hi

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 452 Supported Cars
+# 453 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -465,7 +465,7 @@ A supported vehicle is one that just works when you install a comma device. All
 
 These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
 
-# 16 Community Cars
+# 17 Community Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -478,6 +478,7 @@ These additional vehicle ports are maintained by StarPilot rather than upstream
 |Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2021">Buy Here</a></sub></details>|||
+|Kia|Ray EV 2025|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ray EV 2025">Buy Here</a></sub></details>|||
 |Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
 |Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|||
 |Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -1696,4 +1696,9 @@ FW_VERSIONS = {
       b'\xf1\x00BC3 LKA  AT EUR LHD 1.00 1.01 99211-Q0100 261',
     ],
   },
+  CAR.KIA_RAY_EV: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TAM MFC  AT KOR LHD 1.00 1.02 99211-E2000 230901',
+    ],
+  },
 }

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -80,6 +80,9 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    values["CF_Lkas_LdwsOpt_USM"] = 0
+
   dat = packer.make_can_msg("LKAS11", 0, values)[1]
 
   if CP.flags & HyundaiFlags.CHECKSUM_CRC8:

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -79,6 +79,7 @@ HYUNDAI_NON_SCC_CARS = (
   CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC,
   CAR.HYUNDAI_KONA_NON_SCC,
   CAR.HYUNDAI_KONA_EV_NON_SCC,
+  CAR.KIA_RAY_EV,
   CAR.KIA_CEED_PHEV_2022_NON_SCC,
   CAR.KIA_FORTE_2019_NON_SCC,
   CAR.KIA_FORTE_2021_NON_SCC,
@@ -709,6 +710,19 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS11"]["CF_Lkas_LdwsActivemode"] == 0
     assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 0
 
+  def test_kia_ray_ev_preserves_stock_lkas_option(self):
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, gen_empty_fingerprint(), [], False, False, False, None)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
+
+    msg = hyundaican.create_lkas11(
+      packer, 0, CP, 0, True, False, parser.vl["LKAS11"], False, 4, False,
+      True, True, 0, 0, 2,
+    )
+    parser.update([(1, [msg])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_LdwsOpt_USM"] == 0
+
   @pytest.mark.parametrize("candidate", (CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024))
   def test_hyundai_can_refresh_platforms_use_refresh_dbc_and_safety_param(self, candidate):
     CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
@@ -821,6 +835,7 @@ class TestHyundaiFingerprint:
     (CAR.HYUNDAI_ELANTRA_2022_NON_SCC, ("EMS16", "LVR12"), ()),
     (CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ("E_CRUISE_CONTROL", "ELECT_GEAR"), ("EMS16",)),
     (CAR.HYUNDAI_KONA_EV_NON_SCC, ("LABEL11", "EMS12", "E_EMS11"), ()),
+    (CAR.KIA_RAY_EV, ("LABEL11", "EMS12", "E_EMS11"), ()),
   ])
   def test_non_scc_cruise_message_selection(self, candidate, expected_msgs, unexpected_msgs):
     toggles = get_test_toggles()
@@ -3511,7 +3526,9 @@ class TestHyundaiFingerprint:
   def test_platform_code_ecus_available(self, subtests):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80,
+                                    CAR.HYUNDAI_ELANTRA, CAR.KIA_RAY_EV}
+    no_fwd_radar_platforms = {CAR.KIA_RAY_EV}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
@@ -3519,6 +3536,8 @@ class TestHyundaiFingerprint:
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
             continue
+          if platform_code_ecu == Ecu.fwdRadar and car_model in no_fwd_radar_platforms:
+            continue
           if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
             continue
           assert platform_code_ecu in [e[0] for e in ecus]

opendbc_repo/opendbc/car/hyundai/values.py

@@ -945,6 +945,11 @@ class CAR(Platforms):
     HYUNDAI_KONA_EV.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
   )
+  KIA_RAY_EV = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Ray EV 2025", car_parts=CarParts.common([CarHarness.hyundai_h]))],
+    CarSpecs(mass=1295, wheelbase=2.52, steerRatio=14.5),
+    flags=HyundaiFlags.EV | HyundaiFlags.CHECKSUM_CRC8,
+  )
   KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
     [HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
     CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),

opendbc_repo/opendbc/car/tests/routes.py

@@ -76,6 +76,7 @@ non_tested_cars = [
   HYUNDAI.HYUNDAI_ELANTRA_HEV_2024,
   HYUNDAI.HYUNDAI_KONA_EV_NON_SCC,
   HYUNDAI.HYUNDAI_KONA_NON_SCC,
+  HYUNDAI.KIA_RAY_EV,
   HYUNDAI.HYUNDAI_PALISADE_2023,
   HYUNDAI.KIA_CEED_PHEV_2022_NON_SCC,
   HYUNDAI.KIA_FORTE_2019_NON_SCC,

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -106,6 +106,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
 "KIA_CARNIVAL_2025" = [1.75, 1.75, 0.15]
 "KIA_CARNIVAL_HEV_4TH_GEN" = [1.75, 1.75, 0.15]
+"KIA_RAY_EV" = [1.8, 2.0, 0.15]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]

starpilot/system/bluetooth/bluez.py

@@ -107,7 +107,11 @@ class BlueZClient:
     return reply.body
 
   def _register_agent(self) -> None:
-    self._call("/org/bluez", AGENT_MANAGER_IFACE, "RegisterAgent", "os", (AGENT_PATH, "KeyboardDisplay"))
+    try:
+      self._call("/org/bluez", AGENT_MANAGER_IFACE, "RegisterAgent", "os", (AGENT_PATH, "KeyboardDisplay"))
+    except RuntimeError as error:
+      if "alreadyexists" not in str(error).replace(" ", "").lower():
+        raise
     self._call("/org/bluez", AGENT_MANAGER_IFACE, "RequestDefaultAgent", "o", (AGENT_PATH,))
 
   def _agent_loop(self) -> None:
@@ -163,7 +167,8 @@ class BlueZClient:
         return path, interfaces[ADAPTER_IFACE]
     raise RuntimeError("Bluetooth adapter is not available")
 
-  def devices(self, objects: dict[str, Any] | None = None) -> list[dict[str, Any]]:
+  def devices(self, objects: dict[str, Any] | None = None, include_hidden: bool = False,
+              include_discovering: bool = False) -> list[dict[str, Any]]:
     objects = self.managed_objects() if objects is None else objects
     devices = []
     for path, interfaces in objects.items():
@@ -185,8 +190,8 @@ class BlueZClient:
         "audio": audio,
         "controller": controller,
       }
-      if show_pairing_device(device["address"], device["name"], device["paired"], device["trusted"], device["connected"],
-                             device["blocked"], audio, controller):
+      if include_hidden or show_pairing_device(device["address"], device["name"], device["paired"], device["trusted"], device["connected"],
+                                               device["blocked"], audio, controller, include_discovering):
         devices.append(device)
     return sorted(devices, key=lambda device: (not device["connected"], not device["paired"], -(device["rssi"] or -127), device["name"].lower()))
 
@@ -196,7 +201,7 @@ class BlueZClient:
     return {
       "powered": bool(adapter.get("Powered", False)),
       "discovering": bool(adapter.get("Discovering", False)),
-      "devices": self.devices(objects),
+      "devices": self.devices(objects, include_discovering=bool(adapter.get("Discovering", False))),
       "prompt": self.agent.prompt,
     }
 
@@ -218,7 +223,7 @@ class BlueZClient:
 
   def device_for_address(self, address: str) -> dict[str, Any]:
     normalized = address.upper()
-    for device in self.devices():
+    for device in self.devices(self.managed_objects(), include_hidden=True):
       if device["address"].upper() == normalized:
         return device
     raise RuntimeError(f"Bluetooth device {address} was not found")
@@ -230,8 +235,9 @@ class BlueZClient:
     if reply.header.message_type == MessageType.error:
       raise RuntimeError(str(reply.body[0] if reply.body else f"Unable to set {name}"))
 
-  def pair(self, address: str) -> None:
-    device = self.device_for_address(address)
+  def pair(self, address: str, device_path: str | None = None) -> None:
+    self._register_agent()
+    device = {"path": device_path} if device_path else self.device_for_address(address)
     self._call(device["path"], DEVICE_IFACE, "Pair", timeout=90.0)
     self.set_device_property(address, "Trusted", "b", True)
     self.agent.clear()

starpilot/system/bluetooth/daemon.py

@@ -107,9 +107,9 @@ class BluetoothController:
     if command in OFFROAD_COMMANDS and not self._offroad():
       raise RuntimeError("Bluetooth settings can only be changed offroad")
 
-  def _pair_worker(self, address: str) -> None:
+  def _pair_worker(self, address: str, device_path: str | None = None) -> None:
     try:
-      self._client().pair(address)
+      self._client().pair(address, device_path)
       status = self._client().device_for_address(address)
       if status.get("audio") and not self.params.get("BluetoothAudioAddress", encoding="utf-8"):
         self.params.put("BluetoothAudioAddress", address)
@@ -172,6 +172,7 @@ class BluetoothController:
     elif command == "start_scan":
       if not self.params.get_bool("BluetoothEnabled"):
         raise RuntimeError("Enable Bluetooth before scanning")
+      self._pairing_error = ""
       self._client().start_discovery()
       self._scan_deadline = time.monotonic() + SCAN_DURATION
     elif command == "stop_scan":
@@ -180,9 +181,15 @@ class BluetoothController:
     elif command == "pair":
       if self._pairing_address:
         raise RuntimeError("Another Bluetooth device is already pairing")
+      device = self._client().device_for_address(address)
+      try:
+        self._client().stop_discovery()
+      except Exception as error:
+        cloudlog.warning(f"Bluetooth discovery stop before pairing failed: {error}")
+      self._scan_deadline = 0.0
       self._pairing_address = address
       self._pairing_error = ""
-      threading.Thread(target=self._pair_worker, args=(address,), daemon=True).start()
+      threading.Thread(target=self._pair_worker, args=(address, device["path"]), daemon=True).start()
     elif command == "connect":
       self._client().connect(address)
     elif command == "disconnect":

starpilot/system/bluetooth/protocol.py

@@ -95,10 +95,12 @@ def device_capabilities(uuids: list[str] | tuple[str, ...], bluetooth_class: int
 
 
 def show_pairing_device(address: str, name: str, paired: bool, trusted: bool, connected: bool, blocked: bool,
-                        audio: bool, controller: bool) -> bool:
+                        audio: bool, controller: bool, discovering: bool = False) -> bool:
   known = paired or trusted or connected
-  named = bool(name) and name not in {address, "Unknown device"}
-  return known or (named and not blocked and (audio or controller))
+  normalized_address = "".join(character for character in address.upper() if character.isalnum())
+  normalized_name = "".join(character for character in name.upper() if character.isalnum())
+  named = bool(name) and name != "Unknown device" and normalized_name != normalized_address
+  return known or (named and not blocked and (audio or controller or discovering))
 
 
 class _DesktopFakeBluetooth:

starpilot/system/bluetooth/tests/test_bluetooth.py

@@ -75,6 +75,7 @@ class FakeBlueZ:
 
   def stop_discovery(self):
     self.discovering = False
+    self.actions.append(("stop_scan", ""))
 
   def device_for_address(self, _address):
     return dict(self.device)
@@ -393,6 +394,20 @@ def test_scan_stops_after_timeout():
   assert not client.discovering and controller._scan_deadline == 0.0
 
 
+def test_pair_stops_discovery_before_starting_pair():
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
+  client = FakeBlueZ()
+  controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller.handle({"command": "start_scan"})
+  controller.handle({"command": "pair", "address": client.device["address"]})
+
+  deadline = time.monotonic() + 1.0
+  while not any(action[0] == "pair" for action in client.actions) and time.monotonic() < deadline:
+    time.sleep(0.01)
+
+  assert client.actions.index(("stop_scan", "")) < client.actions.index(("pair", client.device["address"]))
+
+
 def test_audio_queue_is_nonblocking_and_falls_back():
   params = FakeParams(BluetoothEnabled=True, BluetoothAudioAddress="00:11:22:33:44:55")
   process = FakeProcess()

starpilot/system/the_galaxy/assets/components/router.js

@@ -2,7 +2,7 @@ import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-1.3.1.js"
 import { hideSidebar } from "/assets/js/utils.js"
 import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-c4-hint-1"
-import { Bluetooth } from "/assets/components/tools/bluetooth.js?v=bluetooth-6"
+import { Bluetooth } from "/assets/components/tools/bluetooth.js?v=bluetooth-9"
 import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-2"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
 import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"

starpilot/system/the_galaxy/assets/components/tools/bluetooth.css

@@ -69,6 +69,66 @@
   color: #ffe2a3;
 }
 
+.bluetoothPromptHeader,
+.bluetoothPromptActions {
+  align-items: center;
+  display: flex;
+  gap: 10px;
+}
+
+.bluetoothPromptHeader {
+  color: #ffe2a3;
+}
+
+.bluetoothPromptHeader i {
+  font-size: 1.15rem;
+}
+
+.bluetoothPrompt p {
+  margin: 8px 0 0;
+}
+
+.bluetoothPromptPasskey {
+  font-size: 1.05rem;
+}
+
+.bluetoothPromptInput {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  font: inherit;
+  margin-top: 12px;
+  max-width: 260px;
+  padding: 10px 12px;
+}
+
+.bluetoothPromptActions {
+  justify-content: flex-end;
+  margin-top: 14px;
+}
+
+.bluetoothPromptActions button {
+  background: linear-gradient(135deg, #765bb6, #9474ce);
+  border: 0;
+  border-radius: var(--border-radius-md);
+  color: #fff;
+  cursor: pointer;
+  font-weight: 700;
+  padding: 9px 14px;
+}
+
+.bluetoothPromptActions button.bluetoothPromptReject {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  color: var(--text-color);
+}
+
+.bluetoothPromptActions button:disabled {
+  cursor: not-allowed;
+  opacity: 0.45;
+}
+
 .bluetoothError {
   color: #ff9ab3;
 }

starpilot/system/the_galaxy/assets/components/tools/bluetooth.js

@@ -20,7 +20,6 @@ const state = reactive({
 })
 
 let initialized = false
-let lastPromptId = ""
 let audioTestTimer = null
 let pollTimer = null
 let refreshRequested = false
@@ -29,7 +28,7 @@ let refreshPromise = null
 function bluetoothPageActive() {
   const currentPath = window.location.pathname.replace(/\/+$/, "")
   const bluetoothPath = galaxyPath("/bluetooth").replace(/\/+$/, "")
-  return currentPath === bluetoothPath
+  return document.querySelector(".bluetoothPage") !== null || currentPath === bluetoothPath
 }
 
 function pollDelay() {
@@ -96,26 +95,6 @@ async function request(operation, body = {}) {
   }
 }
 
-async function handlePrompt(prompt) {
-  if (!prompt || prompt.id === lastPromptId) return
-  lastPromptId = prompt.id
-  if (prompt.display_only) return
-
-  let accepted = true
-  let value = ""
-  if (prompt.kind === "pin") {
-    value = window.prompt(`Enter the PIN for ${prompt.name || "Bluetooth device"}`) ?? ""
-    accepted = value.length > 0
-  } else if (prompt.kind === "passkey") {
-    value = window.prompt(`Enter the passkey for ${prompt.name || "Bluetooth device"}`) ?? ""
-    accepted = /^\d{1,6}$/.test(value)
-  } else {
-    const suffix = prompt.value ? `\n\nPasskey: ${prompt.value}` : ""
-    accepted = window.confirm(`Allow ${prompt.name || "Bluetooth device"} to pair?${suffix}`)
-  }
-  await request("pairing_response", { prompt_id: prompt.id, accepted, value })
-}
-
 async function refreshOnce() {
   const statusUrl = `${galaxyPath("/api/bluetooth/status")}?_=${Date.now()}`
   const response = await fetch(statusUrl, { cache: "no-store" })
@@ -130,7 +109,61 @@ async function refreshOnce() {
   state.devices = Array.isArray(payload.devices) ? payload.devices : []
   state.prompt = payload.prompt || null
   state.error = payload.error || (response.ok ? "" : "Bluetooth service unavailable")
-  handlePrompt(state.prompt)
+}
+
+function pairingPromptNeedsValue() {
+  return state.prompt && (state.prompt.kind === "pin" || state.prompt.kind === "passkey")
+}
+
+function respondToPairingPrompt(accepted) {
+  const prompt = state.prompt
+  if (!prompt || state.busy === "pairing_response") return
+  const input = document.getElementById("bluetoothPairingValue")
+  const value = input?.value.trim() || ""
+  if (accepted && prompt.kind === "pin" && !value) {
+    state.error = "Enter the PIN to continue pairing."
+    input?.focus()
+    return
+  }
+  if (accepted && prompt.kind === "passkey" && !/^\d{1,6}$/.test(value)) {
+    state.error = "Enter the numeric passkey to continue pairing."
+    input?.focus()
+    return
+  }
+  request("pairing_response", { prompt_id: prompt.id, accepted, value })
+}
+
+function pairingPrompt() {
+  const prompt = state.prompt
+  if (!prompt) return ""
+  const name = prompt.name || "Bluetooth device"
+  const valuePrompt = pairingPromptNeedsValue()
+  const message = prompt.kind === "confirmation"
+    ? "Confirm the pairing request on this device."
+    : prompt.kind === "authorization"
+      ? "Allow this device to connect?"
+      : prompt.kind === "pin"
+        ? "Enter the PIN supplied by the device."
+        : prompt.kind === "passkey"
+          ? "Enter the device passkey."
+          : "Follow the instructions on the device."
+  return html`
+    <div class="bluetoothPrompt">
+      <div class="bluetoothPromptHeader"><i class="bi bi-shield-check" aria-hidden="true"></i><strong>Bluetooth pairing request</strong></div>
+      <p><strong>${name}</strong> — ${message}</p>
+      ${prompt.value ? html`<p class="bluetoothPromptPasskey">Passkey: <strong>${prompt.value}</strong></p>` : ""}
+      ${() => valuePrompt ? html`
+        <input id="bluetoothPairingValue" class="bluetoothPromptInput" inputmode="numeric" autocomplete="one-time-code"
+               placeholder="${() => prompt.kind === "pin" ? "PIN" : "Passkey"}" disabled="${() => state.busy === "pairing_response"}" />
+      ` : ""}
+      ${prompt.display_only ? "" : html`
+        <div class="bluetoothPromptActions">
+          <button class="bluetoothPromptReject" disabled="${() => state.busy === "pairing_response"}" @click="${() => respondToPairingPrompt(false)}">Cancel</button>
+          <button disabled="${() => state.busy === "pairing_response"}" @click="${() => respondToPairingPrompt(true)}">Allow</button>
+        </div>
+      `}
+    </div>
+  `
 }
 
 async function refresh() {
@@ -190,6 +223,7 @@ function deviceStatus(device) {
   if (isPairing(device)) return "Pairing…"
   if (device.connected) {
     const audioSelected = state.selectedAudio.toUpperCase() === normalizedAddress(device)
+    if (!device.paired) return audioSelected ? "Connected · Ready to pair · Audio output" : "Connected · Ready to pair"
     return audioSelected ? "Connected · Audio output" : "Connected"
   }
   return device.paired ? "Saved" : "Ready to pair"
@@ -208,14 +242,17 @@ function deviceActions(device) {
   const pairing = () => isPairing(device)
   return html`
     <div class="bluetoothActions">
-      ${!device.paired && !device.connected ? html`
+      ${!device.paired ? html`
         <button disabled="${() => !state.offroad || !!state.busy || pairing()}" @click="${() => request("pair", { address: device.address })}">
           ${() => pairing() ? "Pairing…" : "Pair"}
         </button>
-      ` : html`
+      ` : ""}
+      ${device.paired || device.connected ? html`
         <button disabled="${() => !!state.busy}" @click="${() => request(device.connected ? "disconnect" : "connect", { address: device.address })}">
           ${device.connected ? "Disconnect" : "Connect"}
         </button>
+      ` : ""}
+      ${device.paired || device.connected ? html`
         ${device.audio ? html`
           <button class="${() => audioSelected() ? "selected" : ""}"
                   disabled="${() => !!state.busy}" @click="${() => request("select_audio", { address: audioSelected() ? "" : device.address })}">
@@ -231,7 +268,7 @@ function deviceActions(device) {
                 disabled="${() => !state.offroad || !!state.busy}" @click="${() => {
           if (window.confirm(`Forget ${device.name}?`)) request("forget", { address: device.address })
         }}"><i class="bi bi-trash3" aria-hidden="true"></i></button>` : ""}
-      `}
+      ` : ""}
     </div>
   `
 }
@@ -292,9 +329,7 @@ export function Bluetooth() {
 
       ${() => !state.offroad ? html`<div class="bluetoothNotice">Scanning, pairing, and forgetting devices are available offroad only.</div>` : ""}
       ${() => state.error ? html`<div class="bluetoothError">${state.error}</div>` : ""}
-      ${() => state.prompt?.display_only ? html`
-        <div class="bluetoothPrompt">${state.prompt.name || "Bluetooth device"}: ${state.prompt.value}</div>
-      ` : ""}
+      ${pairingPrompt}
       ${() => state.audioTestLabel ? html`
         <div class="bluetoothAudioCountdown">
           <strong>${state.audioTestLabel}</strong>

starpilot/system/the_galaxy/templates/index.html

@@ -40,7 +40,7 @@
   <link rel="stylesheet" href="/assets/components/tools/toggles.css">
   <link rel="stylesheet" href="/assets/components/tools/update_manager.css">
   <link rel="stylesheet" href="/assets/components/tools/device_settings.css?v=favorite-actions-1">
-  <link rel="stylesheet" href="/assets/components/tools/bluetooth.css?v=bluetooth-4">
+  <link rel="stylesheet" href="/assets/components/tools/bluetooth.css?v=bluetooth-6">
   <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-2">
   <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
   <link rel="stylesheet" href="/assets/components/tools/sentry.css">
@@ -50,7 +50,7 @@
   <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
 
   <script type="module">
-    import("/assets/components/router.js?v=router-cycle-fix-3").catch((err) => {
+    import("/assets/components/router.js?v=router-cycle-fix-4").catch((err) => {
       console.error("[the_galaxy] bootstrap failed", err);
       const target = document.getElementById("app") || document.body;
       const pre = document.createElement("pre");

starpilot/system/the_galaxy/tests/test_frontend_module_graph.py

@@ -44,7 +44,7 @@ def test_bluetooth_actions_use_reactive_disabled_bindings():
   assert "state.pairingAddress" in source
   assert "state.busy !== \"power\"" in source
   assert "Turning Bluetooth" in source
-  assert "!device.paired && !device.connected" in source
+  assert "!device.paired" in source
   assert 'galaxyPath("/bluetooth")' in source
   assert 'window.location.pathname === "/bluetooth"' not in source
   assert "schedulePoll(250)" in source