsHelp')"><i class="bi bi-info-circle" aria-hidden="true"></i></button>
+                <div v-show="state.widgetsHelpOpen" id="gx-layout-widgets-help" class="gx-layout__popover" @click="closeFloating('widgetsHelpOpen')" @keydown.esc="closeFloating('widgetsHelpOpen')">
+                  <p>Tap a widget to edit it.</p><p>Drag ⠿ to reorder. The top row is in front, and alerts stay above all widgets.</p><p>The eyes follow the chosen scene. Choose General edit to arrange every enabled widget. Hiding a widget with the eye affects only this scene's preview.</p>
+                </div>
+              </div>
+              <div class="gx-layout__widget-list"><div v-for="widget in listWidgets" :key="widget.id" class="gx-layout__layer" :data-layer-id="widget.id"
+                :class="{'is-dragging': state.layerDrag?.id === widget.id && state.layerDrag?.moved, 'is-drop-target': state.layerDrag?.target === widget.id && state.layerDrag?.id !== widget.id, 'is-drop-after': state.layerDrag?.after}">
+                <button class="gx-layout__row-grip gx-icon-btn" type="button"
+                  :aria-label="widget.frontmost ? widget.label + ' is pinned above all widgets' : 'Reorder ' + widget.label"
+                  :disabled="!editAvailable || !!state.drag || widget.frontmost"
+                  :title="widget.frontmost ? 'Always above other widgets' : 'Drag to reorder. Up and down keys reorder.'"
+                  @pointerdown="startLayerDrag($event, widget.id)" @pointermove="moveLayerDrag($event)"
+                  @pointerup="endLayerDrag($event)" @pointercancel="endLayerDrag($event, true)" @lostpointercapture="endLayerDrag($event, true)"
+                  @keydown="layerKey($event, widget.id)" @click="layerClick($event, widget.id)"><span aria-hidden="true">{{ widget.frontmost ? '↑' : '⠿' }}</span></button>
+                <button class="gx-layout__layer-name" type="button" :aria-pressed="state.selected === widget.id" :disabled="!!state.drag || !!state.layerDrag"
+                  @click="selectWidget(widget.id)">{{ widget.label }}</button>
+                <button v-if="!projection || widget.id !== 'car_exit'" class="gx-layout__visibility gx-icon-btn" type="button" :disabled="!!state.drag || !!state.layerDrag || sceneHidden(widget.id)"
+                  :aria-label="visibilityTitle(widget.id, widget.label)"
+                  :title="visibilityTitle(widget.id, widget.label)"
+                  :aria-pressed="!previewHidden(widget.id)" @click="togglePreviewVisibility(widget.id)">
+                  <i class="bi" :class="previewHidden(widget.id) ? 'bi-eye-slash' : 'bi-eye'" aria-hidden="true"></i>
+                </button>
+                <button v-if="!widget.required" class="gx-layout__remove gx-icon-btn" type="button" :aria-label="'Remove ' + widget.label" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
+                  @click="requestRemove(widget.id)"><span aria-hidden="true">−</span></button>
+                <span v-else class="gx-note gx-layout__required" title="This control cannot be removed or placed below another widget.">Required</span>
+              </div></div>
+              <Teleport to="body"><div v-if="state.layerDrag?.moved" class="gx-layout__drag-ghost" aria-hidden="true"
+                :style="{left: state.layerDrag.x + 'px', top: state.layerDrag.y + 'px', width: state.layerDrag.width + 'px'}">
+                <span aria-hidden="true">⠿</span><strong>{{ selectedWidget.label }}</strong><span>↕</span>
+              </div></Teleport>
+              <div class="gx-layout__tray" role="group" aria-labelledby="gx-layout-tray-title">
+                <div class="gx-layout__subhead"><h4 id="gx-layout-tray-title">Inactive widgets</h4><span>{{ inactiveWidgets.length }}</span></div>
+                <p v-if="inactiveWidgets.length" class="gx-note">Drag a widget onto the preview, or tap + to add it.</p>
+                <div v-if="inactiveWidgets.length" class="gx-layout__chips">
+                  <div v-for="widget in inactiveWidgets" :key="widget.id" class="gx-layout__tray-item">
+                    <button class="gx-layout__drag-handle" type="button" :disabled="!editAvailable" :aria-label="'Drag ' + widget.label + ' onto preview'"
+                      @pointerdown="startDrag(widget.id, $event, true)"><i class="bi bi-grip-vertical" aria-hidden="true"></i></button><span class="gx-layout__inactive-name">{{ widget.label }}</span>
+                    <button class="gx-icon-btn gx-layout__chip-add" type="button" :aria-label="'Add ' + widget.label" :title="'Add ' + widget.label" :disabled="!editAvailable || !!state.drag" @click="add(widget.id)"><i class="bi bi-plus-lg" aria-hidden="true"></i></button>
+                  </div>
+                </div>
+                <p v-else class="gx-note">All available widgets are on this layout.</p>
+              </div>
+              <button class="gx-btn gx-btn--tonal gx-layout__reset" type="button" :disabled="!editAvailable || !!state.drag" @click="resetLayout">Reset this layout</button>
+              </div>
+              <div v-show="state.inspectorPanel === 'edit'" class="gx-layout__panel">
+                <label class="gx-layout__widget-picker"><span class="gx-layout__picker-head">Selected widget<span v-if="selectedWidget && selectedPosition.enabled" class="gx-note">{{ selectedSize[0] }} × {{ selectedSize[1] + (selectedWidget.box ? 0 : selectedWidget.visualInsetTop || 0) }} px</span></span><GalaxySelect class="gx-field gx-field--full" :value="state.selected" :disabled="!!state.drag" @change="state.selected = $event.target.value">
+                  <option v-for="widget in widgets" :key="widget.id" :value="widget.id">{{ widget.label }}{{ layout[widget.id].enabled ? '' : ' · Inactive' }}</option>
+                </GalaxySelect></label>
+                <div v-if="selectedWidget && !selectedPosition.enabled" class="gx-layout__panel"><p class="gx-note">Add this widget to edit its position and colors.</p><button class="gx-btn" :disabled="!editAvailable" @click="add(state.selected)">Add to layout</button></div>
+              <p v-if="selectedWidget && selectedPosition.enabled && sceneHidden(state.selected)" class="gx-note">This widget is hidden in this driving scene. <button class="gx-btn gx-btn--tonal" type="button" :disabled="!!state.drag || !!state.layerDrag" @click="state.scene = 'general'">Edit in General edit</button></p>
+              <div v-if="selectedWidget && selectedPosition.enabled" class="gx-layout__position">
+                <label v-if="selectedWidget.resizable">Size
+                  <input class="gx-field" type="number" step="1" :min="selectedWidget.resizable.min" :max="selectedWidget.resizable.max"
+                    :value="selectedPosition.size" :disabled="!editAvailable || !!state.drag" @change="resizeSelected($event)"></label>
+                <input v-if="selectedWidget.resizable" class="gx-slider" type="range" step="1" aria-label="Size" :min="selectedWidget.resizable.min" :max="selectedWidget.resizable.max"
+                  :value="selectedPosition.size" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="sizeSlider($event)" @change="finishColorEdit" @blur="finishColorEdit">
+                <template v-if="selectedWidget.opacity">
+                  <label for="layout-widget-opacity">{{ selectedWidget.box ? 'Map opacity' : selectedWidget.kind === 'cruise_limits' ? 'Background opacity' : 'Opacity' }} · {{ selectedPosition.opacity }}%</label>
+                  <input id="layout-widget-opacity" class="gx-slider" type="range" step="1" :min="selectedWidget.opacity.min" :max="selectedWidget.opacity.max"
+                    :value="selectedPosition.opacity" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="opacityInput($event)" @change="finishColorEdit" @blur="finishColorEdit">
+                </template>
+                <GalaxySettingRow v-if="selectedWidget.backgroundToggle" :row="switchRow('Show background', selectedPosition.background === true)" :index="0"
+                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setWidgetBackground(value)" />
+                <p v-if="selectedWidget.defaultAnchor === 'driver_side'" class="gx-note">The default position follows the driver’s side. A moved position stays where you place it.</p>
+                <p v-if="selectedWidget.note" class="gx-note">{{ selectedWidget.note }}</p>
+                <label v-if="selectedWidget.kind === 'clock'" class="gx-layout__clock-format"><input type="checkbox" :checked="!!state.draft.clock24Hour" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @change="setClock24Hour"> Use 24-hour time</label>
+                <div v-if="selectedWidget.kind === 'cruise_limits'" class="gx-layout__favorite-display">
+                  <span>Text alignment</span>
+                  <div class="gx-segment" role="group" aria-label="Cruise and speed limit text alignment">
+                    <button v-for="align in ['left', 'center', 'right']" :key="align" class="gx-btn" type="button"
+                      :class="(state.draft.speedAlign || 'left') === align ? 'gx-btn--primary' : 'gx-btn--tonal'"
+                      :aria-pressed="(state.draft.speedAlign || 'left') === align" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
+                      @click="setSpeedAlign(align)">{{ align === 'left' ? 'Left' : align === 'center' ? 'Center' : 'Right' }}</button>
+                  </div>
+                </div>
+                <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits'" :row="switchRow('Show Speed-Limit Sources', state.draft.speedSources === true)" :index="0"
+                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setSpeedSources('speedSources', value === 'On')" />
+                <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits' && state.draft.speedSources === true" :row="switchRow('Show as Separate Card', state.draft.speedSourcesCard === true)" :index="1"
+                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setSpeedSources('speedSourcesCard', value === 'On')" />
+                <label v-if="!projection && selectedWidget.kind === 'cruise_limits'" class="gx-layout__clock-format"><input type="checkbox" :checked="state.draft.showMaxSpeed !== false" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @change="setShowMaxSpeed"> Show MAX speed</label>
+                <GalaxySettingRow v-if="projection && selectedWidget.kind === 'steering_wheel'" :row="switchRow('Brake and Acceleration Colors', state.draft.wheelPedalFeedback === true)" :index="0"
+                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('wheelPedalFeedback', value)" />
+                <GalaxySettingRow v-if="!projection && selectedWidget.kind === 'steering_wheel' && displayRow('ShowBrakeStatus')" :row="switchRow('Brake and Acceleration Colors', displayValue('ShowBrakeStatus') === 'On')" :index="0"
+                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag || !displayAvailable(displayRow('ShowBrakeStatus'))" :save-value="(index, value) => setDisplay('ShowBrakeStatus', value)" />
+                <div v-if="!projection && selectedWidget.kind === 'model_confidence' && displayRow('StockConfidenceBallWidget')" class="gx-layout__favorite-display">
+                  <span>Style</span>
+                  <div class="gx-segment" role="group" aria-label="Model confidence style">
+                    <button v-for="choice in [['On', 'StarPilot widgets'], ['Off', 'Stock confidence ball']]" :key="choice[0]" class="gx-btn" type="button"
+                      :class="displayValue('StockConfidenceBallWidget') === choice[0] ? 'gx-btn--primary' : 'gx-btn--tonal'"
+                      :aria-pressed="displayValue('StockConfidenceBallWidget') === choice[0]"
+                      :disabled="!editAvailable || !!state.drag || !!state.layerDrag || !displayAvailable(displayRow('StockConfidenceBallWidget'))"
+                      @click="setDisplay('StockConfidenceBallWidget', choice[0])">{{ choice[1] }}</button>
+                  </div>
+                </div>
+                <p v-if="!projection && stockConfidence && selectedWidget.kind === 'conditional_mode'" class="gx-note">Hidden while Model confidence uses the stock confidence ball.</p>
+                <div v-if="projection && selectedWidget.iconSize" class="gx-layout__favorite-display">
+                  <span>Show as</span>
+                  <div class="gx-segment" role="group" :aria-label="selectedWidget.label + ' display'">
+                    <button v-for="display in ['icons', 'words']" :key="display" class="gx-btn" type="button"
+                      :class="selectedPosition.display === display ? 'gx-btn--primary' : 'gx-btn--tonal'"
+                      :aria-pressed="selectedPosition.display === display" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
+                      @click="setFavoriteDisplay(display)">{{ display === 'icons' ? 'Icons' : 'Words' }}</button>
+                  </div>
+                </div>
+                <div class="gx-layout__coordinates"><label>X<input class="gx-field" type="number" step="1" :min="limits.minX" :max="limits.maxX" :value="selectedPosition.x" :disabled="!editAvailable || !!state.drag" @change="positionInput('x', $event)"></label>
+                  <label>Y<input class="gx-field" type="number" step="1" :min="limits.minY" :max="limits.maxY" :value="selectedPosition.y" :disabled="!editAvailable || !!state.drag" @change="positionInput('y', $event)"></label><template v-if="selectedWidget.box">
+                  <label>Width<input class="gx-field" type="number" step="10" :min="selectedWidget.box.minWidth" :max="selectedWidget.box.maxWidth" :value="selectedPosition.width" :disabled="!editAvailable || !!state.drag" @change="boxInput('width', $event)"></label>
+                  <label>Height<input class="gx-field" type="number" step="10" :min="selectedWidget.box.minHeight" :max="selectedWidget.box.maxHeight" :value="selectedPosition.height" :disabled="!editAvailable || !!state.drag" @change="boxInput('height', $event)"></label></template></div>
+                <template v-if="selectedWidget.box">
+                  <label :for="'layout-box-width'">Width · {{ selectedPosition.width }}</label>
+                  <input id="layout-box-width" class="gx-slider" type="range" step="10" :min="selectedWidget.box.minWidth" :max="selectedWidget.box.maxWidth"
+                    :value="selectedPosition.width" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="boxSlider('width', $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                  <label :for="'layout-box-height'">Height · {{ selectedPosition.height }}</label>
+                  <input id="layout-box-height" class="gx-slider" type="range" step="10" :min="selectedWidget.box.minHeight" :max="selectedWidget.box.maxHeight"
+                    :value="selectedPosition.height" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="boxSlider('height', $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                  <span class="gx-note">Smaller sizes let more of the road show through.</span>
+                </template>
+                <span class="gx-note gx-layout__keys-note">Use arrow keys on a preview widget to move 1 pixel, or Shift + arrow for 10.</span>
+                <section v-if="!projection && colorFields.length" class="gx-layout__colors" :aria-label="selectedWidget.label + ' colors'">
+                  <div class="gx-layout__subhead"><h4>{{ selectedWidget.label }} colors</h4><button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable" @click="resetColors" aria-label="Reset widget colors" title="Reset widget colors">Reset</button></div>
+                  <p class="gx-note">Changes this widget in the {{ state.profile === 'large' ? 'Big' : 'Small' }} layout only. Status indicators keep their meaning.</p>
+                  <div class="gx-layout__palette"><div v-for="field in colorFields" :key="field.id" class="gx-layout__color" :class="{'is-open': state.openColor === 'widget:' + field.id}">
+                    <button class="gx-layout__color-row" type="button" :aria-expanded="state.openColor === 'widget:' + field.id" :aria-controls="'layout-color-panel-' + field.id" @click="toggleColor('widget:' + field.id)">
+                      <span class="gx-layout__swatch" :style="{'--swatch': selectedColors[field.id]}" aria-hidden="true"></span>
+                      <span class="gx-layout__color-name">{{ field.label }}</span>
+                      <span class="gx-layout__color-value">{{ selectedColors[field.id].slice(0,7) }}</span>
+                      <span class="gx-layout__color-alpha">{{ Math.round(alpha(selectedColors[field.id]) / 255 * 100) }}%</span>
+                      <i class="bi bi-chevron-down" aria-hidden="true"></i>
+                    </button>
+                    <div v-if="state.openColor === 'widget:' + field.id" :id="'layout-color-panel-' + field.id" class="gx-layout__color-editor">
+                    <label class="gx-sr-only" :for="'layout-color-' + field.id">{{ field.label }} hex</label><div class="gx-layout__color-values">
+                      <input type="color" :aria-label="field.label + ' color'" :value="selectedColors[field.id].slice(0,7)" :disabled="!editAvailable || !!state.drag" @input="colorRgb(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                      <input :id="'layout-color-' + field.id" class="gx-field" type="text" spellcheck="false" maxlength="9" :value="selectedColors[field.id]" :disabled="!editAvailable || !!state.drag" @change="colorText(field.id, $event)"></div>
+                    <label :for="'layout-alpha-' + field.id">Opacity · {{ Math.round(alpha(selectedColors[field.id]) / 255 * 100) }}%</label>
+                    <input :id="'layout-alpha-' + field.id" class="gx-slider" type="range" min="0" max="255" step="1" :value="alpha(selectedColors[field.id])" :disabled="!editAvailable || !!state.drag" @input="colorAlpha(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                    <p v-if="!alpha(selectedColors[field.id])" class="gx-note">Hidden at 0%. Picking a color makes it visible.</p>
+                    </div>
+                  </div></div>
+                  <GxNotice tone="danger" v-if="state.colorError">{{ state.colorError }}</GxNotice>
+                </section>
+                <p v-if="!projection && !colorFields.length" class="gx-note">This widget uses its original status colors.</p>
+              </div>
+              </div>
+              <section v-if="!projection" v-show="state.inspectorPanel === 'road'" class="gx-layout__colors" aria-label="Path and lane colors">
+                <div class="gx-layout__subhead"><h4>Path &amp; Lane Colors</h4><button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !!state.drag" @click="resetRoad" aria-label="Reset road colors" title="Reset road colors">Reset</button></div>
+                <label>Path style<GalaxySelect class="gx-field gx-field--full" :value="roadMode" :disabled="!editAvailable || !!state.drag" @change="setRoadMode($event.target.value)">
+                  <option value="acceleration">Acceleration colors</option>
+                  <option value="color">Custom color</option><option value="rainbow">Rainbow Road</option>
+                </GalaxySelect></label>
+                <p class="gx-note">These colors apply to this layout only. The preview uses a sample road.</p>
+                <details class="gx-layout__help"><summary>About path &amp; lane colors</summary><div>
+                <p class="gx-note">Choose how the path is colored. Acceleration colors change with acceleration and braking. Custom color stays one color. Rainbow Road shows a moving rainbow.</p>
+                <p class="gx-note">{{ state.profile === 'large' ? 'Path border colors the strips along the path. Lane lines keep their own color.' : 'Lane marking colors apply to the lines beside your lane and the outer lines separately.' }} Blue lane-centering and orange steering-effort indicators stay blue and orange.</p>
+                </div></details>
+                <div class="gx-layout__palette"><div v-for="field in state.data.metadata.roadColorFields" :key="field.id" class="gx-layout__color" :class="{'is-open': state.openColor === 'road:' + field.id}">
+                  <button class="gx-layout__color-row" type="button" :aria-expanded="state.openColor === 'road:' + field.id" :aria-controls="'road-color-panel-' + field.id" @click="toggleColor('road:' + field.id)">
+                    <span class="gx-layout__swatch" :style="{'--swatch': roadColors[field.id]}" aria-hidden="true"></span>
+                    <span class="gx-layout__color-name">{{ roadLabel(field.id) }}</span>
+                    <span class="gx-layout__color-value">{{ roadColors[field.id].slice(0,7) }}</span>
+                    <span class="gx-layout__color-alpha">{{ Math.round(alpha(roadColors[field.id]) / 255 * 100) }}%</span>
+                    <i class="bi bi-chevron-down" aria-hidden="true"></i>
+                  </button>
+                  <div v-if="state.openColor === 'road:' + field.id" :id="'road-color-panel-' + field.id" class="gx-layout__color-editor">
+                  <label class="gx-sr-only" :for="'road-color-' + field.id">{{ roadLabel(field.id) }} hex</label><div class="gx-layout__color-values">
+                    <input type="color" :aria-label="roadLabel(field.id) + ' color'" :value="roadColors[field.id].slice(0,7)" :disabled="!editAvailable || !!state.drag" @input="roadRgb(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                    <input :id="'road-color-' + field.id" class="gx-field" type="text" spellcheck="false" maxlength="9" :value="roadColors[field.id]" :disabled="!editAvailable || !!state.drag" @change="roadColor(field.id, $event.target.value.trim())"></div>
+                  <label :for="'road-alpha-' + field.id">Opacity · {{ Math.round(alpha(roadColors[field.id]) / 255 * 100) }}%</label>
+                  <input :id="'road-alpha-' + field.id" class="gx-slider" type="range" min="0" max="255" step="1" :value="alpha(roadColors[field.id])" :disabled="!editAvailable || !!state.drag" @input="roadAlpha(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
+                  </div>
+                </div></div>
+                <GxNotice tone="danger" v-if="state.colorError">{{ state.colorError }}</GxNotice>
+              </section>
+            <section v-if="projection" v-show="state.inspectorPanel === 'display'" class="gx-layout__colors gx-layout__display" aria-label="Android Auto screen options">
+              <div class="gx-layout__subhead"><h4>Android Auto screen options</h4></div>
+              <p class="gx-note">Only the Android Auto screen uses these. The comma screen has its own options on the Comma tab. Save to apply.</p>
+              <h5 class="gx-layout__display-group">Alerts and borders</h5>
+              <GalaxySettingRow :row="switchRow('Hide Personality Alerts', state.draft.hidePersonalityAlerts === true)" :index="0"
+                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('hidePersonalityAlerts', value)" />
+              <GalaxySettingRow :row="switchRow('Red Blind-Spot Border', state.draft.blindSpotBorder === true)" :index="1"
+                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('blindSpotBorder', value)" />
+              <GalaxySettingRow :row="switchRow('Amber Signal Border', state.draft.signalBorder === true)" :index="2"
+                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('signalBorder', value)" />
+              <h5 class="gx-layout__display-group">Lead car</h5>
+              <GalaxySettingRow :row="switchRow('Lead Indicator', state.draft.leadIndicator === true)" :index="0"
+                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('leadIndicator', value)" />
+              <GalaxySettingRow :row="projectionLeadInfoRow()" :index="1"
+                :disabled="!editable || !!state.drag || !!state.layerDrag || state.draft.leadIndicator !== true" :save-value="(index, value) => setProjectionLeadInfo(value)" />
+              <h5 class="gx-layout__display-group">Camera</h5>
+              <GalaxySettingRow :row="switchRow('Show Camera on Blind-Spot Warning', state.draft.blindSpotCamera === true)" :index="0"
+                :disabled="!editable || !!state.drag || !!state.layerDrag || !projectionHasPipWidget" :save-value="(index, value) => setProjectionDisplay('blindSpotCamera', value)" />
+              <p v-if="!projectionHasPipWidget" class="gx-note">Add a left or right blind-spot camera widget to enable this option.</p>
+              <GalaxySettingRow :row="switchRow('Large UI Gamma Effect', state.draft.largeUiGammaTrial)" :index="1"
+                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setLargeUiGammaTrial(value)" />
+              <p class="gx-note">The large UI road-camera color effect on Android Auto (not shown in the preview).</p>
+            </section>
+              <section v-if="!projection && displayGroups.length" v-show="state.inspectorPanel === 'display'" class="gx-layout__colors gx-layout__display" aria-label="Comma screen options">
+                <div class="gx-layout__subhead"><h4>Comma screen options</h4></div>
+                <p class="gx-note">Only the comma screen uses these, in both the Big and Small layouts unless marked. Android Auto has its own options on the Android Auto tab. Save to apply.</p>
+                <template v-for="group in displayGroups" :key="group.name">
+                  <h5 class="gx-layout__display-group">{{ group.name }}</h5>
+                  <GalaxySettingRow v-for="(row, index) in group.rows" :key="row.key" :row="displaySettingRow(row)" :index="index"
+                    :disabled="!editable || !!state.drag || !!state.layerDrag || !displayAvailable(row)" :save-value="(_, value) => setDisplay(row.key, value)" />
+                </template>
+              </section>
+            </section>
+          </div>
+        </template>
+      </template>
+      <GxDialog v-if="state.removeConfirm && profile" labelledby="gx-layout-remove-title" describedby="gx-layout-remove-body" alert @close="cancelRemove">
+        <div><h3 id="gx-layout-remove-title">Remove {{ profile.widgets[state.removeConfirm]?.label }}?</h3>
+          <p id="gx-layout-remove-body">Remove this widget from the {{ projection ? 'Android Auto' : state.profile === 'large' ? 'Big' : 'Small' }} layout? You can add it again from Inactive Widgets.</p></div>
+        <div class="gx-settings__controls gx-actions">
+          <button type="button" class="gx-btn gx-btn--tonal" @click="cancelRemove">Cancel</button>
+          <button type="button" class="gx-btn gx-btn--danger" @click="confirmRemove">Remove widget</button>
+        </div>
+      </GxDialog>
+      <GxDialog v-if="modalLeavePrompt" class="gx-layout__leave-dialog" :inert="busy" labelledby="gx-layout-leave-title" describedby="gx-layout-leave-body" alert @close="cancelLeave">
+        <div class="gx-layout__leave-copy"><h3 id="gx-layout-leave-title">Leave without saving your changes?</h3>
+          <p id="gx-layout-leave-body">Save your {{ projection ? 'Android Auto' : 'comma' }} layout before leaving, keep editing, or discard this draft.</p></div>
+        <GxNotice v-if="state.error" tone="danger">{{ state.error }}</GxNotice>
+        <div class="gx-layout__leave-actions">
+          <button type="button" class="gx-btn gx-btn--tonal" @click="cancelLeave">Keep editing</button>
+          <button type="button" class="gx-btn gx-btn--danger" @click="leave(state.discard)">Discard and leave</button>
+          <button type="button" class="gx-btn" :disabled="!saveAvailable" @click="saveAndLeave">{{ state.status === 'saving' ? 'Saving…' : 'Save changes' }}</button>
+        </div>
+      </GxDialog>
+    </section>`

openpilot/starpilot/galaxy/web/js/onroad-layout.js

@@ -1,3 +1,4 @@
+import { ONROAD_LAYOUT_TEMPLATE } from "./onroad-layout-template.js"
 import { GxState } from "./state.js"
 import { guardUnload } from "./unload-guard.js"
 import { PollTimer, connectionError } from "./polling.js"
@@ -1229,396 +1230,5 @@ export const OnroadLayoutPage = {
       return saved
     },
   },
-  template: `
-    <section class="gx-settings gx-layout" aria-label="Colors and layout" :aria-busy="busy || undefined">
-      <div class="gx-settings__header gx-page-header"><div><h2>{{ projection ? 'Android Auto Layout' : 'Colors & Layout' }}</h2></div>
-        <button class="gx-icon-btn gx-layout__info" type="button" :aria-expanded="state.aboutOpen" aria-controls="gx-layout-about" aria-label="About this editor" title="About this editor" @click="state.aboutOpen = !state.aboutOpen"><i class="bi bi-info-circle" aria-hidden="true"></i></button>
-      </div>
-      <GxNotice v-if="mode === 'local' && state.data && !state.data.editable && !(projection && state.data.reason)" tone="warn">Park the vehicle and reload to edit. If it stays unavailable, reload saved settings.</GxNotice>
-      <div class="gx-layout__targets">
-        <nav class="gx-layout__tabs gx-layout__segment" aria-label="Layout target">
-          <button class="gx-btn gx-btn--tonal" :aria-pressed="!projection" :disabled="!!state.drag" @click="$emit('target', 'device')">Comma</button>
-          <button class="gx-btn gx-btn--tonal" :aria-pressed="projection" :disabled="!!state.drag" @click="$emit('target', 'projection')">Android Auto</button>
-        </nav>
-        <div v-if="mode === 'local' && state.data && state.draft && !projection && availableProfiles.length" class="gx-layout__tabs gx-layout__segment" role="group" aria-label="Layout size">
-          <button v-for="tab in [{id:'large',label:'Big'}, {id:'compact',label:'Small'}].filter(tab => availableProfiles.includes(tab.id))" :key="tab.id" class="gx-btn gx-btn--tonal" type="button"
-            :aria-pressed="state.profile === tab.id" :disabled="!!state.drag" @click="selectProfile(tab.id)">{{ tab.label }}<span v-if="state.data.activeProfile === tab.id" class="gx-layout__active" title="Active UI on the comma"><span class="gx-sr-only"> (active UI)</span></span></button>
-        </div>
-      </div>
-      <div v-show="state.aboutOpen" id="gx-layout-about" class="gx-layout__about">
-        <p v-if="!projection" class="gx-note">Choose a widget to move it or change its colors. Edit the layout available on this comma.</p><p v-else class="gx-note">Move widgets for the last connected Android Auto screen. The comma layout stays separate. Colors follow the comma theme. Changes apply on the next connection.</p>
-        <p v-if="projection && state.data?.screen" class="gx-note">Last usable screen: {{ state.data.screen.width - state.data.screen.margin_width }} × {{ state.data.screen.height - state.data.screen.margin_height }} pixels.</p>
-      </div>
-      <p v-if="projection && state.data?.reason" class="gx-note">{{ state.data.reason }}</p>
-      <GxState v-if="mode !== 'local'">Connect to local Galaxy to edit this device’s colors and layouts.</GxState>
-      <template v-else>
-        <div ref="leaveBar" class="gx-layout__savebar" :class="{'gx-layout__savebar--leave': inlineLeavePrompt, 'is-stuck': state.stuck.leaveBar}" :inert="busy">
-          <div v-if="snapInBar && !inlineLeavePrompt" class="gx-layout__savebar-snap" aria-hidden="true"><i class="bi bi-magnet" aria-hidden="true"></i>{{ snapSummary }}</div>
-          <span role="status" :class="{'is-dirty': dirty && !inlineLeavePrompt && state.status !== 'saving'}">{{ inlineLeavePrompt ? (pendingLeave ? 'Leave without saving your changes?' : 'Discard your edits and reload the saved colors and layouts?') : state.status === 'saving' ? 'Saving…' : state.status === 'loading' ? 'Loading…' : !state.data ? 'No saved layout loaded' : dirty ? 'Unsaved' : state.notice || 'Saved' }}</span>
-          <template v-if="inlineLeavePrompt">
-            <button class="gx-btn gx-btn--tonal" type="button" aria-label="Keep editing" title="Keep editing" @click="cancelLeave"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M4 12a8 8 0 1 0 3-6M4 4v6h6"/></svg><span class="gx-layout__action-label">Keep editing</span></button>
-            <button class="gx-btn gx-btn--danger" type="button" :aria-label="pendingLeave ? 'Discard and leave' : 'Discard and reload'" :title="pendingLeave ? 'Discard and leave' : 'Discard and reload'" @click="leave(state.discard)"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M4 7h16M9 7V4h6v3m-8 0 1 13h8l1-13"/></svg><span class="gx-layout__action-label">{{ pendingLeave ? 'Discard and leave' : 'Discard and reload' }}</span></button>
-            <button v-if="pendingLeave" class="gx-btn" type="button" :disabled="!saveAvailable" aria-label="Save changes" title="Save changes" @click="saveAndLeave"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M5 3h12l4 4v14H3V3h2Zm2 0v6h10V3M7 21v-8h10v8"/></svg><span class="gx-layout__action-label">{{ state.status === 'saving' ? 'Saving…' : 'Save changes' }}</span></button>
-          </template>
-          <template v-else>
-            <button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !canUndo || !!state.drag || !!state.layerDrag" aria-label="Undo" title="Undo" @click="undo"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M9 5 4 10l5 5M4 10h10a6 6 0 0 1 0 12"/></svg><span class="gx-layout__action-label">Undo</span></button>
-            <button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !canRedo || !!state.drag || !!state.layerDrag" aria-label="Redo" title="Redo" @click="redo"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="m15 5 5 5-5 5m5-5H10a6 6 0 0 0 0 12"/></svg><span class="gx-layout__action-label">Redo</span></button>
-            <div ref="moreMenu" class="gx-layout__more" @keydown.esc="closeFloating('moreOpen')">
-              <button class="gx-btn gx-btn--tonal" type="button" :aria-expanded="state.moreOpen" aria-haspopup="menu" aria-label="More actions" title="More actions" @click="toggleFloating('moreOpen', 'moreMenu')"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="currentColor" aria-hidden="true"><circle cx="5" cy="12" r="1.8"/><circle cx="12" cy="12" r="1.8"/><circle cx="19" cy="12" r="1.8"/></svg><span class="gx-layout__action-label">More</span></button>
-              <template v-if="state.moreOpen">
-                <div class="gx-layout__menu" role="menu" aria-label="More actions">
-                  <button class="gx-layout__menu-item" type="button" role="menuitem" :disabled="!!state.drag || !!state.layerDrag" @click="closeFloating('moreOpen'); requestLeave('reload')"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M20 7v5h-5M20 12a8 8 0 1 0-2 5"/></svg>Reload saved</button>
-                  <button class="gx-layout__menu-item" type="button" role="menuitem" :disabled="!editAvailable || !stockChanged || !!state.drag || !!state.layerDrag" @click="closeFloating('moreOpen'); resetToStock()"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="m3 11 9-8 9 8M5 10v11h14V10M9 21v-7h6v7"/></svg>Reset to stock StarPilot</button>
-                </div>
-              </template>
-            </div>
-            <button class="gx-btn gx-layout__save" type="button" :disabled="!editAvailable || !dirty || !!state.drag || !!state.layerDrag" aria-label="Save changes" title="Save changes" @click="save"><svg class="gx-layout__action-icon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.8" stroke-linecap="round" stroke-linejoin="round" aria-hidden="true"><path d="M5 3h12l4 4v14H3V3h2Zm2 0v6h10V3M7 21v-8h10v8"/></svg><span class="gx-layout__action-label gx-layout__save-label">Save<span class="gx-layout__long"> changes</span></span></button>
-          </template>
-        </div>
-        <GxNotice tone="danger" v-if="state.error">{{ state.error }}</GxNotice>
-        <template v-if="state.data && state.draft">
-          <p v-if="!state.data.valid" class="gx-note" role="status">{{ projection ? 'Default Android Auto positions are shown. Save to keep your separate layout.' : 'The saved customization is invalid. Default colors and positions are shown; save your edits to replace it.' }}</p>
-          <div class="gx-layout__workspace" :inert="busy">
-            <section ref="pinned" class="gx-card gx-layout__preview-card" :class="{'is-stuck': state.stuck.pinned}" aria-label="Driving screen preview" :style="{'--layout-ratio': profile.width / profile.height}">
-              <div class="gx-layout__subhead"><strong>Layout preview</strong><span>{{ state.layerDrag ? "Adjusting " + selectedWidget.label : state.art.status === 'updating' || state.backdrop.status === 'updating' ? 'Updating preview…' : profile.width + " × " + profile.height }}</span></div>
-              <div class="gx-layout__preview-bar">
-                <GalaxySelect class="gx-field gx-field--full" aria-label="Preview scene" :value="state.scene" :disabled="!!state.drag || !!state.layerDrag" @change="state.scene = $event.target.value">
-                  <optgroup v-for="group in sceneGroups" :key="group.label" :label="group.label">
-                    <option v-for="scene in group.scenes" :key="scene.id" :value="scene.id">{{ scene.label }}</option>
-                  </optgroup>
-                </GalaxySelect>
-                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.snapEnabled" :disabled="!!state.drag || !!state.layerDrag" aria-label="Snap to edges and centers" title="Snap to edges and centers" @click="toggleSnap"><i class="bi bi-magnet" aria-hidden="true"></i></button>
-                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.showEditingAids" aria-label="Show editing aids" title="Show editing aids" @click="toggleEditingAids"><i class="bi bi-bounding-box" aria-hidden="true"></i></button>
-                <button v-if="!projection && profile.inputZones?.length" class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-pressed="state.showFavoriteZones" aria-label="Show Favorite tap areas" title="Show Favorite tap areas" @click="state.showFavoriteZones = !state.showFavoriteZones"><i class="bi bi-grid-3x3-gap" aria-hidden="true"></i></button>
-                <button class="gx-icon-btn gx-layout__bar-toggle" type="button" :aria-expanded="state.tipsOpen" aria-controls="gx-layout-tips" aria-label="Preview tips and display behavior" title="Preview tips and display behavior" @click="state.tipsOpen = !state.tipsOpen"><i class="bi bi-question-circle" aria-hidden="true"></i></button>
-              </div>
-              <p class="gx-note">{{ state.scene === 'general' ? 'Arrange all enabled widgets with sample readings. Use a driving scene to check when they appear.' : 'Eyes follow this driving scene. Choose General edit to arrange widgets hidden here.' }}</p>
-              <p v-if="state.backdrop.status === 'unavailable'" class="gx-note" role="status">{{ nativeBackdropReady ? 'The comma screen could not refresh. Showing the last one.' : 'The comma screen is unavailable. Showing a sketch.' }}</p>
-              <p v-if="state.art.status === 'unavailable'" class="gx-note" role="status">{{ state.art.url ? 'Widget preview could not refresh. Showing the last preview.' : 'Widget preview unavailable. Placement controls remain available.' }}</p>
-              <div class="gx-layout__stage">
-              <span v-if="state.showEditingAids && state.snapGuides.length && !snapInBar" class="gx-layout__stage-chip gx-layout__stage-chip--start" :class="{'gx-layout__stage-chip--with-tap-areas': !projection && state.showFavoriteZones && state.profile !== 'compact'}" aria-hidden="true">{{ snapSummary }}</span>
-              <span v-if="!projection && state.showFavoriteZones && state.showEditingAids && state.profile !== 'compact'" class="gx-layout__stage-chip" aria-hidden="true"><i class="bi bi-grid-3x3-gap"></i>Tap areas</span>
-              <svg ref="preview" class="gx-layout__preview" :style="{'--layout-glow': state.profile === 'compact' ? '4px' : '14px'}" :viewBox="'0 0 ' + profile.width + ' ' + profile.height" :width="profile.width" :height="profile.height"
-                @pointermove="moveDrag" @pointerup="endDrag" @pointercancel="cancelDrag" @lostpointercapture="cancelDrag"
-                role="group" :aria-label="projection ? 'Android Auto layout preview' : (state.profile === 'large' ? 'Big' : 'Small') + ' layout preview'">
-                <image v-if="nativeBackdropReady" :href="state.backdrop.url" :width="profile.width" :height="profile.height" preserveAspectRatio="none" data-preview-source="device-backdrop" />
-                <template v-else>
-                <rect width="100%" height="100%" fill="#252b32" />
-                <polygon :points="roadPoints([[0,1],[.4,.45],[.55,.45],[.83,1]])" fill="#303943" />
-                <defs><linearGradient id="layout-road-gradient" gradientUnits="userSpaceOnUse" x1="0" :y1="profile.bounds.y" x2="0" :y2="profile.bounds.y + profile.bounds.height">
-                  <stop v-for="stop in roadGradient" :key="stop.offset" :offset="stop.offset" :stop-color="stop.color" :stop-opacity="stop.alpha" />
-                </linearGradient></defs>
-                <defs><linearGradient id="layout-edge-gradient" gradientUnits="userSpaceOnUse" x1="0" :y1="profile.bounds.y" x2="0" :y2="profile.bounds.y + profile.bounds.height">
-                  <stop offset="0" :stop-color="roadColors.pathEdge.slice(0,7)" stop-opacity="0" />
-                  <stop offset=".5" :stop-color="roadColors.pathEdge.slice(0,7)" :stop-opacity="Math.floor(alpha(roadColors.pathEdge) * .35) / 255" />
-                  <stop offset="1" :stop-color="roadColors.pathEdge.slice(0,7)" :stop-opacity="Math.floor(alpha(roadColors.pathEdge) * .4) / 255" />
-                </linearGradient></defs>
-                <polygon v-if="state.profile === 'large' && roadStyle.pathEdge" v-for="strip in [[[.18,1],[.44,.45],[.447,.45],[.231,1]], [[.639,1],[.503,.45],[.51,.45],[.69,1]]]"
-                  :points="roadPoints(strip)" fill="url(#layout-edge-gradient)" />
-                <polygon :points="roadPoints(state.profile === 'large' && roadStyle.pathEdge ? [[.231,1],[.447,.45],[.503,.45],[.639,1]] : [[.18,1],[.44,.45],[.51,.45],[.69,1]])" fill="url(#layout-road-gradient)" />
-                <path v-for="(line,index) in [[[.16,1],[.43,.45]],[[.71,1],[.52,.45]],[[.02,1],[.38,.45]],[[.85,1],[.57,.45]]]" :key="'road-line-'+index"
-                  :d="'M'+roadPoints(line).replace(' ', ' L')"
-                  :stroke="state.profile === 'compact' && index < 2 ? (roadStyle.pathEdge || '#00ff40ff') : roadColors.laneLines"
-                  opacity=".7" :stroke-width="state.profile === 'compact' ? 2 : 5" />
-                <rect v-if="!projection && !expandedRoad" :x="state.profile === 'large' ? 1860 : 476" y="0" :width="state.profile === 'large' ? 300 : 60" :height="profile.height" fill="#090c10" />
-                <g v-if="!projection && state.profile === 'large' && !expandedRoad" aria-hidden="true" pointer-events="none">
-                  <g v-for="(sample, index) in [{label:'ACCEL',value:'1.08 ft/s²',accent:'#ffffff'}, {label:'STEER DELAY',value:'0.15000',accent:'#3b82f6'}, {label:'FRICTION',value:'0.12000',accent:'#22c55e'}, {label:'LAT ACCEL',value:'2.50000',accent:'#3b82f6'}, {label:'LATERAL %',value:'78.00%',accent:'#ffffff'}, {label:'TORQUE %',value:'42%',accent:'#ffffff'}, {label:'CHESTNUT',value:'',accent:'#ffffff'}]" :key="sample.label" :transform="'translate(1873 ' + (24 + index * 150) + ')'">
-                    <rect width="275" height="126" rx="16" fill="#000000" stroke="#ffffff55" stroke-width="2" />
-                    <rect x="253" y="4" width="18" height="118" rx="4" :fill="sample.accent" />
-                    <text x="137" :y="sample.value ? 51 : 75" text-anchor="middle" :font-size="sample.label === 'STEER DELAY' ? 26 : 30" font-weight="600" fill="#ffffff">{{ sample.label }}</text>
-                    <text v-if="sample.value" x="137" y="91" text-anchor="middle" font-size="30" font-weight="600" fill="#ffffff">{{ sample.value }}</text>
-                  </g>
-                </g>
-                </template>
-                <rect v-if="!nativeBackdropReady" data-preview-source="scene-border"
-                  :x="state.profile === 'compact' ? 4 : profile.bounds.x" :y="state.profile === 'compact' ? 4 : profile.bounds.y"
-                  :width="state.profile === 'compact' ? 468 : roadBounds.width" :height="state.profile === 'compact' ? 232 : profile.bounds.height"
-                  :rx="state.profile === 'compact' ? 14 : 61" fill="none" :stroke="sceneBorder" :stroke-width="state.profile === 'compact' ? 8 : 30" />
-                <rect v-if="state.showEditingAids" :x="roadBounds.x" :y="roadBounds.y" :width="roadBounds.width" :height="roadBounds.height" fill="none" stroke="#8495a855" stroke-width="2" stroke-dasharray="8 8" />
-                <g v-if="!projection && state.showFavoriteZones && state.showEditingAids" aria-hidden="true" pointer-events="none">
-                  <g v-for="zone in profile.inputZones || []" :key="zone.id">
-                    <rect :x="zone.x" :y="zone.y" :width="zone.width" :height="zone.height" fill="#b799ff16" stroke="#b799ff88" :stroke-width="state.profile === 'large' ? 3 : 1" stroke-dasharray="5 5" />
-                    <text :x="zone.x + zone.width / 2" :y="zone.y + zone.height - 8" text-anchor="middle" :font-size="state.profile === 'large' ? 20 : 10" fill="#d8c8ff">{{ zone.label }}</text>
-                  </g>
-                </g>
-                <g v-for="widget in renderWidgets" :key="widget.id" class="gx-layout__widget" :class="{'is-selected': state.drag?.id === widget.id, 'is-editing': state.showEditingAids && state.inspectorPanel === 'edit' && state.selected === widget.id}"
-                  :transform="'translate(' + previewX(widget.id) + ' ' + layout[widget.id].y + ')'" tabindex="0" role="button"
-                  :aria-label="widget.label + ', x ' + previewX(widget.id) + ', y ' + layout[widget.id].y +
-                    (widget.frontmost ? '. Arrow keys move; Shift moves ten pixels; required and always frontmost widget.' :
-                      widget.required ? '. Arrow keys move; Shift moves ten pixels; required widget.' : '. Arrow keys move; Shift moves ten pixels; Delete removes.')"
-                  :aria-pressed="state.selected === widget.id" @focus="state.selected = widget.id" @keydown="onKey(widget.id, $event)"
-                  @pointerdown="startDrag(widget.id, $event)">
-                  <rect class="gx-layout__hit" :y="-(widget.visualInsetTop || 0)" :width="widget.width" :height="widget.height + (widget.visualInsetTop || 0) + (widget.visualInsetBottom || 0)" fill="transparent" />
-                  <LayoutWidgetPreview :widget="widget" :palette="widgetColors(widget.id)" :profile="state.profile" :scene="state.scene" :clock24-hour="!!state.draft.clock24Hour" :native="runtimeWidget(widget.id)" :art="state.art" />
-                  <rect class="gx-layout__selection" :y="-(widget.visualInsetTop || 0)" :width="widget.width" :height="widget.height + (widget.visualInsetTop || 0) + (widget.visualInsetBottom || 0)" fill="none" stroke="#b799ff" :stroke-width="state.profile === 'large' ? 5 : 1.5" stroke-dasharray="6 4" />
-                  <g v-if="widget.box && state.selected === widget.id && editable" class="gx-layout__resize" role="button" :aria-label="'Resize ' + widget.label"
-                    :transform="'translate(' + widget.width + ' ' + widget.height + ')'" @pointerdown="startResize(widget.id, $event)">
-                    <circle r="34" fill="transparent" /><circle r="16" fill="#b799ff" stroke="#16121f" stroke-width="4" />
-                    <path d="M-6 6 L6 -6 M0 6 L6 0" stroke="#16121f" stroke-width="3" stroke-linecap="round" />
-                  </g>
-                </g>
-                <g v-if="projection && !nativeBackdropReady" data-preview-source="fixed-wordmark" role="img" aria-label="StarPilot, fixed logo" pointer-events="none"
-                  :transform="'translate(' + (profile.width - projectionWordmark.right) + ' ' + (profile.height - projectionWordmark.bottom) + ') scale(' + projectionWordmark.scale + ')'">
-                  <svg v-for="(glyph, index) in projectionWordmark.glyphs" :key="index" :x="glyph.offsetX" :y="glyph.offsetY"
-                    :width="glyph.width" :height="glyph.height" :viewBox="[glyph.x, glyph.y, glyph.width, glyph.height].join(' ')" aria-hidden="true">
-                    <image href="./assets/starpilot-wordmark.png" width="1024" height="512" />
-                  </svg>
-                </g>
-                <g v-if="state.showEditingAids && state.snapGuides.length" class="gx-layout__guides" aria-hidden="true" pointer-events="none">
-                  <line v-for="guide in state.snapGuides" :key="guide.axis + guide.value" :class="'gx-layout__guide gx-layout__guide--' + guide.kind"
-                    :x1="guide.axis === 'x' ? guide.value + previewShift(state.drag?.id) : 0" :x2="guide.axis === 'x' ? guide.value + previewShift(state.drag?.id) : profile.width"
-                    :y1="guide.axis === 'y' ? guide.value : 0" :y2="guide.axis === 'y' ? guide.value : profile.height" vector-effect="non-scaling-stroke" />
-                </g>
-                <rect v-if="state.showEditingAids && selectionBox" class="gx-layout__outline" :x="selectionBox.x" :y="selectionBox.y" :width="selectionBox.width" :height="selectionBox.height" rx="4" fill="none" stroke="#d4baff" stroke-width="2" vector-effect="non-scaling-stroke" />
-              </svg>
-              </div>
-              <!-- The Small screen is too short to carry the chip over the layout; it sits underneath instead. -->
-              <span v-if="!projection && state.showFavoriteZones && state.showEditingAids && state.profile === 'compact'" class="gx-layout__stage-chip gx-layout__stage-chip--below" aria-hidden="true"><i class="bi bi-grid-3x3-gap"></i>Tap areas</span>
-              <div v-show="state.tipsOpen" id="gx-layout-tips" class="gx-layout__tips">
-                <p class="gx-note">Drag widgets to place them. Behind them is the comma's own screen for the chosen scene, including its border, road and alerts. Readings are samples.</p>
-                <p class="gx-note">Widgets snap to the screen edges, the center and other widgets. Turn snapping off with the magnet button, or hold Option (Alt) while dragging.</p>
-              <p class="gx-note">General edit shows samples of all enabled widgets together. Driving scenes hide widgets that would be absent, and the eyes follow the scene. Eye changes stay with that scene; your General edit eyes are remembered.</p>
-              <p class="gx-note">The stopped timer appears in General edit and Stopped timer. Turn off editing aids to see the screen without outlines and guides.</p>
-              <p class="gx-note">The steering wheel and driver monitoring icon can be resized in each layout{{ projection ? ', and the map overlay takes any size and opacity' : '' }}. Existing display preferences and driving state still control when widgets appear.</p>
-              <p v-if="!projection" class="gx-note">Small speed-limit signs can overlap confirmation actions. Live confirmations hide an overlapping sign until the decision ends. Select either widget in the list to edit it.</p>
-              <p v-if="!projection && state.showFavoriteZones" class="gx-note">Favorite tap areas apply to enabled slots. Speed-limit controls and the steering wheel take priority when the drawer is closed.</p>
-              </div>
-              <p v-if="state.placementError" class="gx-note" role="status">{{ state.placementError }}</p>
-            </section>
-            <section class="gx-card gx-layout__inspector" aria-label="Widget placement" @focusin="revealField"> <!-- codespell:ignore focusin -->
-              <nav ref="sections" class="gx-layout__switcher gx-layout__sections gx-settings-tabs" :class="{'is-stuck': state.stuck.sections}" aria-label="Editor sections">
-                <button class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'widgets'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'widgets'">Widgets</button>
-                <button class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'edit'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'edit'"><span>Edit<span class="gx-layout__long"> widget</span></span></button>
-                <button v-if="!projection" class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'road'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'road'"><span>Road<span class="gx-layout__long"> colors</span></span></button>
-                <button v-if="projection || displayGroups.length" class="gx-btn gx-btn--tonal" :aria-pressed="state.inspectorPanel === 'display'" :disabled="!!state.drag || !!state.layerDrag" @click="state.inspectorPanel = 'display'">Options</button>
-              </nav>
-              <div v-show="state.inspectorPanel === 'widgets'" class="gx-layout__panel">
-              <div ref="widgetsHelp" class="gx-layout__subhead gx-layout__help-anchor"><h3>Widgets</h3><span>{{ activeWidgets.length }} active</span>
-                <button class="gx-icon-btn gx-layout__info" type="button" :aria-expanded="state.widgetsHelpOpen" aria-controls="gx-layout-widgets-help" aria-label="How the widget list works" title="How the widget list works" @click="toggleFloating('widgetsHelpOpen', 'widgetsHelp')"><i class="bi bi-info-circle" aria-hidden="true"></i></button>
-                <div v-show="state.widgetsHelpOpen" id="gx-layout-widgets-help" class="gx-layout__popover" @click="closeFloating('widgetsHelpOpen')" @keydown.esc="closeFloating('widgetsHelpOpen')">
-                  <p>Tap a widget to edit it.</p><p>Drag ⠿ to reorder. The top row is in front, and alerts stay above all widgets.</p><p>The eyes follow the chosen scene. Choose General edit to arrange every enabled widget. Hiding a widget with the eye affects only this scene's preview.</p>
-                </div>
-              </div>
-              <div class="gx-layout__widget-list"><div v-for="widget in listWidgets" :key="widget.id" class="gx-layout__layer" :data-layer-id="widget.id"
-                :class="{'is-dragging': state.layerDrag?.id === widget.id && state.layerDrag?.moved, 'is-drop-target': state.layerDrag?.target === widget.id && state.layerDrag?.id !== widget.id, 'is-drop-after': state.layerDrag?.after}">
-                <button class="gx-layout__row-grip gx-icon-btn" type="button"
-                  :aria-label="widget.frontmost ? widget.label + ' is pinned above all widgets' : 'Reorder ' + widget.label"
-                  :disabled="!editAvailable || !!state.drag || widget.frontmost"
-                  :title="widget.frontmost ? 'Always above other widgets' : 'Drag to reorder. Up and down keys reorder.'"
-                  @pointerdown="startLayerDrag($event, widget.id)" @pointermove="moveLayerDrag($event)"
-                  @pointerup="endLayerDrag($event)" @pointercancel="endLayerDrag($event, true)" @lostpointercapture="endLayerDrag($event, true)"
-                  @keydown="layerKey($event, widget.id)" @click="layerClick($event, widget.id)"><span aria-hidden="true">{{ widget.frontmost ? '↑' : '⠿' }}</span></button>
-                <button class="gx-layout__layer-name" type="button" :aria-pressed="state.selected === widget.id" :disabled="!!state.drag || !!state.layerDrag"
-                  @click="selectWidget(widget.id)">{{ widget.label }}</button>
-                <button v-if="!projection || widget.id !== 'car_exit'" class="gx-layout__visibility gx-icon-btn" type="button" :disabled="!!state.drag || !!state.layerDrag || sceneHidden(widget.id)"
-                  :aria-label="visibilityTitle(widget.id, widget.label)"
-                  :title="visibilityTitle(widget.id, widget.label)"
-                  :aria-pressed="!previewHidden(widget.id)" @click="togglePreviewVisibility(widget.id)">
-                  <i class="bi" :class="previewHidden(widget.id) ? 'bi-eye-slash' : 'bi-eye'" aria-hidden="true"></i>
-                </button>
-                <button v-if="!widget.required" class="gx-layout__remove gx-icon-btn" type="button" :aria-label="'Remove ' + widget.label" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
-                  @click="requestRemove(widget.id)"><span aria-hidden="true">−</span></button>
-                <span v-else class="gx-note gx-layout__required" title="This control cannot be removed or placed below another widget.">Required</span>
-              </div></div>
-              <Teleport to="body"><div v-if="state.layerDrag?.moved" class="gx-layout__drag-ghost" aria-hidden="true"
-                :style="{left: state.layerDrag.x + 'px', top: state.layerDrag.y + 'px', width: state.layerDrag.width + 'px'}">
-                <span aria-hidden="true">⠿</span><strong>{{ selectedWidget.label }}</strong><span>↕</span>
-              </div></Teleport>
-              <div class="gx-layout__tray" role="group" aria-labelledby="gx-layout-tray-title">
-                <div class="gx-layout__subhead"><h4 id="gx-layout-tray-title">Inactive widgets</h4><span>{{ inactiveWidgets.length }}</span></div>
-                <p v-if="inactiveWidgets.length" class="gx-note">Drag a widget onto the preview, or tap + to add it.</p>
-                <div v-if="inactiveWidgets.length" class="gx-layout__chips">
-                  <div v-for="widget in inactiveWidgets" :key="widget.id" class="gx-layout__tray-item">
-                    <button class="gx-layout__drag-handle" type="button" :disabled="!editAvailable" :aria-label="'Drag ' + widget.label + ' onto preview'"
-                      @pointerdown="startDrag(widget.id, $event, true)"><i class="bi bi-grip-vertical" aria-hidden="true"></i></button><span class="gx-layout__inactive-name">{{ widget.label }}</span>
-                    <button class="gx-icon-btn gx-layout__chip-add" type="button" :aria-label="'Add ' + widget.label" :title="'Add ' + widget.label" :disabled="!editAvailable || !!state.drag" @click="add(widget.id)"><i class="bi bi-plus-lg" aria-hidden="true"></i></button>
-                  </div>
-                </div>
-                <p v-else class="gx-note">All available widgets are on this layout.</p>
-              </div>
-              <button class="gx-btn gx-btn--tonal gx-layout__reset" type="button" :disabled="!editAvailable || !!state.drag" @click="resetLayout">Reset this layout</button>
-              </div>
-              <div v-show="state.inspectorPanel === 'edit'" class="gx-layout__panel">
-                <label class="gx-layout__widget-picker"><span class="gx-layout__picker-head">Selected widget<span v-if="selectedWidget && selectedPosition.enabled" class="gx-note">{{ selectedSize[0] }} × {{ selectedSize[1] + (selectedWidget.box ? 0 : selectedWidget.visualInsetTop || 0) }} px</span></span><GalaxySelect class="gx-field gx-field--full" :value="state.selected" :disabled="!!state.drag" @change="state.selected = $event.target.value">
-                  <option v-for="widget in widgets" :key="widget.id" :value="widget.id">{{ widget.label }}{{ layout[widget.id].enabled ? '' : ' · Inactive' }}</option>
-                </GalaxySelect></label>
-                <div v-if="selectedWidget && !selectedPosition.enabled" class="gx-layout__panel"><p class="gx-note">Add this widget to edit its position and colors.</p><button class="gx-btn" :disabled="!editAvailable" @click="add(state.selected)">Add to layout</button></div>
-              <p v-if="selectedWidget && selectedPosition.enabled && sceneHidden(state.selected)" class="gx-note">This widget is hidden in this driving scene. <button class="gx-btn gx-btn--tonal" type="button" :disabled="!!state.drag || !!state.layerDrag" @click="state.scene = 'general'">Edit in General edit</button></p>
-              <div v-if="selectedWidget && selectedPosition.enabled" class="gx-layout__position">
-                <label v-if="selectedWidget.resizable">Size
-                  <input class="gx-field" type="number" step="1" :min="selectedWidget.resizable.min" :max="selectedWidget.resizable.max"
-                    :value="selectedPosition.size" :disabled="!editAvailable || !!state.drag" @change="resizeSelected($event)"></label>
-                <input v-if="selectedWidget.resizable" class="gx-slider" type="range" step="1" aria-label="Size" :min="selectedWidget.resizable.min" :max="selectedWidget.resizable.max"
-                  :value="selectedPosition.size" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="sizeSlider($event)" @change="finishColorEdit" @blur="finishColorEdit">
-                <template v-if="selectedWidget.opacity">
-                  <label for="layout-widget-opacity">{{ selectedWidget.box ? 'Map opacity' : selectedWidget.kind === 'cruise_limits' ? 'Background opacity' : 'Opacity' }} · {{ selectedPosition.opacity }}%</label>
-                  <input id="layout-widget-opacity" class="gx-slider" type="range" step="1" :min="selectedWidget.opacity.min" :max="selectedWidget.opacity.max"
-                    :value="selectedPosition.opacity" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="opacityInput($event)" @change="finishColorEdit" @blur="finishColorEdit">
-                </template>
-                <GalaxySettingRow v-if="selectedWidget.backgroundToggle" :row="switchRow('Show background', selectedPosition.background === true)" :index="0"
-                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setWidgetBackground(value)" />
-                <p v-if="selectedWidget.defaultAnchor === 'driver_side'" class="gx-note">The default position follows the driver’s side. A moved position stays where you place it.</p>
-                <p v-if="selectedWidget.note" class="gx-note">{{ selectedWidget.note }}</p>
-                <label v-if="selectedWidget.kind === 'clock'" class="gx-layout__clock-format"><input type="checkbox" :checked="!!state.draft.clock24Hour" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @change="setClock24Hour"> Use 24-hour time</label>
-                <div v-if="selectedWidget.kind === 'cruise_limits'" class="gx-layout__favorite-display">
-                  <span>Text alignment</span>
-                  <div class="gx-segment" role="group" aria-label="Cruise and speed limit text alignment">
-                    <button v-for="align in ['left', 'center', 'right']" :key="align" class="gx-btn" type="button"
-                      :class="(state.draft.speedAlign || 'left') === align ? 'gx-btn--primary' : 'gx-btn--tonal'"
-                      :aria-pressed="(state.draft.speedAlign || 'left') === align" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
-                      @click="setSpeedAlign(align)">{{ align === 'left' ? 'Left' : align === 'center' ? 'Center' : 'Right' }}</button>
-                  </div>
-                </div>
-                <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits'" :row="switchRow('Show Speed-Limit Sources', state.draft.speedSources === true)" :index="0"
-                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setSpeedSources('speedSources', value === 'On')" />
-                <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits' && state.draft.speedSources === true" :row="switchRow('Show as Separate Card', state.draft.speedSourcesCard === true)" :index="1"
-                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setSpeedSources('speedSourcesCard', value === 'On')" />
-                <label v-if="!projection && selectedWidget.kind === 'cruise_limits'" class="gx-layout__clock-format"><input type="checkbox" :checked="state.draft.showMaxSpeed !== false" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @change="setShowMaxSpeed"> Show MAX speed</label>
-                <GalaxySettingRow v-if="projection && selectedWidget.kind === 'steering_wheel'" :row="switchRow('Brake and Acceleration Colors', state.draft.wheelPedalFeedback === true)" :index="0"
-                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('wheelPedalFeedback', value)" />
-                <GalaxySettingRow v-if="!projection && selectedWidget.kind === 'steering_wheel' && displayRow('ShowBrakeStatus')" :row="switchRow('Brake and Acceleration Colors', displayValue('ShowBrakeStatus') === 'On')" :index="0"
-                  :disabled="!editAvailable || !!state.drag || !!state.layerDrag || !displayAvailable(displayRow('ShowBrakeStatus'))" :save-value="(index, value) => setDisplay('ShowBrakeStatus', value)" />
-                <div v-if="!projection && selectedWidget.kind === 'model_confidence' && displayRow('StockConfidenceBallWidget')" class="gx-layout__favorite-display">
-                  <span>Style</span>
-                  <div class="gx-segment" role="group" aria-label="Model confidence style">
-                    <button v-for="choice in [['On', 'StarPilot widgets'], ['Off', 'Stock confidence ball']]" :key="choice[0]" class="gx-btn" type="button"
-                      :class="displayValue('StockConfidenceBallWidget') === choice[0] ? 'gx-btn--primary' : 'gx-btn--tonal'"
-                      :aria-pressed="displayValue('StockConfidenceBallWidget') === choice[0]"
-                      :disabled="!editAvailable || !!state.drag || !!state.layerDrag || !displayAvailable(displayRow('StockConfidenceBallWidget'))"
-                      @click="setDisplay('StockConfidenceBallWidget', choice[0])">{{ choice[1] }}</button>
-                  </div>
-                </div>
-                <p v-if="!projection && stockConfidence && selectedWidget.kind === 'conditional_mode'" class="gx-note">Hidden while Model confidence uses the stock confidence ball.</p>
-                <div v-if="projection && selectedWidget.iconSize" class="gx-layout__favorite-display">
-                  <span>Show as</span>
-                  <div class="gx-segment" role="group" :aria-label="selectedWidget.label + ' display'">
-                    <button v-for="display in ['icons', 'words']" :key="display" class="gx-btn" type="button"
-                      :class="selectedPosition.display === display ? 'gx-btn--primary' : 'gx-btn--tonal'"
-                      :aria-pressed="selectedPosition.display === display" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
-                      @click="setFavoriteDisplay(display)">{{ display === 'icons' ? 'Icons' : 'Words' }}</button>
-                  </div>
-                </div>
-                <div class="gx-layout__coordinates"><label>X<input class="gx-field" type="number" step="1" :min="limits.minX" :max="limits.maxX" :value="selectedPosition.x" :disabled="!editAvailable || !!state.drag" @change="positionInput('x', $event)"></label>
-                  <label>Y<input class="gx-field" type="number" step="1" :min="limits.minY" :max="limits.maxY" :value="selectedPosition.y" :disabled="!editAvailable || !!state.drag" @change="positionInput('y', $event)"></label><template v-if="selectedWidget.box">
-                  <label>Width<input class="gx-field" type="number" step="10" :min="selectedWidget.box.minWidth" :max="selectedWidget.box.maxWidth" :value="selectedPosition.width" :disabled="!editAvailable || !!state.drag" @change="boxInput('width', $event)"></label>
-                  <label>Height<input class="gx-field" type="number" step="10" :min="selectedWidget.box.minHeight" :max="selectedWidget.box.maxHeight" :value="selectedPosition.height" :disabled="!editAvailable || !!state.drag" @change="boxInput('height', $event)"></label></template></div>
-                <template v-if="selectedWidget.box">
-                  <label :for="'layout-box-width'">Width · {{ selectedPosition.width }}</label>
-                  <input id="layout-box-width" class="gx-slider" type="range" step="10" :min="selectedWidget.box.minWidth" :max="selectedWidget.box.maxWidth"
-                    :value="selectedPosition.width" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="boxSlider('width', $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                  <label :for="'layout-box-height'">Height · {{ selectedPosition.height }}</label>
-                  <input id="layout-box-height" class="gx-slider" type="range" step="10" :min="selectedWidget.box.minHeight" :max="selectedWidget.box.maxHeight"
-                    :value="selectedPosition.height" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @input="boxSlider('height', $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                  <span class="gx-note">Smaller sizes let more of the road show through.</span>
-                </template>
-                <span class="gx-note gx-layout__keys-note">Use arrow keys on a preview widget to move 1 pixel, or Shift + arrow for 10.</span>
-                <section v-if="!projection && colorFields.length" class="gx-layout__colors" :aria-label="selectedWidget.label + ' colors'">
-                  <div class="gx-layout__subhead"><h4>{{ selectedWidget.label }} colors</h4><button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable" @click="resetColors" aria-label="Reset widget colors" title="Reset widget colors">Reset</button></div>
-                  <p class="gx-note">Changes this widget in the {{ state.profile === 'large' ? 'Big' : 'Small' }} layout only. Status indicators keep their meaning.</p>
-                  <div class="gx-layout__palette"><div v-for="field in colorFields" :key="field.id" class="gx-layout__color" :class="{'is-open': state.openColor === 'widget:' + field.id}">
-                    <button class="gx-layout__color-row" type="button" :aria-expanded="state.openColor === 'widget:' + field.id" :aria-controls="'layout-color-panel-' + field.id" @click="toggleColor('widget:' + field.id)">
-                      <span class="gx-layout__swatch" :style="{'--swatch': selectedColors[field.id]}" aria-hidden="true"></span>
-                      <span class="gx-layout__color-name">{{ field.label }}</span>
-                      <span class="gx-layout__color-value">{{ selectedColors[field.id].slice(0,7) }}</span>
-                      <span class="gx-layout__color-alpha">{{ Math.round(alpha(selectedColors[field.id]) / 255 * 100) }}%</span>
-                      <i class="bi bi-chevron-down" aria-hidden="true"></i>
-                    </button>
-                    <div v-if="state.openColor === 'widget:' + field.id" :id="'layout-color-panel-' + field.id" class="gx-layout__color-editor">
-                    <label class="gx-sr-only" :for="'layout-color-' + field.id">{{ field.label }} hex</label><div class="gx-layout__color-values">
-                      <input type="color" :aria-label="field.label + ' color'" :value="selectedColors[field.id].slice(0,7)" :disabled="!editAvailable || !!state.drag" @input="colorRgb(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                      <input :id="'layout-color-' + field.id" class="gx-field" type="text" spellcheck="false" maxlength="9" :value="selectedColors[field.id]" :disabled="!editAvailable || !!state.drag" @change="colorText(field.id, $event)"></div>
-                    <label :for="'layout-alpha-' + field.id">Opacity · {{ Math.round(alpha(selectedColors[field.id]) / 255 * 100) }}%</label>
-                    <input :id="'layout-alpha-' + field.id" class="gx-slider" type="range" min="0" max="255" step="1" :value="alpha(selectedColors[field.id])" :disabled="!editAvailable || !!state.drag" @input="colorAlpha(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                    <p v-if="!alpha(selectedColors[field.id])" class="gx-note">Hidden at 0%. Picking a color makes it visible.</p>
-                    </div>
-                  </div></div>
-                  <GxNotice tone="danger" v-if="state.colorError">{{ state.colorError }}</GxNotice>
-                </section>
-                <p v-if="!projection && !colorFields.length" class="gx-note">This widget uses its original status colors.</p>
-              </div>
-              </div>
-              <section v-if="!projection" v-show="state.inspectorPanel === 'road'" class="gx-layout__colors" aria-label="Path and lane colors">
-                <div class="gx-layout__subhead"><h4>Path &amp; Lane Colors</h4><button class="gx-btn gx-btn--tonal" type="button" :disabled="!editAvailable || !!state.drag" @click="resetRoad" aria-label="Reset road colors" title="Reset road colors">Reset</button></div>
-                <label>Path style<GalaxySelect class="gx-field gx-field--full" :value="roadMode" :disabled="!editAvailable || !!state.drag" @change="setRoadMode($event.target.value)">
-                  <option value="acceleration">Acceleration colors</option>
-                  <option value="color">Custom color</option><option value="rainbow">Rainbow Road</option>
-                </GalaxySelect></label>
-                <p class="gx-note">These colors apply to this layout only. The preview uses a sample road.</p>
-                <details class="gx-layout__help"><summary>About path &amp; lane colors</summary><div>
-                <p class="gx-note">Choose how the path is colored. Acceleration colors change with acceleration and braking. Custom color stays one color. Rainbow Road shows a moving rainbow.</p>
-                <p class="gx-note">{{ state.profile === 'large' ? 'Path border colors the strips along the path. Lane lines keep their own color.' : 'Lane marking colors apply to the lines beside your lane and the outer lines separately.' }} Blue lane-centering and orange steering-effort indicators stay blue and orange.</p>
-                </div></details>
-                <div class="gx-layout__palette"><div v-for="field in state.data.metadata.roadColorFields" :key="field.id" class="gx-layout__color" :class="{'is-open': state.openColor === 'road:' + field.id}">
-                  <button class="gx-layout__color-row" type="button" :aria-expanded="state.openColor === 'road:' + field.id" :aria-controls="'road-color-panel-' + field.id" @click="toggleColor('road:' + field.id)">
-                    <span class="gx-layout__swatch" :style="{'--swatch': roadColors[field.id]}" aria-hidden="true"></span>
-                    <span class="gx-layout__color-name">{{ roadLabel(field.id) }}</span>
-                    <span class="gx-layout__color-value">{{ roadColors[field.id].slice(0,7) }}</span>
-                    <span class="gx-layout__color-alpha">{{ Math.round(alpha(roadColors[field.id]) / 255 * 100) }}%</span>
-                    <i class="bi bi-chevron-down" aria-hidden="true"></i>
-                  </button>
-                  <div v-if="state.openColor === 'road:' + field.id" :id="'road-color-panel-' + field.id" class="gx-layout__color-editor">
-                  <label class="gx-sr-only" :for="'road-color-' + field.id">{{ roadLabel(field.id) }} hex</label><div class="gx-layout__color-values">
-                    <input type="color" :aria-label="roadLabel(field.id) + ' color'" :value="roadColors[field.id].slice(0,7)" :disabled="!editAvailable || !!state.drag" @input="roadRgb(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                    <input :id="'road-color-' + field.id" class="gx-field" type="text" spellcheck="false" maxlength="9" :value="roadColors[field.id]" :disabled="!editAvailable || !!state.drag" @change="roadColor(field.id, $event.target.value.trim())"></div>
-                  <label :for="'road-alpha-' + field.id">Opacity · {{ Math.round(alpha(roadColors[field.id]) / 255 * 100) }}%</label>
-                  <input :id="'road-alpha-' + field.id" class="gx-slider" type="range" min="0" max="255" step="1" :value="alpha(roadColors[field.id])" :disabled="!editAvailable || !!state.drag" @input="roadAlpha(field.id, $event)" @change="finishColorEdit" @blur="finishColorEdit">
-                  </div>
-                </div></div>
-                <GxNotice tone="danger" v-if="state.colorError">{{ state.colorError }}</GxNotice>
-              </section>
-            <section v-if="projection" v-show="state.inspectorPanel === 'display'" class="gx-layout__colors gx-layout__display" aria-label="Android Auto screen options">
-              <div class="gx-layout__subhead"><h4>Android Auto screen options</h4></div>
-              <p class="gx-note">Only the Android Auto screen uses these. The comma screen has its own options on the Comma tab. Save to apply.</p>
-              <h5 class="gx-layout__display-group">Alerts and borders</h5>
-              <GalaxySettingRow :row="switchRow('Hide Personality Alerts', state.draft.hidePersonalityAlerts === true)" :index="0"
-                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('hidePersonalityAlerts', value)" />
-              <GalaxySettingRow :row="switchRow('Red Blind-Spot Border', state.draft.blindSpotBorder === true)" :index="1"
-                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('blindSpotBorder', value)" />
-              <GalaxySettingRow :row="switchRow('Amber Signal Border', state.draft.signalBorder === true)" :index="2"
-                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('signalBorder', value)" />
-              <h5 class="gx-layout__display-group">Lead car</h5>
-              <GalaxySettingRow :row="switchRow('Lead Indicator', state.draft.leadIndicator === true)" :index="0"
-                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setProjectionDisplay('leadIndicator', value)" />
-              <GalaxySettingRow :row="projectionLeadInfoRow()" :index="1"
-                :disabled="!editable || !!state.drag || !!state.layerDrag || state.draft.leadIndicator !== true" :save-value="(index, value) => setProjectionLeadInfo(value)" />
-              <h5 class="gx-layout__display-group">Camera</h5>
-              <GalaxySettingRow :row="switchRow('Show Camera on Blind-Spot Warning', state.draft.blindSpotCamera === true)" :index="0"
-                :disabled="!editable || !!state.drag || !!state.layerDrag || !projectionHasPipWidget" :save-value="(index, value) => setProjectionDisplay('blindSpotCamera', value)" />
-              <p v-if="!projectionHasPipWidget" class="gx-note">Add a left or right blind-spot camera widget to enable this option.</p>
-              <GalaxySettingRow :row="switchRow('Large UI Gamma Effect', state.draft.largeUiGammaTrial)" :index="1"
-                :disabled="!editable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setLargeUiGammaTrial(value)" />
-              <p class="gx-note">The large UI road-camera color effect on Android Auto (not shown in the preview).</p>
-            </section>
-              <section v-if="!projection && displayGroups.length" v-show="state.inspectorPanel === 'display'" class="gx-layout__colors gx-layout__display" aria-label="Comma screen options">
-                <div class="gx-layout__subhead"><h4>Comma screen options</h4></div>
-                <p class="gx-note">Only the comma screen uses these, in both the Big and Small layouts unless marked. Android Auto has its own options on the Android Auto tab. Save to apply.</p>
-                <template v-for="group in displayGroups" :key="group.name">
-                  <h5 class="gx-layout__display-group">{{ group.name }}</h5>
-                  <GalaxySettingRow v-for="(row, index) in group.rows" :key="row.key" :row="displaySettingRow(row)" :index="index"
-                    :disabled="!editable || !!state.drag || !!state.layerDrag || !displayAvailable(row)" :save-value="(_, value) => setDisplay(row.key, value)" />
-                </template>
-              </section>
-            </section>
-          </div>
-        </template>
-      </template>
-      <GxDialog v-if="state.removeConfirm && profile" labelledby="gx-layout-remove-title" describedby="gx-layout-remove-body" alert @close="cancelRemove">
-        <div><h3 id="gx-layout-remove-title">Remove {{ profile.widgets[state.removeConfirm]?.label }}?</h3>
-          <p id="gx-layout-remove-body">Remove this widget from the {{ projection ? 'Android Auto' : state.profile === 'large' ? 'Big' : 'Small' }} layout? You can add it again from Inactive Widgets.</p></div>
-        <div class="gx-settings__controls gx-actions">
-          <button type="button" class="gx-btn gx-btn--tonal" @click="cancelRemove">Cancel</button>
-          <button type="button" class="gx-btn gx-btn--danger" @click="confirmRemove">Remove widget</button>
-        </div>
-      </GxDialog>
-      <GxDialog v-if="modalLeavePrompt" class="gx-layout__leave-dialog" :inert="busy" labelledby="gx-layout-leave-title" describedby="gx-layout-leave-body" alert @close="cancelLeave">
-        <div class="gx-layout__leave-copy"><h3 id="gx-layout-leave-title">Leave without saving your changes?</h3>
-          <p id="gx-layout-leave-body">Save your {{ projection ? 'Android Auto' : 'comma' }} layout before leaving, keep editing, or discard this draft.</p></div>
-        <GxNotice v-if="state.error" tone="danger">{{ state.error }}</GxNotice>
-        <div class="gx-layout__leave-actions">
-          <button type="button" class="gx-btn gx-btn--tonal" @click="cancelLeave">Keep editing</button>
-          <button type="button" class="gx-btn gx-btn--danger" @click="leave(state.discard)">Discard and leave</button>
-          <button type="button" class="gx-btn" :disabled="!saveAvailable" @click="saveAndLeave">{{ state.status === 'saving' ? 'Saving…' : 'Save changes' }}</button>
-        </div>
-      </GxDialog>
-    </section>`,
+  template: ONROAD_LAYOUT_TEMPLATE,
 }

openpilot/starpilot/lateral/tests/test_bolt_manual_friction.py

@@ -143,7 +143,8 @@ class TestBoltManualFriction(unittest.TestCase):
             controls = Controls()
             self.assertEqual(controls.LaC.controller_mode, mode)
             self.assertEqual(controls.torque_host is not None, configured)
-            self.assertEqual(controls.torque_learning_allowed, mode == ControllerMode.STANDARD)
+            # GM retains no native scalar estimator in either selected mode.
+            self.assertFalse(controls.torque_learning_allowed)
 
   def test_host_friction_ff_fixed_factor_offset_and_live_precedence(self):
     for identity in BOLT_GENERATIONS:
@@ -165,7 +166,9 @@ class TestBoltManualFriction(unittest.TestCase):
             learned.logMonoTime['lateralTorqueParameters'] = stamp
             host.apply(controls.LaC, host.sample(learned, now_ns=stamp, lat_active=True))
           self.assertAlmostEqual(controls.LaC.torque_params.friction, friction, places=6)
-          self.assertAlmostEqual(controls.LaC.torque_params.latAccelOffset, .02 if mode == ControllerMode.STANDARD else basis[1], places=6)
+          self.assertAlmostEqual(controls.LaC.torque_params.latAccelOffset, basis[1], places=6)
+          self.assertFalse(host.allow_learning)
+          self.assertEqual(host.selected.source.value, 'user')
           if mode == ControllerMode.STARPILOT:
             self.assertEqual(controls.LaC.torque_from_lateral_accel(1., controls.LaC.torque_params),
                              controls.LaC.torque_from_lateral_accel(1., cp.lateralTuning.torque))
@@ -180,7 +183,7 @@ class TestBoltManualFriction(unittest.TestCase):
             learned.logMonoTime['lateralTorqueParameters'] = stamp
             host.apply(controls.LaC, host.sample(learned, now_ns=stamp, lat_active=True))
           self.assertAlmostEqual(controls.LaC.torque_params.friction, basis[2], places=6)
-          self.assertEqual(host.selected.source.value, 'learned' if mode == ControllerMode.STANDARD else 'vehicle')
+          self.assertEqual(host.selected.source.value, 'vehicle')
 
   def test_unscoped_legacy_and_custom_factor_need_review(self):
     with OpenpilotPrefix():

openpilot/starpilot/lateral/tests/test_native_inferred_torque.py

@@ -90,7 +90,8 @@ class TestNativeInferredTorque(unittest.TestCase):
           selected = read_selection(params, cp)
           baseline = LatControlTorque(cp.as_reader(), ci, DT_CTRL, controller_mode=selected.mode)
           expected_learning = learning_allowed(params, cp, selection=selected)
-          self.assertEqual(expected_learning, mode == ControllerMode.STANDARD)
+          # Native refinement is available with either selected controller.
+          self.assertTrue(expected_learning)
           params.put('SteerLatAccel', float(cp.lateralTuning.torque.latAccelFactor), block=True)
           params.put('SteerFriction', float(cp.lateralTuning.torque.friction), block=True)
           self.assertFalse(runtime_enabled(cp, params))

openpilot/starpilot/lateral/tests/test_torque_learning.py

@@ -1,4 +1,4 @@
-"""Controller-specific learning is enforced by its producer and both consumers."""
+"""Native refinement respects saved OFF, manual precedence and startup latching."""
 
 import os
 from pathlib import Path
@@ -56,7 +56,8 @@ class TestTorqueLearning(unittest.TestCase):
           cp = cp_for(vehicle)
           params.remove(DOCUMENT_KEY)
           params.remove(LEARNING_OFF_KEY)
-          self.assertFalse(learning_allowed(params, cp))
+          # Both selected modes support native refinement without manual edits.
+          self.assertTrue(learning_allowed(params, cp))
           select(params, cp, ControllerMode.STANDARD)
           self.assertTrue(learning_allowed(params, cp))
           for saved in (b'1', b'invalid', b''):
@@ -69,7 +70,7 @@ class TestTorqueLearning(unittest.TestCase):
         self.assertFalse(learning_allowed(params, cp_for(vehicle)))
       self.assertFalse(learning_allowed(params, cp_for(TOYOTA.TOYOTA_RAV4_TSS2)))
 
-  def test_scoped_learning_choice_preserves_legacy_and_controller_compatibility(self):
+  def test_scoped_learning_choice_preserves_legacy_and_both_controller_modes(self):
     with OpenpilotPrefix():
       params, cp = Params(), cp_for(HYUNDAI.HYUNDAI_IONIQ_6)
       params.put_bool(LEARNING_OFF_KEY, True, block=True)
@@ -77,7 +78,7 @@ class TestTorqueLearning(unittest.TestCase):
       params.put(LEARNING_KEY, replace_preference(None, cp, True), block=True)
       self.assertTrue(read_preference(params, cp).enabled)
       self.assertEqual(read_preference(params, cp).source, 'scope')
-      self.assertFalse(learning_allowed(params, cp))  # Vehicle tune remains incompatible.
+      self.assertTrue(learning_allowed(params, cp))  # Scoped ON supports the vehicle controller too.
       select(params, cp, ControllerMode.STANDARD)
       self.assertTrue(learning_allowed(params, cp))
       other = cp_for(TOYOTA.TOYOTA_COROLLA_TSS2)
@@ -108,6 +109,9 @@ class TestTorqueLearning(unittest.TestCase):
         params.put('CarParams', cp.to_bytes(), block=True)
         cache = Path(params.get_param_path('LiveTorqueParameters'))
         cache.write_bytes(b'preserved previous learning')
+        # Disabled is an explicit saved user choice, independent of controller mode.
+        params.put_bool(LEARNING_OFF_KEY, True, block=True)
+        self.assertFalse(learning_allowed(params, cp))
         with mock.patch.object(torqued, 'get_cache') as restore:
           estimator = torqued.TorqueEstimator(cp, allow_learning=learning_allowed(params, cp))
           restore.assert_not_called()
@@ -170,7 +174,7 @@ class TestTorqueLearning(unittest.TestCase):
       fit.assert_called_once()
       self.assertTrue(message.valid)
 
-  def test_direct_controller_consumer_rejects_learned_messages_and_latches_policy(self):
+  def test_direct_controller_accepts_native_refinement_in_both_modes_and_latches_policy(self):
     now = 1_000_000_000
 
     def feed_learning(controls):
@@ -196,11 +200,12 @@ class TestTorqueLearning(unittest.TestCase):
         feed_learning(controls)
         with mock.patch.object(controls.LaC, 'update_torque_parameters') as update:
           controls.state_control()
-          self.assertEqual(update.call_count, 0 if vehicle in VEHICLES else 1)
+          update.assert_called_once()
           if vehicle in VEHICLES:
             select(params, cp, ControllerMode.STANDARD)
             controls.state_control()
-            update.assert_not_called()
+            self.assertEqual(update.call_count, 2)
+            self.assertTrue(controls.torque_learning_allowed)
             self.assertEqual(controls.LaC.controller_mode, ControllerMode.STARPILOT)
             next_drive = Controls()
             self.assertTrue(next_drive.torque_learning_allowed)
@@ -261,7 +266,7 @@ class TestTorqueLearning(unittest.TestCase):
       self.assertEqual(host._select(learned, now).source, TorqueSource.USER)
       self.assertFalse(TorqueHost(params, cp, allow_learning=learning_allowed(params, cp)).allow_learning)
 
-  def test_running_manual_host_latches_both_learning_directions_and_keeps_manual_edits(self):
+  def test_running_manual_host_keeps_native_disabled_after_manual_reset_and_keeps_edits(self):
     with OpenpilotPrefix(), mock.patch.dict(os.environ, ENV), \
          mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
       params, cp = Params(), cp_for(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -270,12 +275,13 @@ class TestTorqueLearning(unittest.TestCase):
       select(params, cp, ControllerMode.STANDARD)
       params.put('SteerFriction', cp.lateralTuning.torque.friction * 1.2, block=True)
       controls = Controls()
+      self.assertFalse(controls.torque_learning_allowed)
       params.remove('SteerFriction')
       host, base = controls.torque_host, controls.torque_host.vehicle
       now = 1_000_000_000
       learned = LearnedFrame(now, factor=base.lat_accel_factor * 1.2, offset=0.03, friction=base.friction * 1.1)
       host.sample(learned, now_ns=now, lat_active=True)
-      self.assertEqual(host.selected.source, TorqueSource.LEARNED)
+      self.assertEqual(host.selected.source, TorqueSource.VEHICLE)
       select(params, cp, ControllerMode.STARPILOT)
       params.put_bool(LEARNING_OFF_KEY, True, block=True)
       for tick in range(1, 102):
@@ -283,14 +289,14 @@ class TestTorqueLearning(unittest.TestCase):
         learned.logMonoTime['lateralTorqueParameters'] = stamp
         host.sample(learned, now_ns=stamp, lat_active=True)
       self.assertEqual(controls.LaC.controller_mode, ControllerMode.STANDARD)
-      self.assertEqual(host.selected.source, TorqueSource.LEARNED)
+      self.assertEqual(host.selected.source, TorqueSource.VEHICLE)
       params.put('SteerLatAccel', base.lat_accel_factor * 1.1, block=True)
       assert host is not None
       host.last_refresh_ns = None
       host.sample(learned, now_ns=stamp + 10_000_000, lat_active=True)
       self.assertEqual(host.selected.source, TorqueSource.USER)
       self.assertAlmostEqual(host.selected.lat_accel_factor, base.lat_accel_factor * 1.1)
-      self.assertEqual(host.selected.friction, learned.state.frictionCoefficientFiltered)
+      self.assertEqual(host.selected.friction, base.friction)
 
       next_drive = Controls()
       disabled = next_drive.torque_host

openpilot/starpilot/lateral/tests/test_volt_torque_policy.py

@@ -114,7 +114,8 @@ class TestVoltTorquePolicy(unittest.TestCase):
           controls = Controls()
           self.assertEqual(controls.LaC.controller_mode, mode)
           self.assertEqual(selected_policy(controls.LaC) is not None, mode == ControllerMode.STARPILOT)
-          self.assertEqual(controls.torque_learning_allowed, mode == ControllerMode.STANDARD)
+          # Native scalar estimation remains outside the GM brand scope.
+          self.assertFalse(controls.torque_learning_allowed)
           real_update = controls.VM.update_params
           for speed, live_ratio in ((0., 15.7), (20., 15.7), (20., 15.7), (35., 16.2)):
             self.enterContext(patch.object(controls, 'sm', {'carState': SimpleNamespace(vEgo=speed),

openpilot/starpilot/replay/owner.py

@@ -194,7 +194,7 @@ class ReplayOwner:
       result['export'] = {key: value for key, value in self.export.items() if key != 'expires'}
       result['export']['owned'] = client == self.export_client
       if 'expires' in self.export:
-        result['export']['expiresInSeconds'] = max(0., self.export['expires'] - self.clock())
+        result['export']['expiresInSeconds'] = max(0., cast(float, self.export['expires']) - self.clock())
     if not owned:
       for key in ('framePath', 'media', 'codec'):
         result.pop(key, None)
@@ -202,9 +202,9 @@ class ReplayOwner:
 
   def _expire_export(self, *, replace=False):
     if (self.export is None or self.worker is not None and self.status.get('purpose') == 'export' or
-        not replace and self.clock() < self.export.get('expires', float('inf'))):
+        not replace and self.clock() < cast(float, self.export.get('expires', float('inf')))):
       return True
-    directory = self.root / 'exports' / self.export['id']
+    directory = self.root / 'exports' / cast(str, self.export['id'])
     path = directory / 'replay.mp4'
     try:
       fd = os.open(path, os.O_RDONLY | os.O_NOFOLLOW | os.O_NONBLOCK)

openpilot/starpilot/replay/tests/test_export.py

@@ -1,5 +1,6 @@
 """Exports keep recorded coverage, remain private, and become ready only after cleanup."""
 from types import SimpleNamespace
+from typing import NoReturn
 import fcntl
 import json
 import os
@@ -95,16 +96,21 @@ def test_partial_video_and_storage_shortage_cannot_be_finalized(tmp_path, packet
   assert not (tmp_path / 'export.mp4').exists()
 
 
+def _reject_engine_resume(_command) -> NoReturn:
+  __tracebackhide__ = True
+  raise pytest.fail.Exception('an ended engine must not resume')
+
+
 def test_export_finishes_at_actual_engine_eof(tmp_path, packet):
   from openpilot.tools.replay.tests.test_machine import BINARY, Machine
   if not BINARY.is_file():
-    pytest.skip('build the replay test binary first')
+    raise pytest.skip.Exception('build the replay test binary first')
   with Machine([(0, [.1, .2, .3], True)]) as engine:
     initial = engine.wait(lambda status: status['state'] == 'paused')
     engine.command_status('pause', 'a4', paused=False)
     ended = engine.wait(lambda status: status['state'] == 'ended')
   assert ended['position'] < ended['end']
-  stopped = SimpleNamespace(command=lambda command: pytest.fail('an ended engine must not resume'))
+  stopped = SimpleNamespace(command=_reject_engine_resume)
   writer = ExportVideo(tmp_path, 32, 18, [(initial['start'], initial['end'])], 1024 ** 2)
   try:
     for position in (.1, .2, .3):
@@ -119,7 +125,7 @@ def test_export_finishes_at_actual_engine_eof(tmp_path, packet):
 
 def test_early_engine_eof_cannot_hide_missing_export_coverage(tmp_path, packet):
   writer = ExportVideo(tmp_path, 32, 18, [(0, 2)], 1024 ** 2)
-  engine = SimpleNamespace(command=lambda command: pytest.fail('an ended engine must not resume'))
+  engine = SimpleNamespace(command=_reject_engine_resume)
   try:
     writer.frame(packet, position=0, keyframe=True)
     with pytest.raises(ValueError, match='end of the selected coverage'):

pyproject.toml

@@ -120,10 +120,10 @@ allow-direct-references = true
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser,assertIn,HomeState,cancelled,CAS,acknowledgement,writeable,noice,FoF,waitFor"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser,assertIn,HomeState,cancelled,CAS,acknowledgement,writeable,noice,FoF,waitFor,centre,centres"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "openpilot/cereal/gen/cpp/*.capnp.c++, openpilot/cereal/gen/cpp/*.capnp.h, *.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, openpilot/tools/plotjuggler/layouts/*, openpilot/selfdrive/assets/offroad/mici_fcc.html, openpilot/starpilot/galaxy/web/vendor/vue/vue.esm-browser.js, openpilot/starpilot/ui/assets/fonts/notices/Unifont-COPYING.txt"
-ignore-regex = "scale\\.numer"
+ignore-regex = "scale\\.numer"  # codespell:ignore numer
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]

tools/ci/process_replay_coverage.py

@@ -8,10 +8,16 @@ REQUIRED_REPLAY_LABELS = frozenset({
   "HYUNDAI", "HYUNDAI2", "TOYOTA", "TOYOTA3", "HONDA", "HONDA2", "CHRYSLER", "RAM",
   "SUBARU", "GM", "NISSAN", "VOLKSWAGEN", "MAZDA", "FORD", "RIVIAN", "TESLA",
 })
+VOLVO_UNRECORDED_PLATFORMS = frozenset({
+  "VOLVO_V40", "VOLVO_XC40_RECHARGE", "VOLVO_S60_RECHARGE", "POLESTAR_2",
+})
 VOLVO_REQUIRED_TESTS = {
-  "interfaces": "opendbc_repo/opendbc/car/volvo/tests/test_c1.py",
-  "safety-debug": "opendbc_repo/opendbc/safety/tests/test_volvo_c1.py",
-  "safety-release": "opendbc_repo/opendbc/safety/tests/test_volvo_c1.py",
+  "interfaces": ("opendbc_repo/opendbc/car/volvo/tests/test_c1.py",
+                 "opendbc_repo/opendbc/car/volvo/tests/test_cma.py"),
+  "safety-debug": ("opendbc_repo/opendbc/safety/tests/test_volvo_c1.py",
+                   "opendbc_repo/opendbc/safety/tests/test_volvo_cma.py"),
+  "safety-release": ("opendbc_repo/opendbc/safety/tests/test_volvo_c1.py",
+                     "opendbc_repo/opendbc/safety/tests/test_volvo_cma.py"),
 }
 
 
@@ -25,20 +31,23 @@ def replay_coverage(active_platforms, labels, suite_targets, *, full_test):
     absent_labels = REQUIRED_REPLAY_LABELS - labels
     if absent_labels:
       errors.append(f"Required replay inputs missing: {sorted(absent_labels)}")
-    if set(active_platforms.get("volvo", ())) != {"VOLVO_V40"}:
-      errors.append("Volvo recording classification requires exactly the active VOLVO_V40 platform; review changed scope")
+    if set(active_platforms.get("volvo", ())) != VOLVO_UNRECORDED_PLATFORMS:
+      errors.append("Volvo recording classification requires exactly the four known active platforms; review changed scope")
     if "volvo" not in missing:
       errors.append("Volvo recording classification is stale: Volvo now has a recording or is no longer active")
-    for suite, path in VOLVO_REQUIRED_TESTS.items():
-      if path not in suite_targets.get(suite, ()):
-        errors.append(f"Required Volvo source/native suite no longer selected: {suite}: {path}")
+    for suite, paths in VOLVO_REQUIRED_TESTS.items():
+      for path in paths:
+        if path not in suite_targets.get(suite, ()):
+          errors.append(f"Required Volvo source/native suite no longer selected: {suite}: {path}")
     unaccounted = missing - {"volvo"}
     if unaccounted:
       errors.append(f"Active brands missing unaccounted replay inputs: {sorted(unaccounted)}")
   if "volvo" in missing:
-    gaps.append({"brand": "volvo", "platforms": ["VOLVO_V40"], "status": "unrecorded",
-                 "reason": "No Volvo C1/V40 recording is available in the fixture catalog.",
-                 "required_source_native_suites": VOLVO_REQUIRED_TESTS})
+    for platform in sorted(set(active_platforms.get("volvo", ())) & VOLVO_UNRECORDED_PLATFORMS):
+      path_index = 0 if platform == "VOLVO_V40" else 1
+      gaps.append({"brand": "volvo", "platforms": [platform], "status": "unrecorded",
+                   "reason": f"No {platform} recording is available in the fixture catalog.",
+                   "required_source_native_suites": {suite: paths[path_index] for suite, paths in VOLVO_REQUIRED_TESTS.items()}})
   return {"schema_version": 1, "scope": "process_replay_input_inventory", "full_test": full_test,
           "recorded_input_labels": sorted(labels), "active_platforms": active_platforms,
           "unrecorded_gaps": gaps, "errors": errors,
@@ -55,7 +64,8 @@ def write_coverage(report, destination, summary=None):
       output.write(f"Full input inventory: {report['full_test']}; recorded inputs: {len(report['recorded_input_labels'])}.\n\n")
       for gap in report["unrecorded_gaps"]:
         output.write(f"- {gap['brand']} / {', '.join(gap['platforms'])}: **unrecorded**. {gap['reason']}\n")
-        output.write("  Required independent source/native checks: interfaces, safety-debug, safety-release.\n")
+        for suite, path in gap["required_source_native_suites"].items():
+          output.write(f"  Required independent source/native check: {suite}: `{path}`.\n")
       for error in report["errors"]:
         output.write(f"- Coverage error: {error}\n")
       output.write(f"\n{report['evidence_limit']}\n")

tools/ci/run_vehicle_tests.py

@@ -74,6 +74,7 @@ RELEASE_TARGETS = (
   "opendbc_repo/opendbc/safety/tests/test_tesla.py::TestTeslaStockSafety",
   "opendbc_repo/opendbc/safety/tests/test_tesla_hw1.py",
   "opendbc_repo/opendbc/safety/tests/test_volvo_c1.py",
+  "opendbc_repo/opendbc/safety/tests/test_volvo_cma.py",
   "opendbc_repo/opendbc/safety/tests/test_mazda.py::TestMazdaSafety",
   "opendbc_repo/opendbc/safety/tests/test_toyota.py::TestToyotaStockLongitudinalTorque",
   "opendbc_repo/opendbc/safety/tests/test_toyota_auto_hold.py",

tools/ci/tests/test_process_replay_coverage.py

@@ -3,14 +3,14 @@ import tempfile
 import unittest
 from pathlib import Path
 
-from tools.ci.process_replay_coverage import REQUIRED_REPLAY_LABELS, VOLVO_REQUIRED_TESTS, replay_coverage, write_coverage
+from tools.ci.process_replay_coverage import REQUIRED_REPLAY_LABELS, VOLVO_REQUIRED_TESTS, VOLVO_UNRECORDED_PLATFORMS, replay_coverage, write_coverage
 from tools.ci.run_vehicle_tests import ROOT, targets_for
 
 
 class TestProcessReplayCoverage(unittest.TestCase):
   def report(self, platforms=None, labels=None, targets=None):
     active = {label.lower(): [label] for label in REQUIRED_REPLAY_LABELS}
-    active["volvo"] = ["VOLVO_V40"]
+    active["volvo"] = sorted(VOLVO_UNRECORDED_PLATFORMS)
     return replay_coverage(active if platforms is None else platforms,
                            REQUIRED_REPLAY_LABELS if labels is None else labels,
                            {suite: targets_for(suite) for suite in VOLVO_REQUIRED_TESTS} if targets is None else targets,
@@ -24,24 +24,60 @@ class TestProcessReplayCoverage(unittest.TestCase):
       self.assertTrue(self.report(labels=REQUIRED_REPLAY_LABELS - {label})["errors"])
 
   def test_actual_vehicle_suite_targets_include_required_source_and_both_native_modes(self):
-    for suite, path in VOLVO_REQUIRED_TESTS.items():
-      self.assertIn(path, targets_for(suite))
-    module = ast.parse((ROOT / VOLVO_REQUIRED_TESTS["interfaces"]).read_text())
+    for suite, paths in VOLVO_REQUIRED_TESTS.items():
+      for path in paths:
+        with self.subTest(suite=suite, path=path):
+          self.assertIn(path, targets_for(suite))
+          self.assertTrue((ROOT / path).is_file())
+    module = ast.parse((ROOT / VOLVO_REQUIRED_TESTS["interfaces"][0]).read_text())
     self.assertTrue(any(isinstance(node, ast.ClassDef) and node.name == "TestVolvoC1Host" for node in module.body))
 
   def test_unknown_brand_changed_platform_and_obsolete_exception_fail(self):
     active = self.report()["active_platforms"]
     for change in ({**active, "new_brand": ["NEW_CAR"]},
-                   {**active, "volvo": ["VOLVO_V40", "VOLVO_NEW"]},
+                   {**active, "volvo": [*active["volvo"], "VOLVO_NEW"]},
                    {brand: ids for brand, ids in active.items() if brand != "volvo"}):
       self.assertTrue(self.report(platforms=change)["errors"])
     self.assertTrue(self.report(labels=REQUIRED_REPLAY_LABELS | {"VOLVO"})["errors"])
 
   def test_required_alternative_suite_removal_fails(self):
     targets = {suite: targets_for(suite) for suite in VOLVO_REQUIRED_TESTS}
-    for suite, path in VOLVO_REQUIRED_TESTS.items():
-      removed = {**targets, suite: [target for target in targets[suite] if target != path]}
-      self.assertTrue(self.report(targets=removed)["errors"])
+    for suite, paths in VOLVO_REQUIRED_TESTS.items():
+      for path in paths:
+        with self.subTest(suite=suite, path=path):
+          removed = {**targets, suite: [target for target in targets[suite] if target != path]}
+          self.assertTrue(self.report(targets=removed)["errors"])
+
+  def test_frozen_platform_inventory_matches_current_registry_source(self):
+    expected = {"VOLVO_V40", "VOLVO_XC40_RECHARGE", "VOLVO_S60_RECHARGE", "POLESTAR_2"}
+    self.assertEqual(VOLVO_UNRECORDED_PLATFORMS, expected)
+    module = ast.parse((ROOT / "opendbc_repo/opendbc/car/volvo/values.py").read_text())
+    car = next(node for node in module.body if isinstance(node, ast.ClassDef) and node.name == "CAR")
+    declared = {target.id for node in car.body if isinstance(node, ast.Assign)
+                for target in node.targets if isinstance(target, ast.Name)}
+    self.assertEqual(declared, expected)
+
+  def test_each_platform_gap_names_its_independent_source_and_native_alternatives(self):
+    report = self.report()
+    gaps = report["unrecorded_gaps"]
+    self.assertEqual(len(gaps), 4)
+    self.assertEqual({gap["platforms"][0] for gap in gaps}, VOLVO_UNRECORDED_PLATFORMS)
+    for gap in gaps:
+      with self.subTest(platform=gap["platforms"]):
+        self.assertEqual(len(gap["platforms"]), 1)
+        self.assertEqual(gap["status"], "unrecorded")
+        index = 0 if gap["platforms"] == ["VOLVO_V40"] else 1
+        self.assertEqual(gap["required_source_native_suites"],
+                         {suite: paths[index] for suite, paths in VOLVO_REQUIRED_TESTS.items()})
+    self.assertIn("independent execution results", report["evidence_limit"])
+    self.assertIn("does not qualify the fleet", report["evidence_limit"])
+
+  def test_missing_known_platform_requires_scope_review(self):
+    active = self.report()["active_platforms"]
+    for platform in VOLVO_UNRECORDED_PLATFORMS:
+      with self.subTest(platform=platform):
+        changed = {**active, "volvo": [item for item in active["volvo"] if item != platform]}
+        self.assertTrue(self.report(platforms=changed)["errors"])
 
   def test_artifact_and_summary_expose_gap_without_execution_claim(self):
     with tempfile.TemporaryDirectory() as temporary:
@@ -49,5 +85,10 @@ class TestProcessReplayCoverage(unittest.TestCase):
       summary = Path(temporary) / "summary.md"
       write_coverage(self.report(), destination, summary)
       self.assertIn('"scope": "process_replay_input_inventory"', destination.read_text())
-      self.assertIn("**unrecorded**", summary.read_text())
+      self.assertEqual(summary.read_text().count("**unrecorded**"), 4)
+      for platform in VOLVO_UNRECORDED_PLATFORMS:
+        self.assertIn(platform, summary.read_text())
+      for paths in VOLVO_REQUIRED_TESTS.values():
+        for path in paths:
+          self.assertIn(path, summary.read_text())
       self.assertIn("does not qualify the fleet", summary.read_text())