flyin

This reverts commit 3bd7152f0a.

common/params.cc

@@ -164,6 +164,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalManeuverPaddleMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalManeuverStatus", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -235,6 +238,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AlwaysOnLateral", PERSISTENT},
     {"AlwaysOnLateralLKAS", PERSISTENT},
     {"AlwaysOnLateralMain", PERSISTENT},
+    {"AlwaysAllowUploads", PERSISTENT},
     {"AMapKey1", PERSISTENT | DONT_LOG},
     {"AMapKey2", PERSISTENT | DONT_LOG},
     {"ApiCache_DriveStats", PERSISTENT},
@@ -324,7 +328,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DynamicPathWidth", PERSISTENT},
     {"DynamicPedalsOnUI", PERSISTENT},
     {"EngageVolume", PERSISTENT},
-    {"ExperimentalGMTune", PERSISTENT},
     {"EVTuning", PERSISTENT},
     {"TruckTuning", PERSISTENT},
     {"Fahrenheit", PERSISTENT},
@@ -354,6 +357,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GasRegenCmd", PERSISTENT},
     {"GMPedalLongitudinal", PERSISTENT},
     {"GoatScream", PERSISTENT},
+    {"GoatScreamCriticalAlerts", PERSISTENT},
     {"GreenLightAlert", PERSISTENT},
     {"HideAlerts", PERSISTENT},
     {"HideLeadMarker", PERSISTENT},
@@ -474,6 +478,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadName", CLEAR_ON_MANAGER_START},
     {"RoadNameUI", PERSISTENT},
     {"RedPanda", PERSISTENT},
+    {"RemapCancelToDistance", PERSISTENT},
     {"RemoteStartBootsComma", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},

frogpilot/common/frogpilot_variables.py

@@ -62,6 +62,7 @@ THEME_SAVE_PATH = Path("/data/themes")
 ERROR_LOGS_PATH = Path("/data/error_logs")
 SCREEN_RECORDINGS_PATH = Path("/data/media/screen_recordings")
 VIDEO_CACHE_PATH = Path("/data/video_cache")
+MODEL_MIGRATION_FLAG_PATH = Path("/data/params/d/ModelMigratedBd2ToSc")
 
 BACKUP_PATH = Path("/cache/on_backup")
 
@@ -75,8 +76,8 @@ MAPD_PATH = Path("/data/media/0/osm/mapd")
 MAPS_PATH = Path("/data/media/0/osm/offline")
 NNFF_MODELS_PATH = Path(BASEDIR) / "frogpilot/assets/nnff_models"
 
-DEFAULT_MODEL = "bd2"
-DEFAULT_MODEL_NAME = "Firehose (Default) 👀📡"
+DEFAULT_MODEL = "sc"
+DEFAULT_MODEL_NAME = "South Carolina (Default) 👀📡"
 DEFAULT_MODEL_VERSION = "v11"
 
 BUTTON_FUNCTIONS = {
@@ -147,6 +148,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AlwaysOnLateral", "1", 0, "0"),
   ("AlwaysOnLateralLKAS", "1", 0, "0"),
   ("AlwaysOnLateralMain", "1", 0, "0"),
+  ("AlwaysAllowUploads", "0", 2, "0"),
   ("AMapKey1", "", 0, ""),
   ("AMapKey2", "", 0, ""),
   ("AutomaticallyDownloadModels", "1", 1, "0"),
@@ -172,7 +174,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("CECurves", "0", 1, "0"),
   ("CECurvesLead", "0", 1, "0"),
   ("CELead", "0", 1, "0"),
-  ("CEModelStopTime", str(PLANNER_TIME - 2), 2, "0"),
+  ("CEModelStopTime", "7", 2, "0"),
   ("CENavigation", "0", 2, "0"),
   ("CENavigationIntersections", "1", 2, "0"),
   ("CENavigationLead", "1", 2, "0"),
@@ -221,7 +223,6 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("DynamicPathWidth", "0", 2, "0"),
   ("DynamicPedalsOnUI", "1", 2, "0"),
   ("EngageVolume", "101", 2, "101"),
-  ("ExperimentalGMTune", "0", 2, "0"),
   ("ExperimentalLongitudinalEnabled", "0", 0, "0"),
   ("ExperimentalModeConfirmed", "0", 0, "0"),
   ("Fahrenheit", "0", 3, "0"),
@@ -239,11 +240,13 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
   ("GMPedalLongitudinal", "1", 2, "1"),
+  ("RemapCancelToDistance", "0", 2, "0"),
   ("RedPanda", "0", 3, "0"),
   ("RemoteStartBootsComma", "0", 3, "0"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
+  ("GoatScreamCriticalAlerts", "0", 1, "0"),
   ("GreenLightAlert", "0", 0, "0"),
   ("GsmApn", "", 0, ""),
   ("GsmRoaming", "1", 0, "0"),
@@ -456,7 +459,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("WarningSoftVolume", "101", 2, "101"),
   ("WheelIcon", "frog", 0, "stock"),
   ("WheelSpeed", "0", 2, "0"),
-  ("StopDistance", "6", 3, "6"),
+  ("StopDistance", "6.0", 3, "6.0"),
   ("RecoveryPower", "1.0", 2, "1.0")
 ]
 
@@ -534,6 +537,18 @@ class FrogPilotVariables:
 
     tuning_level = params.get_int("TuningLevel") if params.get_bool("TuningLevelConfirmed") else 3
 
+    # One-time migration: move legacy bd2 selections to the new default sc model.
+    if not MODEL_MIGRATION_FLAG_PATH.is_file():
+      if params.get("Model", encoding="utf-8") == "bd2":
+        params.put("Model", DEFAULT_MODEL)
+        params.put("ModelVersion", DEFAULT_MODEL_VERSION)
+        params_cache.put("Model", DEFAULT_MODEL)
+        params_cache.put("ModelVersion", DEFAULT_MODEL_VERSION)
+      try:
+        MODEL_MIGRATION_FLAG_PATH.touch(exist_ok=True)
+      except OSError:
+        pass
+
     toggle.is_metric = params.get_bool("IsMetric")
     distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER
     small_distance_conversion = 1 if toggle.is_metric else CV.INCH_TO_CM
@@ -575,6 +590,7 @@ class FrogPilotVariables:
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
     has_nnff = nnff_supported(toggle.car_model)
     toggle.has_pedal = CP.enableGasInterceptor
+    params_default.put("IncreasedStoppedDistance", "4" if toggle.has_pedal else "0")
     has_radar = not CP.radarUnavailable
     toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
     toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
@@ -682,7 +698,7 @@ class FrogPilotVariables:
 
     toggle.car_model = params.get("CarModel", encoding="utf-8") or toggle.car_model
 
-    toggle.cluster_offset = params.get_float("ClusterOffset") if toggle.car_make == "toyota" and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset")
+    toggle.cluster_offset = params.get_float("ClusterOffset") if toggle.car_make in {"gm", "toyota"} and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset")
 
     toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and (params.get_bool("ConditionalExperimental") if tuning_level >= level["ConditionalExperimental"] else default.get_bool("ConditionalExperimental"))
     toggle.conditional_curves = toggle.conditional_experimental_mode and (params.get_bool("CECurves") if tuning_level >= level["CECurves"] else default.get_bool("CECurves"))
@@ -706,6 +722,7 @@ class FrogPilotVariables:
 
     toggle.custom_alerts = params.get_bool("CustomAlerts") if tuning_level >= level["CustomAlerts"] else default.get_bool("CustomAlerts")
     toggle.goat_scream_alert = toggle.custom_alerts and (params.get_bool("GoatScream") if tuning_level >= level["GoatScream"] else default.get_bool("GoatScream"))
+    toggle.goat_scream_critical_alerts = toggle.custom_alerts and (params.get_bool("GoatScreamCriticalAlerts") if tuning_level >= level["GoatScreamCriticalAlerts"] else default.get_bool("GoatScreamCriticalAlerts"))
     toggle.green_light_alert = toggle.custom_alerts and (params.get_bool("GreenLightAlert") if tuning_level >= level["GreenLightAlert"] else default.get_bool("GreenLightAlert"))
     toggle.lead_departing_alert = toggle.custom_alerts and (params.get_bool("LeadDepartingAlert") if tuning_level >= level["LeadDepartingAlert"] else default.get_bool("LeadDepartingAlert"))
     toggle.loud_blindspot_alert = has_bsm and toggle.custom_alerts and (params.get_bool("LoudBlindspotAlert") if tuning_level >= level["LoudBlindspotAlert"] else default.get_bool("LoudBlindspotAlert"))
@@ -791,6 +808,7 @@ class FrogPilotVariables:
     toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
     toggle.increase_thermal_limits = device_management and (params.get_bool("IncreaseThermalLimits") if tuning_level >= level["IncreaseThermalLimits"] else default.get_bool("IncreaseThermalLimits"))
     toggle.low_voltage_shutdown = np.clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if device_management and tuning_level >= level["LowVoltageShutdown"] else default.get_float("LowVoltageShutdown")
+    toggle.always_allow_uploads = device_management and (params.get_bool("AlwaysAllowUploads") if tuning_level >= level["AlwaysAllowUploads"] else default.get_bool("AlwaysAllowUploads"))
     toggle.no_logging = device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) and not self.vetting_branch or toggle.force_onroad
     toggle.no_uploads = device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) and not self.vetting_branch or toggle.use_higher_bitrate
     toggle.no_onroad_uploads = toggle.no_uploads and (params.get_bool("DisableOnroadUploads") if tuning_level >= level["DisableOnroadUploads"] else default.get_bool("DisableOnroadUploads")) and not toggle.use_higher_bitrate
@@ -822,13 +840,11 @@ class FrogPilotVariables:
     toggle.personality_profile_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
     toggle.traffic_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
 
-    toggle.experimental_gm_tune = toggle.openpilot_longitudinal and toggle.car_make == "gm" and (params.get_bool("ExperimentalGMTune") if tuning_level >= level["ExperimentalGMTune"] else default.get_bool("ExperimentalGMTune"))
-    toggle.stoppingDecelRate = 0.3 if toggle.experimental_gm_tune else toggle.stoppingDecelRate
-    toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
-    toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
-
     toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
     toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
+    toggle.remap_cancel_to_distance = toggle.car_make == "gm" and toggle.openpilot_longitudinal and (
+      params.get_bool("RemapCancelToDistance") if tuning_level >= level["RemapCancelToDistance"] else default.get_bool("RemapCancelToDistance")
+    )
 
     toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None
 

frogpilot/common/testing_grounds.py

@@ -0,0 +1,224 @@
+import json
+import threading
+import time
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
+TESTING_GROUNDS_SCHEMA_VERSION = 1
+
+TESTING_GROUND_1 = "1"
+TESTING_GROUND_2 = "2"
+TESTING_GROUND_3 = "3"
+TESTING_GROUND_4 = "4"
+TESTING_GROUND_5 = "5"
+TESTING_GROUND_6 = "6"
+TESTING_GROUND_7 = "7"
+
+TESTING_GROUND_IDS = (
+  TESTING_GROUND_1,
+  TESTING_GROUND_2,
+  TESTING_GROUND_3,
+  TESTING_GROUND_4,
+  TESTING_GROUND_5,
+  TESTING_GROUND_6,
+  TESTING_GROUND_7,
+)
+
+TESTING_GROUNDS_STATE_PATH = Path("/tmp/the_pond_testing_grounds_slots.json") if PC else Path("/data/testing_grounds/slots.json")
+
+# Edit slot names/descriptions once here. The Pond and runtime checks share this table.
+# Slots named "Unused" are hidden from the dropdown.
+# Adding cLabel/dLabel/etc. automatically adds more mode buttons for that slot in Testing Ground.
+TESTING_GROUNDS_SLOT_DEFINITIONS = (
+  {
+    "id": TESTING_GROUND_1,
+    "name": "GM Long Tune",
+    "description": "BoltLongTune A/B sandbox for GM ACC longitudinal testing.",
+    "aLabel": "A - Installed tune",
+    "bLabel": "B - BoltLongTune test",
+  },
+  {
+    "id": TESTING_GROUND_2,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_3,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_4,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_5,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_6,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_7,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+)
+
+_DEFAULT_ACTIVE_SLOT = TESTING_GROUND_1
+DEFAULT_TESTING_GROUND_VARIANT = "A"
+TESTING_GROUND_TEST_VARIANT = "B"
+_CACHE_LOCK = threading.Lock()
+_CACHE_LAST_REFRESH = 0.0
+_CACHE_LAST_MTIME_NS = -1
+_CACHE_ACTIVE_SLOT = _DEFAULT_ACTIVE_SLOT
+_CACHE_ACTIVE_VARIANT = DEFAULT_TESTING_GROUND_VARIANT
+
+def _extract_variant_labels(slot_definition):
+  labels = {}
+  for key, value in dict(slot_definition).items():
+    if not isinstance(key, str) or not key.endswith("Label"):
+      continue
+    variant = key[:-5].upper()
+    if len(variant) != 1 or not variant.isalpha():
+      continue
+    label = str(value or "").strip()
+    if label:
+      labels[variant] = label
+
+  if DEFAULT_TESTING_GROUND_VARIANT not in labels:
+    labels[DEFAULT_TESTING_GROUND_VARIANT] = DEFAULT_TESTING_GROUND_VARIANT
+
+  return dict(sorted(labels.items()))
+
+TESTING_GROUND_VARIANT_LABELS = {
+  str(slot.get("id") or "").strip(): _extract_variant_labels(slot)
+  for slot in TESTING_GROUNDS_SLOT_DEFINITIONS
+}
+TESTING_GROUND_VARIANTS = tuple(
+  sorted({
+    variant
+    for labels in TESTING_GROUND_VARIANT_LABELS.values()
+    for variant in labels.keys()
+  })
+)
+
+def _normalize_variant(value, slot_id=None):
+  normalized_slot_id = str(slot_id or "").strip()
+  allowed_variants = set(TESTING_GROUND_VARIANT_LABELS.get(normalized_slot_id, {}).keys())
+  if not allowed_variants:
+    allowed_variants = set(TESTING_GROUND_VARIANTS) or {DEFAULT_TESTING_GROUND_VARIANT}
+
+  variant = str(value or "").strip().upper()
+  return variant if variant in allowed_variants else DEFAULT_TESTING_GROUND_VARIANT
+
+def get_testing_ground_selection(refresh_interval_s=0.5):
+  global _CACHE_LAST_REFRESH, _CACHE_LAST_MTIME_NS, _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+  now = time.monotonic()
+  with _CACHE_LOCK:
+    if (now - _CACHE_LAST_REFRESH) < refresh_interval_s:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+    _CACHE_LAST_REFRESH = now
+
+    try:
+      stat_result = TESTING_GROUNDS_STATE_PATH.stat()
+    except FileNotFoundError:
+      _CACHE_LAST_MTIME_NS = -1
+      _CACHE_ACTIVE_SLOT = _DEFAULT_ACTIVE_SLOT
+      _CACHE_ACTIVE_VARIANT = DEFAULT_TESTING_GROUND_VARIANT
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+    except OSError:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    if stat_result.st_mtime_ns == _CACHE_LAST_MTIME_NS:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    try:
+      payload = json.loads(TESTING_GROUNDS_STATE_PATH.read_text(encoding="utf-8"))
+    except Exception:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    if not isinstance(payload, dict):
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    slot_id = str(payload.get("activeSlot") or _DEFAULT_ACTIVE_SLOT).strip()
+    if slot_id not in TESTING_GROUND_IDS:
+      slot_id = _DEFAULT_ACTIVE_SLOT
+
+    _CACHE_ACTIVE_SLOT = slot_id
+    _CACHE_ACTIVE_VARIANT = _normalize_variant(payload.get("activeVariant"), slot_id)
+    _CACHE_LAST_MTIME_NS = stat_result.st_mtime_ns
+    return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+def is_testing_ground_active(slot_id, variant=TESTING_GROUND_TEST_VARIANT, refresh_interval_s=0.5):
+  active_slot, active_variant = get_testing_ground_selection(refresh_interval_s=refresh_interval_s)
+  normalized_slot_id = str(slot_id or "").strip()
+  target_variant = _normalize_variant(variant, normalized_slot_id)
+  return normalized_slot_id == active_slot and active_variant == target_variant
+
+class _TestingGroundFlag:
+  __slots__ = ("slot_id", "variant")
+
+  def __init__(self, slot_id, variant=TESTING_GROUND_TEST_VARIANT):
+    self.slot_id = str(slot_id or "").strip()
+    self.variant = _normalize_variant(variant, self.slot_id)
+
+  def __bool__(self):
+    return is_testing_ground_active(self.slot_id, self.variant)
+
+  def __repr__(self):
+    state = "active" if bool(self) else "inactive"
+    return f"<TestingGroundFlag slot={self.slot_id} variant={self.variant} {state}>"
+
+use_testing_ground_1 = _TestingGroundFlag(TESTING_GROUND_1)
+use_testing_ground_2 = _TestingGroundFlag(TESTING_GROUND_2)
+use_testing_ground_3 = _TestingGroundFlag(TESTING_GROUND_3)
+use_testing_ground_4 = _TestingGroundFlag(TESTING_GROUND_4)
+use_testing_ground_5 = _TestingGroundFlag(TESTING_GROUND_5)
+use_testing_ground_6 = _TestingGroundFlag(TESTING_GROUND_6)
+use_testing_ground_7 = _TestingGroundFlag(TESTING_GROUND_7)
+
+class _TestingGroundNamespace:
+  __slots__ = ()
+
+  id_1 = TESTING_GROUND_1
+  id_2 = TESTING_GROUND_2
+  id_3 = TESTING_GROUND_3
+  id_4 = TESTING_GROUND_4
+  id_5 = TESTING_GROUND_5
+  id_6 = TESTING_GROUND_6
+  id_7 = TESTING_GROUND_7
+
+  use_1 = use_testing_ground_1
+  use_2 = use_testing_ground_2
+  use_3 = use_testing_ground_3
+  use_4 = use_testing_ground_4
+  use_5 = use_testing_ground_5
+  use_6 = use_testing_ground_6
+  use_7 = use_testing_ground_7
+
+  def use(self, slot_id, variant=TESTING_GROUND_TEST_VARIANT):
+    return is_testing_ground_active(slot_id, variant)
+
+  def selection(self):
+    return get_testing_ground_selection()
+
+testing_ground = _TestingGroundNamespace()

frogpilot/controls/lib/conditional_experimental_mode.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import time
+
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.numpy_fast import interp
@@ -32,6 +34,10 @@ class ConditionalExperimentalMode:
   LIGHT_BOOST_LOW = 1.15
   LIGHT_BOOST_HIGH = 1.2
 
+  # Small latch to avoid frame-to-frame mode chatter.
+  CEM_TRANSITION_GUARD_TIME = 0.50
+  CEM_TRANSITION_BUFFER_TIME = 0.25
+
   @staticmethod
   def get_speed_based_param(speed_mph, param_array):
     """Get parameter value based on current speed using smooth interpolation between breakpoints [0, 35, 55, 70]"""
@@ -49,8 +55,12 @@ class ConditionalExperimentalMode:
     self.experimental_mode = False
     self.stop_light_detected = False
     self.prev_experimental_mode = False  # For hysteresis
+    self.mode_hold_until = 0.0
+    self.mode_false_since = 0.0
 
   def update(self, v_ego, sm, frogpilot_toggles):
+    now = time.monotonic()
+
     if frogpilot_toggles.experimental_mode_via_press:
       self.status_value = params_memory.get_int("CEStatus")
     else:
@@ -58,28 +68,23 @@ class ConditionalExperimentalMode:
 
     if self.status_value not in {1, 2} and not sm["carState"].standstill:
       self.update_conditions(v_ego, sm, frogpilot_toggles)
-      new_experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
 
-      # Add hysteresis to prevent rapid toggling
-      if new_experimental_mode and not self.prev_experimental_mode:
-        # Require weaker conditions to turn on
-        hysteresis_factor = 0.9
-      elif not new_experimental_mode and self.prev_experimental_mode:
-        # Require stronger conditions to turn off
-        hysteresis_factor = 1.2
-      else:
-        hysteresis_factor = 1.0
+      triggered = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      if triggered:
+        self.mode_hold_until = now + self.CEM_TRANSITION_GUARD_TIME
+        self.mode_false_since = 0.0
+      elif self.mode_false_since == 0.0:
+        self.mode_false_since = now
 
-      # Apply hysteresis to key conditions
-      if hasattr(self, 'slow_lead_detected'):
-        self.slow_lead_detected = self.slow_lead_detected if hysteresis_factor == 1.0 else (self.slow_lead_filter.x >= scale_threshold(v_ego) * hysteresis_factor)
-      if hasattr(self, 'curve_detected'):
-        self.curve_detected = self.curve_detected if hysteresis_factor == 1.0 else (self.curvature_filter.x >= THRESHOLD * hysteresis_factor)
+      hold_active = now < self.mode_hold_until
+      transition_buffer_active = self.mode_false_since != 0.0 and (now - self.mode_false_since) < self.CEM_TRANSITION_BUFFER_TIME
 
-      self.experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      self.experimental_mode = triggered or hold_active or transition_buffer_active
       self.prev_experimental_mode = self.experimental_mode
       params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
     else:
+      self.mode_hold_until = 0.0
+      self.mode_false_since = 0.0
       self.experimental_mode = self.status_value == 2 or sm["carState"].standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
       self.stop_light_detected &= self.status_value not in {1, 2}
       self.stop_light_filter.x = 0

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -47,10 +47,10 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 
                        # MPH = [0.0,  11,  22,  34,  45,  56,  89]
 A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.12, 1.12, 1.45]
-A_CRUISE_MAX_VALS_STANDARD_EV = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
-A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.45, 1.5, 2.0]
-A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
+A_CRUISE_MAX_VALS_ECO_EV =      [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
+A_CRUISE_MAX_VALS_STANDARD_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
+A_CRUISE_MAX_VALS_SPORT_EV =    [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
+A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
 A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
 A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
 A_CRUISE_MAX_VALS_ECO_TRUCK =       [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]

frogpilot/controls/lib/frogpilot_following.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFO
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
-PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
+PERSONALITY_BP = [45. * CV.MPH_TO_MS, 70. * CV.MPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
@@ -73,9 +73,23 @@ class FrogPilotFollowing:
     self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
 
 
-    self.disable_throttle = self.frogpilot_planner.tracking_lead and not self.following_lead
-    self.disable_throttle &= self.frogpilot_planner.lead_one.dRel + 6.0 < (self.t_follow * 2 * 2) * v_ego
-    self.disable_throttle &= self.frogpilot_planner.lead_one.vLead < v_ego * 0.75
+    self.disable_throttle = False
+    if self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.status:
+      lead_distance = self.frogpilot_planner.lead_one.dRel
+      v_lead = self.frogpilot_planner.lead_one.vLead
+      closing_speed = max(0.0, v_ego - v_lead)
+      desired_gap = float(desired_follow_distance(v_ego, v_lead, self.t_follow))
+      ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
+
+      # Keep a mild coasting behavior only for far/low-risk slower leads.
+      coast_window_open = lead_distance > desired_gap + max(4.0, 0.2 * v_ego)
+      coast_window_far = lead_distance < desired_gap + max(25.0, 1.2 * v_ego)
+      gentle_closing = closing_speed < max(2.0, 0.12 * v_ego)
+
+      self.disable_throttle = (not self.following_lead and v_ego > 5.0 and coast_window_open and
+                               coast_window_far and gentle_closing)
+      # Never coast when we are entering a potentially late-braking scenario.
+      self.disable_throttle &= ttc > 6.0 and lead_distance > desired_gap + 6.0
 
     if sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead:
       self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)

frogpilot/system/galaxy/galaxy.py

@@ -0,0 +1,215 @@
+#!/usr/bin/env python3
+import hmac
+import json
+import platform
+import shutil
+import signal
+import subprocess
+import tarfile
+import time
+import threading
+import urllib.request
+from http.server import HTTPServer, BaseHTTPRequestHandler
+from pathlib import Path
+
+from openpilot.common.params import Params
+
+GALAXY_DIR = Path("/data/galaxy")
+FRPC_VERSION = "0.67.0"
+FRPC_LOG = GALAXY_DIR / "frpc.log"
+AUTH_PORT = 8083
+
+process = None
+auth_server = None
+
+VALID_PATHS = {"/glxylogin": "glxyauth", "/glxyverify": "glxysession"}
+
+
+class AuthHandler(BaseHTTPRequestHandler):
+  """Validates login hashes and verifies session tokens."""
+  dongle_id = ""
+
+  def do_POST(self):
+    target = VALID_PATHS.get(self.path)
+    if not target:
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    file_path = GALAXY_DIR / target
+    if not file_path.exists():
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    try:
+      length = int(self.headers.get("Content-Length", 0))
+      body = self.rfile.read(length).decode("utf-8").strip()
+      if hmac.compare_digest(body, file_path.read_text().strip()):
+        self.send_response(200)
+        if self.path == "/glxylogin":
+          self.send_header("Content-Type", "application/json")
+          self.end_headers()
+          token = (GALAXY_DIR / "glxysession").read_text().strip()
+          self.wfile.write(json.dumps({"dongle_id": self.dongle_id, "token": token}).encode())
+        else:
+          self.end_headers()
+        return
+    except Exception:
+      pass
+
+    self.send_response(403)
+    self.end_headers()
+
+  def log_message(self, format, *args):
+    pass
+
+
+def start_auth_server():
+  global auth_server
+  if auth_server is not None:
+    return
+  auth_server = HTTPServer(("127.0.0.1", AUTH_PORT), AuthHandler)
+  thread = threading.Thread(target=auth_server.serve_forever, daemon=True)
+  thread.start()
+  print(f"Galaxy: Auth server listening on 127.0.0.1:{AUTH_PORT}")
+
+
+def cleanup_frpc(*_):
+  global process
+  if process is not None and process.poll() is None:
+    process.terminate()
+    try:
+      process.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+      process.kill()
+    process = None
+
+
+def get_arch_url():
+  arch = platform.machine()
+  if arch in ("aarch64", "arm64"):
+    return f"https://github.com/fatedier/frp/releases/download/v{FRPC_VERSION}/frp_{FRPC_VERSION}_linux_arm64.tar.gz", f"frp_{FRPC_VERSION}_linux_arm64"
+  elif arch in ("x86_64", "amd64"):
+    return f"https://github.com/fatedier/frp/releases/download/v{FRPC_VERSION}/frp_{FRPC_VERSION}_linux_amd64.tar.gz", f"frp_{FRPC_VERSION}_linux_amd64"
+  return None, None
+
+
+def setup_frpc():
+  GALAXY_DIR.mkdir(parents=True, exist_ok=True)
+  frpc_bin = GALAXY_DIR / "frpc"
+
+  if not frpc_bin.exists():
+    print("Galaxy: Downloading frpc...")
+    url, folder_name = get_arch_url()
+    if not url:
+      print("Galaxy: Unsupported architecture")
+      return False
+
+    tar_path = GALAXY_DIR / "frp.tar.gz"
+    try:
+      urllib.request.urlretrieve(url, tar_path)
+      with tarfile.open(tar_path, "r:gz") as tar:
+        tar.extractall(path=GALAXY_DIR, filter='data')
+
+      # Move binary
+      extracted_bin = GALAXY_DIR / folder_name / "frpc"
+      extracted_bin.rename(frpc_bin)
+      frpc_bin.chmod(0o755)
+
+      # Cleanup
+      tar_path.unlink()
+      shutil.rmtree(GALAXY_DIR / folder_name)
+      print("Galaxy: frpc downloaded and installed.")
+    except Exception as e:
+      print(f"Galaxy: Failed to install frpc: {e}")
+      return False
+
+  return True
+
+
+def main():
+  global process
+  params = Params()
+
+  signal.signal(signal.SIGTERM, cleanup_frpc)
+  signal.signal(signal.SIGINT, cleanup_frpc)
+
+  dongle_id = params.get("DongleId", encoding='utf8')
+  while not dongle_id:
+    print("Galaxy: Waiting for DongleId...")
+    time.sleep(5)
+    dongle_id = params.get("DongleId", encoding='utf8')
+
+  print(f"Galaxy: DongleId: {dongle_id}")
+  AuthHandler.dongle_id = dongle_id
+  print("Galaxy: Starting manager loop...")
+
+  last_slug = None
+
+  while True:
+    glxyauth_file = GALAXY_DIR / "glxyauth"
+    galaxy_password_hash = glxyauth_file.read_text().strip() if glxyauth_file.exists() else None
+    slug_file = GALAXY_DIR / "glxyslug"
+    slug = slug_file.read_text().strip() if slug_file.exists() else None
+    is_paired = galaxy_password_hash and len(galaxy_password_hash) == 64 and slug
+
+    if is_paired:
+      if process is None or process.poll() is not None or slug != last_slug:
+        cleanup_frpc()
+        if process is not None and slug == last_slug:
+          print(f"Galaxy: frpc exited with code {process.returncode}. Restarting...")
+
+        print("Galaxy: Password set. Preparing frpc tunnel...")
+        if not setup_frpc():
+          print("Galaxy: FRPC setup failed. Retrying later...")
+          time.sleep(10)
+          continue
+
+        start_auth_server()
+
+        frpc_toml = GALAXY_DIR / "frpc.toml"
+        config = f"""\
+serverAddr = "galaxy.firestar.link"
+serverPort = 7000
+
+[transport]
+tls.enable = true
+poolCount = 2
+
+[[proxies]]
+name = "{slug}_pond"
+type = "http"
+localIP = "127.0.0.1"
+localPort = 8082
+customDomains = ["{slug}.devices.local"]
+transport.useCompression = true
+
+[[proxies]]
+name = "{slug}_auth"
+type = "http"
+localIP = "127.0.0.1"
+localPort = {AUTH_PORT}
+customDomains = ["auth-{slug}.devices.local"]
+"""
+        frpc_toml.write_text(config)
+
+        print(f"Galaxy: Starting frpc tunnel (slug: {slug[:4]}...)...")
+        log_file = open(FRPC_LOG, 'a')
+        process = subprocess.Popen(
+          [str(GALAXY_DIR / "frpc"), "-c", str(frpc_toml)],
+          stdout=log_file,
+          stderr=log_file
+        )
+        last_slug = slug
+    else:
+      if process is not None and process.poll() is None:
+        print("Galaxy: Password cleared. Stopping frpc tunnel...")
+        cleanup_frpc()
+        last_slug = None
+
+    time.sleep(3)
+
+
+if __name__ == "__main__":
+  main()

frogpilot/system/the_pond/assets/components/home/home.css

@@ -6,7 +6,7 @@
 }
 
 .disk .progress {
-  background: linear-gradient(to right, green 0%, yellow 80%, orange 90%, red 100%);
+  background: linear-gradient(to right, #5ec8c8 0%, #8b6cc5 60%, #e05577 85%, #c04466 100%);
   border-radius: var(--border-radius-md);
   height: var(--padding-base);
   overflow: hidden;
@@ -15,7 +15,6 @@
 
 .diskUsage,
 .drivingStats,
-.firehoseStats,
 .softwareInfo {
   background-color: var(--secondary-bg);
   border-radius: var(--border-radius-md);
@@ -31,7 +30,6 @@
 }
 
 .diskUsage p,
-.firehoseStats p,
 .softwareGrid p {
   font-size: var(--font-size-sm);
   margin: 0;
@@ -65,7 +63,6 @@
 
 .diskUsage:hover,
 .drivingStats:hover,
-.firehoseStats:hover,
 .softwareInfo:hover {
   box-shadow: var(--shadow-md);
   transform: var(--hover-scale-sm);

frogpilot/system/the_pond/assets/components/home/home.js

@@ -64,56 +64,61 @@ function renderDiskUsageSection({ diskError, diskUsage }) {
   return DiskUsage({ size: "0 GB", used: "0 GB", usedPercentage: "0" });
 }
 
-export function Home() {
-  const state = reactive({
-    data: null,
-    unit: "miles",
-    isLoading: true,
-    error: null,
-  });
+const state = reactive({
+  data: null,
+  unit: "miles",
+  isLoading: true,
+  error: null,
+});
 
-  async function initialize() {
-    try {
-      const [statsResponse, unitResponse] = await Promise.all([
-        fetch("/api/stats"),
-        fetch("/api/params?key=IsMetric"),
-      ]);
+let initialized = false;
 
-      if (!statsResponse.ok) throw new Error(`API error: ${statsResponse.statusText}`);
-      if (!unitResponse.ok) throw new Error(`API error: ${unitResponse.statusText}`);
+async function initialize() {
+  try {
+    const [statsResponse, unitResponse] = await Promise.all([
+      fetch("/api/stats"),
+      fetch("/api/params?key=IsMetric"),
+    ]);
 
-      const statsJson = await statsResponse.json();
-      const isMetricText = (await unitResponse.text()).trim();
-      const isMetric = isMetricText === "1";
+    if (!statsResponse.ok) throw new Error(`API error: ${statsResponse.statusText}`);
+    if (!unitResponse.ok) throw new Error(`API error: ${unitResponse.statusText}`);
 
-      state.data = statsJson;
-      state.unit = isMetric ? "kilometers" : "miles";
-      localStorage.setItem("isMetric", isMetricText);
-    } catch (err) {
-      console.error("Failed to initialize component:", err);
-      state.error = err.message;
-    } finally {
-      state.isLoading = false;
-    }
+    const statsJson = await statsResponse.json();
+    const isMetricText = (await unitResponse.text()).trim();
+    const isMetric = isMetricText === "1";
+
+    state.data = statsJson;
+    state.unit = isMetric ? "kilometers" : "miles";
+    localStorage.setItem("isMetric", isMetricText);
+  } catch (err) {
+    console.error("Failed to initialize component:", err);
+    state.error = err.message;
+  } finally {
+    state.isLoading = false;
   }
+}
 
-  initialize();
+export function Home() {
+  if (!initialized) {
+    initialized = true;
+    initialize();
+  }
 
   return html`
     <div>
       ${() => {
-        if (state.isLoading) {
-          return html`<p>Loading...</p>`;
-        }
+      if (state.isLoading) {
+        return html`<p>Loading...</p>`;
+      }
 
-        if (state.error) {
-          return html`<p class="error">Failed to load data: ${state.error}</p>`;
-        }
+      if (state.error) {
+        return html`<p class="error">Failed to load data: ${state.error}</p>`;
+      }
 
-        if (state.data) {
-          const { driveStats, firehoseStats, softwareInfo } = state.data;
-          return html`
-            <h1>The Pond</h1>
+      if (state.data) {
+        const { driveStats, softwareInfo } = state.data;
+        return html`
+            <h1>Galaxy</h1>
 
             <div class="drivingStats">
               ${DriveStat("All Time", driveStats?.all, state.unit)}
@@ -126,23 +131,15 @@ export function Home() {
               ${renderDiskUsageSection(state.data)}
             </div>
 
-            <h2>Firehose Segments</h2>
-            <div class="firehoseStats">
-              <p>
-                <strong>${(firehoseStats?.segments ?? 0).toLocaleString("en-US")}</strong>
-                segments in training data.
-              </p>
-            </div>
-
             <h2>Software Info</h2>
             <div class="softwareInfo">
               <div class="softwareGrid">${renderSoftwareInfo(softwareInfo)}</div>
             </div>
           `;
-        }
+      }
 
-        return html`<p>No data available.</p>`;
-      }}
+      return html`<p>No data available.</p>`;
+    }}
     </div>
   `;
 }

frogpilot/system/the_pond/assets/components/main.css

@@ -20,47 +20,49 @@
   --breakpoint-lg: 1024px;
   --breakpoint-xl: 1280px;
 
-  /* Colors */
-  --accent-bg: #673ab7;
-  --accent-hover-bg: #512da8;
-  --card-bg: #234423;
+  /* Colors — Galaxy palette (cosmic purple · teal · rose · amber) */
+  --accent-bg: #8b6cc5;
+  --accent-hover-bg: #7558b0;
+  --card-bg: #121224;
   --color-black: #000000;
-  --color-confirm: #1a73e8;
-  --color-confirm-hover: #0758ad;
-  --color-gray-100: #f5f5f5;
-  --color-gray-200: #e0e0e0;
-  --color-gray-300: #c2c2c2;
-  --color-gray-400: #a4a4a4;
-  --color-gray-500: #8f8f8f;
-  --color-gray-600: #737373;
-  --color-gray-700: #595959;
-  --color-gray-800: #333333;
-  --color-gray-900: #1a1a1a;
+  --color-confirm: #8b6cc5;
+  --color-confirm-hover: #7558b0;
+  --color-gray-100: #f0f0f8;
+  --color-gray-200: #d8d8e4;
+  --color-gray-300: #b8b8cc;
+  --color-gray-400: #9898b0;
+  --color-gray-500: #7e7e98;
+  --color-gray-600: #636380;
+  --color-gray-700: #4a4a64;
+  --color-gray-800: #2e2e44;
+  --color-gray-900: #1a1a30;
   --color-white: #ffffff;
-  --danger-bg: #b71c1c;
-  --danger-fg: #ef1313;
-  --danger-hover-bg: #d32f2f;
-  --input-bg: #2f5432;
-  --main-bg: #0b1b0b;
-  --main-fg: #178643;
-  --secondary-bg: #264026;
-  --selected-camera-bg: #1f2f1f;
-  --sidebar-active-bg: #64c87826;
-  --sidebar-bg: #264026;
-  --sidebar-border-color: #1e2e1e;
+  --danger-bg: #e05577;
+  --danger-fg: #e05577;
+  --danger-hover-bg: #c04466;
+  --glow-primary: 0 0 0 2px var(--main-fg), 0 0 10px rgba(139, 108, 197, 0.35);
+  --input-bg: #161630;
+  --main-bg: #06060f;
+  --main-fg: #8b6cc5;
+  --secondary-bg: #0e0e1a;
+  --selected-camera-bg: #0b0b18;
+  --sidebar-active-bg: rgba(139, 108, 197, 0.15);
+  --sidebar-bg: #0a0a16;
+  --sidebar-border-color: #1e1e3e;
   --sidebar-fg: #ffffff;
-  --sidebar-title-fg: #193446;
-  --success-bg: #039226;
-  --success-fg: #00a100;
-  --success-hover-bg: #01be2d;
-  --text-color: #ffffff;
-  --text-muted: #a0a0a0;
+  --sidebar-title-fg: #8b6cc5;
+  --success-bg: #5ec8c8;
+  --success-fg: #5ec8c8;
+  --success-hover-bg: #4ab3b3;
+  --switch-inactive-bg: #1e1e3e;
+  --text-color: #e8e8f0;
+  --text-muted: #8080a8;
   --text-on-primary: var(--sidebar-fg);
   --text-on-surface: var(--text-color);
-  --thumb-color: #178643;
-  --track-color: #1a3a1a;
-  --warning-bg: #ff9800;
-  --warning-hover-bg: #f57c00;
+  --thumb-color: #8b6cc5;
+  --track-color: #14142e;
+  --warning-bg: #d4a060;
+  --warning-hover-bg: #b8884a;
 
   /* Effects */
   --disabled-opacity: 0.5;
@@ -71,7 +73,7 @@
   --hover-scale-lg: scale(1.1);
 
   /* Fonts */
-  --font-body: "Open Sans", sans-serif;
+  --font-body: "Inter", "Open Sans", sans-serif;
   --font-mono: "Courier New", Courier, monospace;
   --font-size-xs: 0.75rem;
   --font-size-sm: 0.85rem;
@@ -96,9 +98,9 @@
   --width-xxxxl: 1200px;
 
   /* Shadows */
-  --shadow-xs: 0 1px 2px rgba(0,0,0,0.05);
-  --shadow-sm: 0 2px 4px rgba(0,0,0,0.1);
-  --shadow-md: 0 4px 12px rgba(0,0,0,0.2);
+  --shadow-xs: 0 1px 2px rgba(0, 0, 0, 0.05);
+  --shadow-sm: 0 2px 4px rgba(0, 0, 0, 0.1);
+  --shadow-md: 0 4px 12px rgba(0, 0, 0, 0.2);
 
   /* Spacing */
   --gap-xxs: 0.125rem;
@@ -172,12 +174,14 @@ input[type="checkbox"],
 input[type="radio"],
 .manage-keys-link,
 .route_card,
-.sidebar .menu_section > li > ul > li,
+.sidebar .menu_section>li>ul>li,
 .clickable {
   cursor: pointer;
 }
 
-body { padding-bottom: 0 !important; }
+body {
+  padding-bottom: 0 !important;
+}
 
 /* ――― Layout containers ――― */
 .content {
@@ -199,9 +203,17 @@ h3 {
 }
 
 /* ――― Helpers & states ――― */
-.hidden     { display: none; }
-html        { cursor: default; }
-.no_scroll  { overflow: hidden; }
+.hidden {
+  display: none;
+}
+
+html {
+  cursor: default;
+}
+
+.no_scroll {
+  overflow: hidden;
+}
 
 .not_implemented {
   cursor: not-allowed;
@@ -251,7 +263,9 @@ textarea {
   cursor: text;
 }
 
-label[for] { cursor: default; }
+label[for] {
+  cursor: default;
+}
 
 /* ――― Snackbar component ――― */
 .snackbar {
@@ -297,6 +311,7 @@ a {
     bottom: 0;
     opacity: 0;
   }
+
   to {
     bottom: var(--snackbar-offset, 30px);
     opacity: 1;
@@ -304,13 +319,20 @@ a {
 }
 
 @keyframes fadeout {
-  from { opacity: 1; }
-  to   { opacity: 0; }
+  from {
+    opacity: 1;
+  }
+
+  to {
+    opacity: 0;
+  }
 }
 
 /* ――― Breakpoint overrides ――― */
 @media only screen and (max-width: var(--breakpoint-md)) {
-  .content { margin-left: 0; }
+  .content {
+    margin-left: 0;
+  }
 }
 
 @media only screen and (max-width: 768px) and (orientation: portrait) {
@@ -320,6 +342,7 @@ a {
     padding-left: 1rem;
     padding-right: 1rem;
   }
+
   #snackbar_wrapper {
     left: 50%;
     transform: translateX(-50%);
@@ -333,6 +356,7 @@ a {
     bottom: 0;
     opacity: 0;
   }
+
   to {
     bottom: var(--snackbar-offset, 30px);
     opacity: 1;
@@ -340,18 +364,62 @@ a {
 }
 
 @-webkit-keyframes fadeout {
-  from { opacity: 1; }
-  to   { opacity: 0; }
+  from {
+    opacity: 1;
+  }
+
+  to {
+    opacity: 0;
+  }
+}
+
+/* ——— Tunnel notice banner ——— */
+.tunnel-notice {
+  align-items: center;
+  background: linear-gradient(135deg, var(--card-bg), var(--secondary-bg));
+  border: var(--border-width-thin) var(--border-style-base) var(--sidebar-border-color);
+  border-left: 3px solid var(--main-fg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-md);
+  color: var(--text-color);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-md);
+  margin: var(--margin-xl) auto;
+  max-width: var(--width-xl);
+  padding: var(--padding-xl) var(--padding-xxl);
+  text-align: center;
+}
+
+.tunnel-notice-icon {
+  font-size: 2.5rem;
+  opacity: 0.8;
+}
+
+.tunnel-notice-title {
+  color: var(--text-color);
+  font-size: var(--font-size-lg);
+  font-weight: var(--font-weight-bold);
+  margin: 0;
+}
+
+.tunnel-notice-body {
+  color: var(--text-muted);
+  font-size: var(--font-size-base);
+  line-height: var(--line-height-base);
+  margin: 0;
 }
 
 ::-webkit-scrollbar {
   height: 8px;
   width: 8px;
 }
+
 ::-webkit-scrollbar-track {
   background: var(--track-color);
 }
+
 ::-webkit-scrollbar-thumb {
   background-color: var(--thumb-color);
   border-radius: var(--border-radius-sm);
-}
+}

frogpilot/system/the_pond/assets/components/navigation/navigation_destination.css

@@ -109,7 +109,7 @@
 
 .favorites-toggle-button:hover {
   background-color: var(--main-fg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   color: var(--text-color);
   font-weight: var(--font-weight-bold);
   transform: var(--hover-scale-sm);
@@ -352,7 +352,7 @@
 
 .navigation-summary-widget button.directions:hover {
   background-color: var(--success-hover-bg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   color: var(--text-color);
   transform: var(--hover-scale-sm);
 }
@@ -466,12 +466,12 @@
 }
 
 .search-provider-toggle button.active {
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   transform: var(--hover-scale-sm);
 }
 
 .search-provider-toggle button:hover {
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   transform: var(--hover-scale-sm);
 }
 
@@ -533,4 +533,4 @@
     min-width: 0;
     width: calc(100% - var(--padding-xl));
   }
-}
+}

frogpilot/system/the_pond/assets/components/navigation/navigation_destination.js

@@ -101,6 +101,25 @@ async function setSpecial(favorite, type, state, loadFavoritesAlphabetically) {
   }
 }
 
+let mapboxLoadPromise = null;
+
+function loadMapboxGL() {
+  if (mapboxLoadPromise) return mapboxLoadPromise;
+  mapboxLoadPromise = new Promise((resolve, reject) => {
+    const link = document.createElement("link");
+    link.href = "https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.css";
+    link.rel = "stylesheet";
+    document.head.appendChild(link);
+
+    const script = document.createElement("script");
+    script.src = "https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.js";
+    script.onload = resolve;
+    script.onerror = () => reject(new Error("Failed to load Mapbox GL"));
+    document.head.appendChild(script);
+  });
+  return mapboxLoadPromise;
+}
+
 export function NavDestination() {
   let map;
   let destinationMarker;
@@ -262,13 +281,18 @@ export function NavDestination() {
     };
     try {
       state.destination = JSON.parse(data.destination);
-    } catch {}
+    } catch { }
     try {
       const prev = JSON.parse(data.previousDestinations);
       state.previousDestinations = prev.map(d => ({ name: d.place_name }));
       state.suggestions = JSON.stringify(state.previousDestinations);
-    } catch {}
-    setupMap();
+    } catch { }
+    try {
+      await setupMap();
+    } catch {
+      showSnackbar("Failed to load map resources…");
+      return;
+    }
     loadFavoritesAlphabetically();
   }
 
@@ -524,12 +548,18 @@ export function NavDestination() {
     }
   }
 
-  const setupMap = async () => {
+  const setupMap = async (retries = 0) => {
     if (!state.mapboxPublic || state.initialized) return;
+
+    if (typeof mapboxgl === "undefined") {
+      await loadMapboxGL();
+    }
+
     const container = document.getElementById("map");
     if (!container) {
-      requestAnimationFrame(setupMap);
-      return;
+      if (retries >= 50) return;
+      await new Promise(r => requestAnimationFrame(r));
+      return setupMap(retries + 1);
     }
     state.initialized = true;
     mapboxgl.accessToken = state.mapboxPublic;
@@ -585,9 +615,9 @@ export function NavDestination() {
   return html`
     <div class="navigation-container">
       ${() => {
-        if (state.missingKeys === null) return "";
-        return state.missingKeys
-          ? html`
+      if (state.missingKeys === null) return "";
+      return state.missingKeys
+        ? html`
               <section class="keys-required-wrapper">
                 <div class="keys-required-widget">
                   <div class="keys-required-title">Mapbox Keys Required</div>
@@ -596,7 +626,7 @@ export function NavDestination() {
                 </div>
               </section>
             `
-          : html`
+        : html`
               <div class="map-wrapper">
                 <div class="search-wrapper">
                   <div class="search-controls">
@@ -611,47 +641,47 @@ export function NavDestination() {
                   </div>
                   <div id="infobox">
                     ${() => {
-                      if (state.loadingRoute) {
-                        return html`<div class="navigation-summary-widget loading-status"><span class="spinner"></span> Calculating route...</div>`;
-                      } else if (state.selectedRoute) {
-                        return NavigationDestination({
-                          ...state.selectedRoute,
-                          isFavorited: isRouteFavorited(state.selectedRoute, state.favoriteRoutes),
-                          isConfirmed: () => areRoutesEqual(state.selectedRoute, state.confirmedRoute),
-                          map,
-                          isMetric: state.isMetric,
-                          cancelNavigationFn: () => {
-                            state.selectedRoute = null;
-                            state.confirmedRoute = null;
-                            state.suggestions = state.previousDestinations;
-                            if (destinationMarker) destinationMarker.remove();
-                          },
-                          onConfirm: () => {
-                            state.confirmedRoute = JSON.parse(JSON.stringify(state.selectedRoute));
-                            state.confirmedRouteRefresh = Math.random();
-                          },
-                          loadFavorites: loadFavoritesAlphabetically,
-                          removeFavorite: confirmRemoveFavorite,
-                          searchFieldState,
-                          favoriteRoutes: state.favoriteRoutes
-                        }, state.confirmedRouteRefresh);
-                      } else if (JSON.parse(state.suggestions).length > 0) {
-                        return SearchSuggestions({
-                          suggestions: JSON.parse(state.suggestions),
-                          selectSuggestion,
-                          removeFavorite: confirmRemoveFavorite,
-                          renameFavorite: confirmRenameFavorite,
-                          setHome: setHome,
-                          setWork: setWork
-                        });
-                      }
-                    }}
+            if (state.loadingRoute) {
+              return html`<div class="navigation-summary-widget loading-status"><span class="spinner"></span> Calculating route...</div>`;
+            } else if (state.selectedRoute) {
+              return NavigationDestination({
+                ...state.selectedRoute,
+                isFavorited: isRouteFavorited(state.selectedRoute, state.favoriteRoutes),
+                isConfirmed: () => areRoutesEqual(state.selectedRoute, state.confirmedRoute),
+                map,
+                isMetric: state.isMetric,
+                cancelNavigationFn: () => {
+                  state.selectedRoute = null;
+                  state.confirmedRoute = null;
+                  state.suggestions = state.previousDestinations;
+                  if (destinationMarker) destinationMarker.remove();
+                },
+                onConfirm: () => {
+                  state.confirmedRoute = JSON.parse(JSON.stringify(state.selectedRoute));
+                  state.confirmedRouteRefresh = Math.random();
+                },
+                loadFavorites: loadFavoritesAlphabetically,
+                removeFavorite: confirmRemoveFavorite,
+                searchFieldState,
+                favoriteRoutes: state.favoriteRoutes
+              }, state.confirmedRouteRefresh);
+            } else if (JSON.parse(state.suggestions).length > 0) {
+              return SearchSuggestions({
+                suggestions: JSON.parse(state.suggestions),
+                selectSuggestion,
+                removeFavorite: confirmRemoveFavorite,
+                renameFavorite: confirmRenameFavorite,
+                setHome: setHome,
+                setWork: setWork
+              });
+            }
+          }}
                   </div>
                 </div>
                 <div id="map"></div>
               </div>
             `;
-      }}
+    }}
     </div>
     ${() => (state.showRemoveFavoriteModal ? Modal({
       title: "Remove Favorite",
@@ -815,9 +845,9 @@ function NavigationDestination({
       </div>
       <div class="buttonCluster">
         ${() =>
-          isConfirmed()
-            ? html`<button class="cancel" @click="${cancelNavigation}"><i class="bi bi-x-lg"></i> Cancel Navigation</button>`
-            : html`<button class="directions" @click="${confirmDestination}"><i class="bi bi-sign-turn-right"></i> Start Navigation</button>`}
+      isConfirmed()
+        ? html`<button class="cancel" @click="${cancelNavigation}"><i class="bi bi-x-lg"></i> Cancel Navigation</button>`
+        : html`<button class="directions" @click="${confirmDestination}"><i class="bi bi-sign-turn-right"></i> Start Navigation</button>`}
         <button class="favorite" @click="${toggleFavorite}">${isFavorited ? "💔 Unfavorite" : "❤️ Favorite"}</button>
       </div>
     </div>

frogpilot/system/the_pond/assets/components/navigation/navigation_keys.css

@@ -47,7 +47,7 @@
   transition: opacity 0.5s ease;
 }
 
-.navkeys-group > .navkeys-row:last-of-type {
+.navkeys-group>.navkeys-row:last-of-type {
   margin-bottom: 0;
 }
 
@@ -79,7 +79,7 @@
 .navkeys-input:hover,
 .navkeys-input:focus {
   border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   transform: var(--hover-scale-sm);
 }
 
@@ -153,4 +153,4 @@
   .navkeys-input {
     font-size: var(--font-size-sm);
   }
-}
+}

frogpilot/system/the_pond/assets/components/recordings/dashcam_routes.js

@@ -1,4 +1,5 @@
 import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
 import { getOrdinalSuffix } from "/assets/components/navigation/navigation_utilities.js"
 import { Modal } from "/assets/components/modal.js";
 
@@ -124,27 +125,27 @@ async function deleteRoute(route) {
 }
 
 async function resetRouteName(route, dlg) {
-    const res = await fetch(`/api/routes/reset_name`, {
-      method: "POST",
-      headers: { "Content-Type": "application/json" },
-      body: JSON.stringify({ name: route.name })
-    });
-    if (res.ok) {
-      const { timestamp } = await res.json();
-      closeDialog(dlg);
-      const routeInList = state.routes.find(r => r.name === route.name);
-      if (routeInList) {
-        routeInList.timestamp = formatRouteDate(timestamp);
-      }
-      route.timestamp = formatRouteDate(timestamp);
-      const overlayTitleSpan = overlay.querySelector(".media-player-title span");
-      if (overlayTitleSpan) {
-        overlayTitleSpan.textContent = formatRouteDate(timestamp);
-      }
-      showSnackbar("Route name reset!");
-    } else {
-      showSnackbar("Resetting name failed...", "error");
+  const res = await fetch(`/api/routes/reset_name`, {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ name: route.name })
+  });
+  if (res.ok) {
+    const { timestamp } = await res.json();
+    closeDialog(dlg);
+    const routeInList = state.routes.find(r => r.name === route.name);
+    if (routeInList) {
+      routeInList.timestamp = formatRouteDate(timestamp);
     }
+    route.timestamp = formatRouteDate(timestamp);
+    const overlayTitleSpan = overlay.querySelector(".media-player-title span");
+    if (overlayTitleSpan) {
+      overlayTitleSpan.textContent = formatRouteDate(timestamp);
+    }
+    showSnackbar("Route name reset!");
+  } else {
+    showSnackbar("Resetting name failed...", "error");
+  }
 }
 
 async function renameRoute(route) {
@@ -317,6 +318,16 @@ async function deleteAllRoutes() {
 }
 
 export function RouteRecordings() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Dashcam Routes Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Loading dashcam routes requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
   if (state.selectedRoute && !overlay) openOverlay(state.selectedRoute);
 
   return html`
@@ -332,75 +343,36 @@ export function RouteRecordings() {
         </button>
 
         ${() => {
-          const routesToShow = state.routes.filter(r => !state.showPreservedOnly || r.is_preserved);
+      const routesToShow = state.routes.filter(r => !state.showPreservedOnly || r.is_preserved);
 
-          if (routesToShow.length === 0) {
-            if (state.loading && state.total > 0) {
-              return html`<p class="screen-recordings-message">Processing Routes: ${state.progress} of ${state.total}</p>`;
-            }
-            if (state.loading && !state.isDeletingAll) {
-              return html`<p class="screen-recordings-message">Loading...</p>`;
-            }
-            if (state.isDeletingAll) {
-              return html`<p class="screen-recordings-message">Deleting routes...</p>`;
-            }
-            if (state.showPreservedOnly) {
-              return html`<p class="screen-recordings-message">No preserved routes...</p>`;
-            }
-            if (state.error) {
-              return html`<p class="screen-recordings-message">${state.error}</p>`;
-            }
-            return html`<p class="screen-recordings-message">No routes found...</p>`;
-          }
+      if (routesToShow.length === 0) {
+        if (state.loading && state.total > 0) {
+          return html`<p class="screen-recordings-message">Processing Routes: ${state.progress} of ${state.total}</p>`;
+        }
+        if (state.loading && !state.isDeletingAll) {
+          return html`<p class="screen-recordings-message">Loading...</p>`;
+        }
+        if (state.isDeletingAll) {
+          return html`<p class="screen-recordings-message">Deleting routes...</p>`;
+        }
+        if (state.showPreservedOnly) {
+          return html`<p class="screen-recordings-message">No preserved routes...</p>`;
+        }
+        if (state.error) {
+          return html`<p class="screen-recordings-message">${state.error}</p>`;
+        }
+        return html`<p class="screen-recordings-message">No routes found...</p>`;
+      }
 
-          return html`
+      return html`
             <div class="screen-recordings-grid">
               ${routesToShow.map(
-                route => html`
+        route => html`
                   <div
                     class="recording-card"
-                    @mouseenter="${e => {
-                      if (state.selectedRoute) return;
-
-                      const card = e.currentTarget;
-                      const gif = card.querySelector(".recording-preview-gif");
-                      const png = card.querySelector(".recording-preview-png");
-
-                      if (card.dataset.gifLoaded) {
-                        png.style.display = "none";
-                        gif.style.display = "block";
-                        return;
-                      }
-
-                      card.dataset.loadingGif = "true";
-                      const preloader = new Image();
-                      preloader.onload = () => {
-                        if (card.dataset.loadingGif === "true") {
-                          gif.src = preloader.src;
-                          png.style.display = "none";
-                          gif.style.display = "block";
-                          card.dataset.gifLoaded = true;
-                        }
-                        delete card.dataset.loadingGif;
-                      };
-                      preloader.onerror = () => {
-                        console.error("Failed to load preview GIF:", preloader.src);
-                        delete card.dataset.loadingGif;
-                      };
-
-                      preloader.src = gif.dataset.src;
-                    }}"
-                    @mouseleave="${e => {
-                      const card = e.currentTarget;
-                      card.querySelector(".recording-preview-png").style.display = "block";
-                      card.querySelector(".recording-preview-gif").style.display = "none";
-                      if (card.dataset.loadingGif === "true") {
-                        delete card.dataset.loadingGif;
-                      }
-                    }}"
                     @click="${() => {
-                      state.selectedRoute = route;
-                    }}"
+            state.selectedRoute = route;
+          }}"
                   >
                     <div class="preserved-icon" @click="${e => togglePreserved(route, e)}">
                       ${() => html`<i class="bi ${route.is_preserved ? "bi-heart-fill" : "bi-heart"}"></i>`}
@@ -410,23 +382,19 @@ export function RouteRecordings() {
                         src="${route.png}"
                         class="recording-preview recording-preview-png"
                         style="display:block;"
-                      >
-                      <img
-                        data-src="${route.gif}"
-                        class="recording-preview recording-preview-gif"
-                        style="display:none;"
+                        loading="lazy"
                       >
                     </div>
                     <p class="recording-filename">${route.timestamp}</p>
                   </div>
                 `
-              )}
+      )}
             </div>
           `;
-        }}
+    }}
         ${() => {
-          if (state.routes.length > 0) {
-            return html`
+      if (state.routes.length > 0) {
+        return html`
               <button
                 class="delete-all-button"
                 @click="${() => (state.showDeleteAllModal = true)}"
@@ -435,17 +403,17 @@ export function RouteRecordings() {
                 ${() => (state.isDeletingAll ? "Deleting..." : "Delete All Routes")}
               </button>
             `;
-          }
-          return "";
-        }}
+      }
+      return "";
+    }}
       </div>
       ${() => state.showDeleteAllModal ? Modal({
-          title: "Confirm Delete All",
-          message: "Are you sure you want to delete all routes? This action cannot be undone...",
-          onConfirm: deleteAllRoutes,
-          onCancel: () => { state.showDeleteAllModal = false; },
-          confirmText: "Delete All"
-      }) : ""}
+      title: "Confirm Delete All",
+      message: "Are you sure you want to delete all routes? This action cannot be undone...",
+      onConfirm: deleteAllRoutes,
+      onCancel: () => { state.showDeleteAllModal = false; },
+      confirmText: "Delete All"
+    }) : ""}
     </div>
   `;
 }

frogpilot/system/the_pond/assets/components/recordings/screen_recordings.js

@@ -1,4 +1,5 @@
 import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
 import { Modal } from "/assets/components/modal.js";
 
 const state = reactive({
@@ -126,7 +127,6 @@ async function renameFile(rec) {
       if (recordingToUpdate) {
         recordingToUpdate.filename = newFilename
         recordingToUpdate.is_custom_name = true
-        recordingToUpdate.gif = `/screen_recordings/${val}.gif`
         recordingToUpdate.png = `/screen_recordings/${val}.png`
       }
 
@@ -142,8 +142,8 @@ async function renameFile(rec) {
 }
 
 function confirmDeleteFile(rec) {
-    state.recordingToDelete = rec;
-    state.showDeleteModal = true;
+  state.recordingToDelete = rec;
+  state.showDeleteModal = true;
 }
 
 async function deleteFile() {
@@ -152,11 +152,11 @@ async function deleteFile() {
 
   const res = await fetch(`/api/screen_recordings/delete/${encodeURIComponent(rec.filename)}`, { method: "DELETE" })
   if (res.ok) {
-      closeOverlay();
-      refresh();
-      showSnackbar("Recording deleted!");
+    closeOverlay();
+    refresh();
+    showSnackbar("Recording deleted!");
   } else {
-      showSnackbar("Delete failed...", "error");
+    showSnackbar("Delete failed...", "error");
   }
 
   state.showDeleteModal = false;
@@ -221,6 +221,16 @@ async function deleteAllRecordings() {
 }
 
 export function ScreenRecordings() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Screen Recordings Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Loading screen recordings requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
   if (state.selectedRecording && !overlay) openOverlay(state.selectedRecording)
 
   return html`
@@ -229,77 +239,37 @@ export function ScreenRecordings() {
         <div class="screen-recordings-title">Screen Recordings</div>
 
         ${() => {
-          if (state.loading && state.recordings.length === 0) return html`<p class="screen-recordings-message">Loading...</p>`
-          if (state.error) return html`<p class="screen-recordings-message">${state.error}</p>`
-          if (state.progress > 0 && state.progress < state.total) {
-            return html`<p class="screen-recordings-message">Processing Recordings: ${state.progress} of ${state.total}</p>`
-          }
-          if (state.recordings.length === 0 && !state.loading) {
-            return html`<p class="screen-recordings-message">No screen recordings found...</p>`
-          }
-          return ""
-        }}
+      if (state.loading && state.recordings.length === 0) return html`<p class="screen-recordings-message">Loading...</p>`
+      if (state.error) return html`<p class="screen-recordings-message">${state.error}</p>`
+      if (state.progress > 0 && state.progress < state.total) {
+        return html`<p class="screen-recordings-message">Processing Recordings: ${state.progress} of ${state.total}</p>`
+      }
+      if (state.recordings.length === 0 && !state.loading) {
+        return html`<p class="screen-recordings-message">No screen recordings found...</p>`
+      }
+      return ""
+    }}
 
         <div class="screen-recordings-grid">
           ${() => state.recordings.map(rec => {
-            const displayName = rec.is_custom_name ? rec.filename.replace(/\.mp4$/i, "").replace(/_/g, " ") : formatScreenRecordingDate(rec.timestamp)
-            return html`
+      const displayName = rec.is_custom_name ? rec.filename.replace(/\.mp4$/i, "").replace(/_/g, " ") : formatScreenRecordingDate(rec.timestamp)
+      return html`
               <div
                 class="recording-card"
-                @mouseenter="${e => {
-                  if (state.selectedRecording) return;
-
-                  const card = e.currentTarget;
-                  const gif = card.querySelector(".recording-preview-gif");
-                  const png = card.querySelector(".recording-preview-png");
-
-                  if (card.dataset.gifLoaded) {
-                    png.style.display = "none";
-                    gif.style.display = "block";
-                    return;
-                  }
-
-                  card.dataset.loadingGif = "true";
-                  const preloader = new Image();
-                  preloader.onload = () => {
-                    if (card.dataset.loadingGif === "true") {
-                        gif.src = preloader.src;
-                        png.style.display = "none";
-                        gif.style.display = "block";
-                        card.dataset.gifLoaded = true;
-                    }
-                    delete card.dataset.loadingGif;
-                  };
-                  preloader.onerror = () => {
-                    console.error("Failed to load preview GIF:", preloader.src);
-                    delete card.dataset.loadingGif;
-                  };
-
-                  preloader.src = gif.dataset.src;
-                }}"
-                @mouseleave="${e => {
-                  const card = e.currentTarget;
-                  card.querySelector(".recording-preview-png").style.display = "block";
-                  card.querySelector(".recording-preview-gif").style.display = "none";
-                  if (card.dataset.loadingGif === "true") {
-                      delete card.dataset.loadingGif;
-                  }
-                }}"
                 @click="${() => { state.selectedRecording = rec }}"
               >
                 <div class="recording-preview-container">
-                  <img src="${rec.png}" class="recording-preview recording-preview-png" style="display:block;">
-                  <img data-src="${rec.gif}" class="recording-preview recording-preview-gif" style="display:none;">
+                  <img src="${rec.png}" class="recording-preview recording-preview-png" style="display:block;" loading="lazy">
                 </div>
                 <p class="recording-filename">${displayName}</p>
               </div>
             `
-          })}
+    })}
         </div>
 
         ${() => {
-          if (state.recordings.length > 0) {
-            return html`
+      if (state.recordings.length > 0) {
+        return html`
               <button
                 class="delete-all-button"
                 @click="${() => (state.showDeleteAllModal = true)}"
@@ -307,24 +277,24 @@ export function ScreenRecordings() {
                 Delete All Recordings
               </button>
             `
-          }
-          return ""
-        }}
+      }
+      return ""
+    }}
       </div>
       ${() => state.showDeleteModal ? Modal({
-          title: "Confirm Delete",
-          message: `Are you sure you want to delete <strong>${state.recordingToDelete.filename}</strong>?`,
-          onConfirm: deleteFile,
-          onCancel: () => { state.showDeleteModal = false; state.recordingToDelete = null; },
-          confirmText: "Delete"
-      }) : ""}
+      title: "Confirm Delete",
+      message: `Are you sure you want to delete <strong>${state.recordingToDelete.filename}</strong>?`,
+      onConfirm: deleteFile,
+      onCancel: () => { state.showDeleteModal = false; state.recordingToDelete = null; },
+      confirmText: "Delete"
+    }) : ""}
       ${() => state.showDeleteAllModal ? Modal({
-        title: "Confirm Delete All",
-        message: "Are you sure you want to delete all screen recordings? This action cannot be undone...",
-        onConfirm: deleteAllRecordings,
-        onCancel: () => { state.showDeleteAllModal = false; },
-        confirmText: "Delete All"
-      }) : ""}
+      title: "Confirm Delete All",
+      message: "Are you sure you want to delete all screen recordings? This action cannot be undone...",
+      onConfirm: deleteAllRecordings,
+      onCancel: () => { state.showDeleteAllModal = false; },
+      confirmText: "Delete All"
+    }) : ""}
     </div>
   `
 }

frogpilot/system/the_pond/assets/components/router.js

@@ -1,9 +1,12 @@
 import { html, reactive } from "https://esm.sh/@arrow-js/core"
 import { createBrowserHistory, createRouter } from "https://esm.sh/@remix-run/router@1.3.1"
 import { hideSidebar } from "/assets/js/utils.js"
-import { DoorControl } from "/assets/components/tools/doors.js"
+import { DeviceSettings } from "/assets/components/tools/device_settings.js"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
+import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"
+import { GalaxyPairing } from "/assets/components/tools/galaxy.js"
 import { Home } from "/assets/components/home/home.js"
+import { LongitudinalManeuvers } from "/assets/components/tools/longitudinal_maneuvers.js"
 import { NavDestination } from "/assets/components/navigation/navigation_destination.js"
 import { NavKeys } from "/assets/components/navigation/navigation_keys.js"
 import { RouteRecordings } from "/assets/components/recordings/dashcam_routes.js"
@@ -11,11 +14,14 @@ import { SettingsView } from "/assets/components/settings.js"
 import { ScreenRecordings } from "/assets/components/recordings/screen_recordings.js"
 import { Sidebar } from "/assets/components/sidebar.js"
 import { SpeedLimits } from "/assets/components/tools/speed_limits.js"
-import { TailscaleControl } from "/assets/components/tailscale/tailscale.js"
+import { ModelManager } from "/assets/components/tools/model_manager.js?v=20260303t"
+import { LivePlots } from "/assets/components/tools/plots.js"
 import { ThemeMaker } from "/assets/components/tools/theme_maker.js"
+import { TestingGround } from "/assets/components/tools/testing_ground.js"
+import { Troubleshoot } from "/assets/components/tools/troubleshoot.js"
 import { TmuxLog } from "/assets/components/tools/tmux.js"
 import { ToggleControl } from "/assets/components/tools/toggles.js"
-import { TSKManager } from "/assets/components/tools/tsk_manager.js"
+import { UpdateManager } from "/assets/components/tools/update_manager.js"
 
 let router, routerState
 
@@ -23,15 +29,16 @@ function createRoute(id, path, component) {
   return {
     id,
     path,
-    loader: () => {},
+    loader: () => { },
     element: component,
   }
 }
 
 function Root() {
   let routes = [
-    createRoute("doors", "/lock_or_unlock_doors", DoorControl),
+    createRoute("device_settings", "/device_settings/:section?", DeviceSettings),
     createRoute("errorLogs", "/manage_error_logs", ErrorLogs),
+    createRoute("galaxy", "/galaxy", GalaxyPairing),
     createRoute("navdestination", "/set_navigation_destination", NavDestination),
     createRoute("navkeys", "/manage_navigation_keys", NavKeys),
     createRoute("root", "/", Home),
@@ -39,11 +46,16 @@ function Root() {
     createRoute("screen_recordings", "/screen_recordings", ScreenRecordings),
     createRoute("settings", "/settings/:section/:subsection?", SettingsView),
     createRoute("speed_limits", "/download_speed_limits", SpeedLimits),
-    createRoute("tailscale", "/manage_tailscale", TailscaleControl),
+    createRoute("model_manager", "/manage_models", ModelManager),
+    createRoute("longitudinal_maneuvers", "/longitudinal_maneuvers", LongitudinalManeuvers),
+    createRoute("plots", "/plots", LivePlots),
     createRoute("thememaker", "/theme_maker", ThemeMaker),
+    createRoute("testing_ground", "/testing_ground", TestingGround),
+    createRoute("troubleshoot", "/troubleshoot", Troubleshoot),
     createRoute("tmux", "/manage_tmux", TmuxLog),
     createRoute("toggles", "/manage_toggles", ToggleControl),
-    createRoute("tsk_manager", "/tsk_manager", TSKManager),
+    createRoute("updates", "/manage_updates", UpdateManager),
+    createRoute("vehicle_features", "/vehicle_features", VehicleFeatures),
   ]
 
   router = createRouter({
@@ -61,13 +73,13 @@ function Root() {
   })
 
   router.subscribe(({ initialized, navigation, matches, errors }) => {
-    const [match] = matches
+    const [match] = matches || []
     Object.assign(routerState, {
       initialized,
-      activePath: match.route.path,
-      activePathFull: match.pathname,
+      activePath: match?.route?.path || "",
+      activePathFull: match?.pathname || "",
       navigation,
-      params: match.params,
+      params: match?.params || {},
       errors,
     })
   })
@@ -76,17 +88,21 @@ function Root() {
     ${() => Sidebar(routerState.activePathFull)}
     <div class="content">
       ${() => {
-        if (!routerState.initialized || routerState.navigation.state === "loading") {
-          return html`<div>Loading...</div>`
-        }
+      if (!routerState.initialized) {
+        return Home({ params: routerState.params })
+      }
 
-        if (routerState.errors?.root?.status === 404) {
-          return html`<h1>Not Found</h1>`
-        }
+      if (routerState.errors?.root?.status === 404) {
+        return html`<h1>Not Found</h1>`
+      }
 
-        const match = routes.find(r => r.path === routerState.activePath)
-        return match.element({ params: routerState.params })
-      }}
+      const match = routes.find(r => r.path === routerState.activePath)
+      if (!match) {
+        console.warn("[router] no route match for path:", routerState.activePathFull)
+        return Home({ params: routerState.params })
+      }
+      return match.element({ params: routerState.params })
+    }}
     </div>
   `
 }
@@ -109,4 +125,9 @@ export function Navigate(href) {
   window.scrollTo(0, 0)
 }
 
-Root()(document.getElementById("app"))
+if (!window.__thePondRouterMounted) {
+  window.__thePondRouterMounted = true
+  Root()(document.getElementById("app"))
+} else {
+  console.warn("[router] duplicate mount prevented")
+}

frogpilot/system/the_pond/assets/components/settings.css

@@ -30,7 +30,7 @@
   position: relative;
 }
 
-.dropdown > select {
+.dropdown>select {
   appearance: none;
   background-color: var(--sidebar-bg);
   border: var(--border-width-thin) solid var(--sidebar-border-color);
@@ -74,19 +74,19 @@ input.searchfield:focus {
   outline: none;
 }
 
-input:checked + .slider {
+input:checked+.slider {
   background-color: var(--success-bg);
 }
 
-input:checked + .slider:before {
+input:checked+.slider:before {
   transform: translateX(26px);
 }
 
-input:checked + .slider.loading:before {
+input:checked+.slider.loading:before {
   animation: rotationChecked 1s linear infinite;
 }
 
-input:focus + .slider {
+input:focus+.slider {
   box-shadow: 0 0 var(--border-width-thin) var(--success-bg);
 }
 
@@ -133,11 +133,11 @@ input:focus + .slider {
   z-index: 1;
 }
 
-.options > input {
+.options>input {
   display: none;
 }
 
-.options > input:checked + label {
+.options>input:checked+label {
   background-color: var(--success-bg);
   color: var(--text-color);
   font-weight: bold;
@@ -220,14 +220,13 @@ input:focus + .slider {
   grid-column: span 2;
 }
 
-.setting.subsetting_link {
-}
+.setting.subsetting_link {}
 
 .setting.subtoggle {
   margin: 0 0 0 var(--padding-xl);
 }
 
-.setting.subtoggle + .setting {
+.setting.subtoggle+.setting {
   margin-top: var(--border-radius-xl);
 }
 
@@ -300,7 +299,7 @@ input.searchfield {
   animation: rotation 1s linear infinite;
   background-color: none !important;
   border: var(--border-width-thick) solid var(--sidebar-fg);
-  border-bottom-color: #46439b;
+  border-bottom-color: var(--main-fg);
   box-sizing: border-box;
 }
 
@@ -337,6 +336,7 @@ i.switch {
   0% {
     transform: rotate(0deg);
   }
+
   100% {
     transform: rotate(360deg);
   }
@@ -346,7 +346,8 @@ i.switch {
   0% {
     transform: translateX(26px) rotate(0deg);
   }
+
   100% {
     transform: translateX(26px) rotate(360deg);
   }
-}
+}

frogpilot/system/the_pond/assets/components/sidebar.css

@@ -60,7 +60,10 @@
 }
 
 .sidebar {
-  background-color: var(--sidebar-bg);
+  background:
+    radial-gradient(ellipse at 30% 80%, rgba(139, 108, 197, 0.06) 0%, transparent 60%),
+    radial-gradient(ellipse at 70% 20%, rgba(94, 200, 200, 0.04) 0%, transparent 50%),
+    var(--sidebar-bg);
   border-right: var(--border-width-thin) solid var(--sidebar-border-color);
   display: flex;
   flex-direction: column;
@@ -102,7 +105,7 @@
   padding: 0;
 }
 
-.sidebar .menu_section > li > a span {
+.sidebar .menu_section>li>a span {
   color: var(--text-color);
   display: inline-block;
   font-size: var(--font-size-lg);
@@ -111,13 +114,13 @@
   padding-left: var(--padding-sm);
 }
 
-.sidebar .menu_section > li > ul {
+.sidebar .menu_section>li>ul {
   list-style: none;
   margin: 0;
   padding: 0;
 }
 
-.sidebar .menu_section > li > ul > li {
+.sidebar .menu_section>li>ul>li {
   border-radius: var(--border-radius-sm);
   margin-bottom: var(--padding-sm);
   overflow: hidden;
@@ -125,23 +128,23 @@
   transition: background-color var(--transition-fast), box-shadow var(--transition-fast), color var(--transition-fast), transform var(--transition-fast);
 }
 
-.sidebar .menu_section > li > ul > li > a.menu-item-link {
+.sidebar .menu_section>li>ul>li>a.menu-item-link {
   border-radius: inherit;
 }
 
-.sidebar .menu_section > li > ul > li.active,
-.sidebar .menu_section > li > ul > li:hover {
+.sidebar .menu_section>li>ul>li.active,
+.sidebar .menu_section>li>ul>li:hover {
   background-color: var(--sidebar-active-bg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   transform: var(--hover-scale-sm);
 }
 
-.sidebar .menu_section > li > ul > li.active > a {
+.sidebar .menu_section>li>ul>li.active>a {
   color: var(--color-white);
   font-weight: var(--font-weight-bold);
 }
 
-.sidebar .menu_section > li > ul > li:hover > a {
+.sidebar .menu_section>li>ul>li:hover>a {
   color: var(--color-white);
   font-weight: var(--font-weight-demi-bold);
 }
@@ -203,9 +206,13 @@
 }
 
 .sidebar_header p {
-  color: var(--success-hover-bg);
+  background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
+  -webkit-background-clip: text;
+  background-clip: text;
+  -webkit-text-fill-color: transparent;
   font-size: var(--font-size-xl);
   font-weight: var(--font-weight-bold);
+  letter-spacing: 0.05em;
 }
 
 .sidebar_widget {
@@ -234,7 +241,7 @@
     transition: var(--transition-fast);
   }
 
-  .sidebar .menu_section > li > a {
+  .sidebar .menu_section>li>a {
     font-size: var(--padding-sm);
   }
 
@@ -262,7 +269,7 @@
     transition: var(--transition-fast);
   }
 
-  .sidebar .menu_section > li > a {
+  .sidebar .menu_section>li>a {
     font-size: var(--padding-sm);
   }
 
@@ -277,4 +284,4 @@
   #menu_button {
     display: none;
   }
-}
+}

frogpilot/system/the_pond/assets/components/sidebar.js

@@ -14,59 +14,37 @@ const MenuItems = {
     { name: "Dashcam Routes", link: "/dashcam_routes", icon: "bi-camera-reels" },
     { name: "Screen Recordings", link: "/screen_recordings", icon: "bi-record-circle" },
   ],
-  tailscale: [
-    { name: "Tailscale", link: "/manage_tailscale", icon: "bi-wifi" },
-  ],
   tools: [
+    { name: "Toggles", link: "/device_settings", icon: "bi-toggle-on" },
     { name: "Download Speed Limits", link: "/download_speed_limits", icon: "bi-download" },
     { name: "Error Logs", link: "/manage_error_logs", icon: "bi-exclamation-triangle" },
-    { name: "Lock/Unlock Doors", link: "/lock_or_unlock_doors", icon: "bi-door-closed" },
+    { name: "Galaxy", link: "/galaxy", icon: "bi-globe2" },
+    { name: "Long Maneuvers", link: "/longitudinal_maneuvers", icon: "bi-signpost-split" },
+    { name: "Model Manager", link: "/manage_models", icon: "bi-cpu" },
+    { name: "Plots", link: "/plots", icon: "bi-graph-up-arrow" },
+    { name: "Testing Ground", link: "/testing_ground", icon: "bi-bezier2" },
+    { name: "Troubleshoot", link: "/troubleshoot", icon: "bi-tools" },
     { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill" },
     { name: "Tmux Log", link: "/manage_tmux", icon: "bi-terminal" },
-    { name: "Toggles", link: "/manage_toggles", icon: "bi-toggle-on" },
-    { name: "Toyota Security Keys", link: "/tsk_manager", icon: "bi-key-fill" },
+    { name: "Backup and Restore", link: "/manage_toggles", icon: "bi-arrow-repeat" },
+    { name: "Software", link: "/manage_updates", icon: "bi-arrow-up-circle" },
+    { name: "Vehicle Features", link: "/vehicle_features", icon: "bi-car-front" },
   ],
 };
 
 const state = reactive({
-  doorsVisible: false,
-  isDoorsFetched: false,
-  isTSKFetched: false,
-  tskVisible: false,
-
   activeRoute: ""
 });
 
 export function Sidebar() {
   const currentPath = window.location.pathname;
-  const activeItem = Object.values(MenuItems).flat().find(item => item.link === currentPath);
+  const matchesPath = (link) => {
+    if (link === "/") return currentPath === "/";
+    return currentPath === link || currentPath.startsWith(`${link}/`);
+  };
+  const activeItem = Object.values(MenuItems).flat().find(item => matchesPath(item.link));
   state.activeRoute = activeItem?.name ?? "";
 
-  if (!state.isDoorsFetched) {
-    state.isDoorsFetched = true;
-    (async () => {
-      try {
-        const response = await fetch("/api/doors_available");
-        const data = await response.json();
-        state.doorsVisible = data.result;
-      } catch (e) {
-        console.error("Failed to fetch door availability:", e);
-      }
-    })();
-  }
-
-  if (!state.isTSKFetched) {
-    state.isTSKFetched = true;
-    (async () => {
-      try {
-        const response = await fetch("/api/tsk_available");
-        const data = await response.json();
-        state.tskVisible = data.result;
-      } catch (e) {
-        console.error("Failed to fetch TSK availability:", e);
-      }
-    })();
-  }
 
   function navigate(link) {
     state.activeRoute = link.name;
@@ -88,10 +66,9 @@ export function Sidebar() {
     <div id="sidebar" class="sidebar">
       <div>
         <div class="title">
-          <img class="logo" src="/assets/images/main_logo.png" alt="FrogPilot logo" />
+          <img class="logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
           <div class="title_text sidebar_header">
-            <p>The Pond</p>
-            <a href="https://github.com/Aidenir">by&nbsp;Aidenir</a>
+            <p>Galaxy</p>
           </div>
         </div>
         <hr />
@@ -102,30 +79,22 @@ export function Sidebar() {
                 <span class="section-title">${upperFirst(section)}</span>
                 <ul id="${section}">
                   ${links.map(link => {
-                    if (link.name === "Lock/Unlock Doors" && !state.doorsVisible) {
-                      return "";
-                    }
+    const isActive = state.activeRoute === link.name;
+    const classList = [isActive && "active"].filter(Boolean).join(" ");
 
-                    if (link.name === "Toyota Security Keys" && !state.tskVisible) {
-                      return "";
-                    }
-
-                    const isActive = state.activeRoute === link.name;
-                    const classList = [isActive && "active"].filter(Boolean).join(" ");
-
-                    const content = html`
+    const content = html`
                       <div class="menu-item-link">
                         <i class="bi ${link.icon}"></i>
                         <span>${upperFirst(link.name)}</span>
                       </div>
                     `;
 
-                    return html`
+    return html`
                       <li class="${classList}">
                         ${Link(link.link, content, () => navigate(link))}
                       </li>
                     `;
-                  })}
+  })}
                 </ul>
               </li>
             </ul>

frogpilot/system/the_pond/assets/components/tailscale/tailscale.js

@@ -52,13 +52,14 @@ export function TailscaleControl() {
   checkInstallStatus()
 
   return html`
-    <div class="tailscale-wrapper">
+    <div class="toggle-control-widget" style="margin-top: 1.5rem">
       <section class="tailscale-widget">
-        <div class="tailscale-title">
+        <div class="toggle-control-title">
           ${() => state.installed ? 'Uninstall Tailscale' : 'Install Tailscale'}
         </div>
         <p class="tailscale-text">
-          Tailscale creates a secure, private connection between your openpilot device and your phone or PC so you can access and control it from anywhere!
+          Tailscale creates a secure, private connection between your openpilot device and your phone or PC so you can access and control it from anywhere!<br><br>
+          <strong style="color: #ff9494;">Note: Not recommended. Using Galaxy Tunnel is the preferred remote connection method.</strong>
         </p>
         <div class="tailscale-button-wrapper">
           <button
@@ -67,11 +68,11 @@ export function TailscaleControl() {
             disabled="${() => state.status === 'installing' || state.status === 'uninstalling'}"
           >
             ${() => {
-              if (state.status === 'installing') return 'Installing...'
-              if (state.status === 'uninstalling') return 'Uninstalling...'
-              if (state.installed) return 'Uninstall'
-              return 'Install'
-            }}
+      if (state.status === 'installing') return 'Installing...'
+      if (state.status === 'uninstalling') return 'Uninstalling...'
+      if (state.installed) return 'Uninstall'
+      return 'Install'
+    }}
           </button>
           <a class="tailscale-link" href="https://tailscale.com/download" target="_blank">
             Download Tailscale on your other devices
@@ -79,12 +80,12 @@ export function TailscaleControl() {
         </div>
       </section>
       ${() => state.showUninstallModal ? Modal({
-          title: "Confirm Uninstall",
-          message: "Are you sure you want to uninstall Tailscale?",
-          onConfirm: handleAction,
-          onCancel: () => { state.showUninstallModal = false; },
-          confirmText: "Uninstall"
-      }) : ""}
+      title: "Confirm Uninstall",
+      message: "Are you sure you want to uninstall Tailscale?",
+      onConfirm: handleAction,
+      onCancel: () => { state.showUninstallModal = false; },
+      confirmText: "Uninstall"
+    }) : ""}
     </div>
   `
 }

frogpilot/system/the_pond/assets/components/tools/device_settings.css

@@ -0,0 +1,446 @@
+/* ――― Device Settings Page ――― */
+.ds-wrapper {
+  max-width: var(--width-xxxl);
+  padding: var(--padding-base) var(--padding-lg) var(--padding-xxl);
+}
+
+/* ――― Section Tabs ――― */
+.ds-tabs {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 0.5rem;
+  margin-bottom: var(--margin-base);
+}
+
+.ds-tab {
+  align-items: center;
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: 0.75rem;
+  color: var(--text-muted);
+  cursor: pointer;
+  display: inline-flex;
+  font-family: var(--font-body);
+  font-size: 0.88rem;
+  gap: 0.4rem;
+  padding: 0.45rem 0.7rem;
+  transition: background-color var(--transition-fast), color var(--transition-fast), border-color var(--transition-fast);
+}
+
+.ds-tab i {
+  font-size: 0.9rem;
+}
+
+.ds-tab:hover {
+  border-color: var(--main-fg);
+  color: var(--text-color);
+}
+
+.ds-tab.active {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+/* ――― Search / Filter ――― */
+.ds-search-row {
+  align-items: center;
+  display: flex;
+  gap: 0.5rem;
+  margin-bottom: var(--margin-lg);
+}
+
+.ds-search {
+  background-color: var(--input-bg);
+  border: var(--border-style-input);
+  border-radius: var(--border-radius-lg);
+  box-sizing: border-box;
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-base);
+  margin-bottom: 0;
+  outline: none;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: box-shadow var(--transition-fast);
+  width: 100%;
+  flex: 1;
+}
+
+.ds-search:focus {
+  box-shadow: 0 0 0 2px var(--main-fg);
+}
+
+.ds-search-clear {
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  cursor: pointer;
+  font-family: var(--font-body);
+  font-size: var(--font-size-sm);
+  min-width: 4.75rem;
+  padding: 0.6rem 0.8rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+}
+
+.ds-search-clear:hover {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+/* ――― Section Cards ――― */
+.ds-section {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-sm);
+  margin-bottom: var(--margin-lg);
+  overflow: hidden;
+  transition: box-shadow var(--transition-fast);
+}
+
+.ds-section:hover {
+  box-shadow: var(--shadow-md);
+}
+
+.ds-section-header {
+  align-items: center;
+  background-color: var(--input-bg);
+  display: flex;
+  justify-content: space-between;
+  padding: var(--padding-sm) var(--padding-base);
+  user-select: none;
+}
+
+.ds-static-header {
+  cursor: default;
+}
+
+.ds-section-header i {
+  color: var(--main-fg);
+  font-size: var(--font-size-lg);
+  margin-right: var(--margin-sm);
+  min-width: 1.5rem;
+  text-align: center;
+}
+
+.ds-section-title {
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-bold);
+}
+
+.ds-section-chevron {
+  color: var(--text-muted);
+  font-size: var(--font-size-sm);
+  transition: transform var(--transition-fast);
+}
+
+.ds-section.collapsed .ds-section-chevron {
+  transform: rotate(-90deg);
+}
+
+.ds-section-body {
+  max-height: 5000px;
+  overflow: hidden;
+  transition: max-height 0.3s ease-in-out;
+}
+
+.ds-section.collapsed .ds-section-body {
+  max-height: 0;
+}
+
+/* ――― Individual Toggle Rows ――― */
+.ds-row {
+  align-items: center;
+  border-top: 1px solid var(--sidebar-border-color);
+  display: flex;
+  justify-content: space-between;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: background-color var(--transition-fast);
+}
+
+.ds-row:hover {
+  background-color: var(--sidebar-active-bg);
+}
+
+.ds-row-label {
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  margin-right: var(--margin-base);
+}
+
+.ds-row-desc {
+  color: var(--text-muted);
+  font-size: var(--font-size-xs);
+  margin-top: 0.25rem;
+  line-height: 1.3;
+  white-space: pre-line;
+}
+
+/* ――― Child Row Modifier (Sub-menus) ――― */
+.ds-child-modifier {
+  border-left: 2px solid var(--color-gray-200);
+  margin-left: 1rem;
+  padding-left: 1rem;
+}
+
+.ds-manage-btn {
+  display: inline-flex;
+  align-items: center;
+  background-color: var(--color-gray-200);
+  border: 1px solid var(--color-gray-300);
+  border-radius: 1rem;
+  color: var(--main-fg);
+  cursor: pointer;
+  font-size: 0.75rem;
+  font-weight: 500;
+  margin-top: 0.6rem;
+  padding: 0.25rem 0.75rem;
+  transition: all var(--transition-fast);
+  user-select: none;
+  width: fit-content;
+}
+
+.ds-manage-btn:hover {
+  background-color: var(--color-gray-300);
+}
+
+.ds-manage-btn i {
+  margin-left: 0.3rem;
+}
+
+/* ――― Toggle Switch ――― */
+.ds-toggle {
+  appearance: none;
+  background-color: var(--track-color);
+  border: none;
+  border-radius: 1rem;
+  flex-shrink: 0;
+  height: 1.5rem;
+  outline: none;
+  position: relative;
+  transition: background-color var(--transition-fast);
+  width: 2.75rem;
+}
+
+.ds-toggle::after {
+  background-color: var(--color-gray-300);
+  border-radius: 50%;
+  content: "";
+  height: 1.1rem;
+  left: 0.2rem;
+  position: absolute;
+  top: 0.2rem;
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+  width: 1.1rem;
+}
+
+.ds-toggle:checked {
+  background-color: var(--main-fg);
+}
+
+.ds-select {
+  appearance: none;
+  background-color: var(--color-gray-950);
+  border: 1px solid var(--track-color);
+  border-radius: 0.5rem;
+  color: var(--color-gray-200);
+  cursor: pointer;
+  font-family: inherit;
+  font-size: 0.95rem;
+  padding: 0.5rem 2rem 0.5rem 1rem;
+  transition: border-color var(--transition-fast), box-shadow var(--transition-fast);
+  width: 100%;
+  max-width: 250px;
+  background-image: url("data:image/svg+xml;charset=UTF-8,%3Csvg xmlns='http://www.w3.org/200.svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='%239ca3af' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='6 9 12 15 18 9'%3E%3C/polyline%3E%3C/svg%3E");
+  background-repeat: no-repeat;
+  background-position: right 0.5rem center;
+  background-size: 1em;
+}
+
+.ds-select:hover {
+  border-color: var(--color-gray-500);
+}
+
+.ds-select:focus {
+  border-color: var(--main-fg);
+  box-shadow: 0 0 0 2px rgba(255, 255, 255, 0.1);
+  outline: none;
+}
+
+.ds-toggle:checked::after {
+  background-color: var(--color-white);
+  transform: translateX(1.25rem);
+}
+
+.ds-toggle:disabled {
+  opacity: var(--disabled-opacity);
+}
+
+/* ――― Loading State ――― */
+.ds-loading {
+  color: var(--text-muted);
+  padding: var(--padding-xl);
+  text-align: center;
+}
+
+.ds-status-bar {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--font-size-xs);
+  gap: var(--gap-sm);
+  justify-content: space-between;
+  margin-bottom: var(--margin-sm);
+}
+
+/* ――― Empty Filter State ――― */
+.ds-empty {
+  color: var(--text-muted);
+  font-style: italic;
+  padding: var(--padding-lg);
+  text-align: center;
+}
+
+/* ――― Custom Range Slider ――― */
+.ds-row-numeric {
+  align-items: flex-start;
+  flex-direction: column;
+}
+
+.ds-row-info {
+  align-items: center;
+  display: flex;
+  justify-content: space-between;
+  margin-bottom: var(--margin-sm);
+  width: 100%;
+}
+
+.ds-row-value {
+  background-color: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-sm);
+  padding: 0.2rem 0.6rem;
+}
+
+.ds-stepper-container {
+  width: 100%;
+}
+
+@media (min-width: 768px) {
+  .ds-stepper-container {
+    max-width: 350px;
+  }
+}
+
+.ds-stepper {
+  align-items: center;
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: 56px 1fr 56px;
+  padding: 0.45rem;
+}
+
+.ds-stepper-meta {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  flex-direction: column;
+  font-size: var(--font-size-xs);
+  gap: 0.1rem;
+  justify-content: center;
+  min-height: 2rem;
+  text-align: center;
+}
+
+.ds-default-value {
+  color: var(--text-color);
+  font-weight: var(--font-weight-semibold);
+}
+
+.ds-reset-btn {
+  background: transparent;
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  cursor: pointer;
+  font-size: var(--font-size-xs);
+  margin-top: 0.15rem;
+  padding: 0.2rem 0.45rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+}
+
+.ds-reset-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+.ds-reset-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+.ds-stepper-btn {
+  align-items: center;
+  background: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  cursor: pointer;
+  display: inline-flex;
+  font-size: 1.25rem;
+  font-weight: var(--font-weight-bold);
+  height: 2.1rem;
+  justify-content: center;
+  line-height: 1;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), transform var(--transition-fast);
+}
+
+.ds-stepper-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+  transform: translateY(-1px);
+}
+
+.ds-stepper-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+/* ――― Mobile ――― */
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .ds-wrapper {
+    padding: var(--padding-sm) var(--padding-base) var(--padding-xl);
+  }
+
+  .ds-search-row {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .ds-search-clear {
+    width: 100%;
+  }
+
+  .ds-tabs {
+    flex-wrap: nowrap;
+    overflow-x: auto;
+    padding-bottom: 0.25rem;
+    scrollbar-width: none;
+  }
+
+  .ds-tabs::-webkit-scrollbar {
+    display: none;
+  }
+}

frogpilot/system/the_pond/assets/components/tools/device_settings.js

@@ -0,0 +1,756 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const endpointOptionsCache = {}
+const endpointOptionsInflight = {}
+
+// Plain variables — scheduling/routing flags that must NOT be reactive
+let syncScheduled = false
+let lastParams = null
+
+// Module-level state (persists across route changes)
+const state = reactive({
+  layout: [],
+  allKeys: [],
+  paramMetaByKey: {},
+  values: {},
+  defaultValues: {},
+  loadingLayout: true,
+  loadingValues: true,
+  filter: "",
+  expanded: {},
+  fetched: false,
+  activeSectionSlug: "",
+  numericUpdating: {},
+})
+
+function slugifySectionName(name) {
+  return String(name || "")
+    .toLowerCase()
+    .replace(/[^a-z0-9]+/g, "-")
+    .replace(/^-+|-+$/g, "")
+}
+
+function getSectionsWithSlug() {
+  return state.layout.map(section => ({
+    ...section,
+    slug: slugifySectionName(section.name),
+  }))
+}
+
+function toSelectValue(value) {
+  return value === null || value === undefined ? "" : String(value)
+}
+
+function resolveEndpointTemplate(template) {
+  if (!template) return ""
+  return String(template).replace(/\{([A-Za-z0-9_]+)\}/g, (_, key) => {
+    return encodeURIComponent(toSelectValue(state.values[key]))
+  })
+}
+
+function scheduleSyncInputs() {
+  if (syncScheduled) return
+  syncScheduled = true
+  requestAnimationFrame(() => {
+    syncScheduled = false
+    syncInputs()
+  })
+}
+
+function applySelectOptions(el, options) {
+  el.innerHTML = ""
+  for (const opt of options || []) {
+    const o = document.createElement("option")
+    o.value = String(opt.value)
+    o.textContent = opt.label
+    el.appendChild(o)
+  }
+}
+
+async function hydrateEndpointOptions(el, key, endpoint) {
+  if (endpointOptionsCache[endpoint]) {
+    applySelectOptions(el, endpointOptionsCache[endpoint])
+    el.dataset.hydrated = "1"
+    el.value = toSelectValue(state.values[key])
+    return
+  }
+
+  if (!endpointOptionsInflight[endpoint]) {
+    endpointOptionsInflight[endpoint] = fetch(endpoint)
+      .then(r => r.json())
+      .then(options => {
+        endpointOptionsCache[endpoint] = options
+        return options
+      })
+      .catch(() => null)
+      .finally(() => {
+        delete endpointOptionsInflight[endpoint]
+      })
+  }
+
+  const options = await endpointOptionsInflight[endpoint]
+  if (!options || !el.isConnected) return
+
+  applySelectOptions(el, options)
+  el.dataset.hydrated = "1"
+  el.value = toSelectValue(state.values[key])
+}
+
+function syncInputs() {
+  // Sync checkboxes — set DOM property directly (attribute alone is unreliable)
+  for (const el of document.querySelectorAll("input[type='checkbox'].ds-toggle[id^='ds-']")) {
+    el.checked = !!state.values[el.id.slice(3)]
+  }
+
+  // Sync selects — hydrate options + set value
+  for (const el of document.querySelectorAll("select.ds-select[id^='ds-']")) {
+    const key = el.id.slice(3)
+    const endpointTemplate = el.getAttribute("data-endpoint")
+    const endpoint = resolveEndpointTemplate(endpointTemplate)
+    const inlineOptions = state.paramMetaByKey[key]?.options
+
+    if (endpoint) {
+      if (!el.dataset.hydrated || el.dataset.endpoint !== endpoint) {
+        el.dataset.endpoint = endpoint
+        hydrateEndpointOptions(el, key, endpoint)
+      } else {
+        el.value = toSelectValue(state.values[key])
+      }
+      continue
+    }
+
+    if (Array.isArray(inlineOptions) && inlineOptions.length > 0) {
+      if (!el.dataset.hydrated) {
+        applySelectOptions(el, inlineOptions)
+        el.dataset.hydrated = "1"
+      }
+      el.value = toSelectValue(state.values[key])
+    }
+  }
+}
+
+async function fetchDefaultValues() {
+  try {
+    const defaultsRes = await fetch("/api/params/defaults")
+    if (!defaultsRes.ok) return false
+    const defaultsData = await defaultsRes.json()
+    state.defaultValues = defaultsData || {}
+    return true
+  } catch (e) {
+    return false
+  }
+}
+
+async function fetchLayoutAndParams() {
+  state.loadingLayout = true
+  state.loadingValues = true
+
+  try {
+    const layoutRes = await fetch("/assets/components/tools/device_settings_layout.json")
+    const rawLayoutData = await layoutRes.json()
+
+    const layoutData = rawLayoutData
+      .map(section => ({
+        ...section,
+        params: (section.params || []).filter(param => param.key !== "Model"),
+      }))
+      .filter(section => section.params.length > 0)
+
+    state.layout = layoutData
+
+    const keys = []
+    const paramMetaByKey = {}
+    for (const section of layoutData) {
+      for (const p of section.params) {
+        keys.push(p.key)
+        paramMetaByKey[p.key] = p
+      }
+    }
+
+    state.allKeys = keys
+    state.paramMetaByKey = paramMetaByKey
+  } catch (e) {
+    console.error("Failed to fetch UI layout:", e)
+  }
+  state.loadingLayout = false
+
+  // Pull params once at page load; local state handles subsequent edits.
+  try {
+    const valuesRes = await fetch("/api/params/all")
+
+    const data = await valuesRes.json()
+    state.values = data
+
+    if (!(await fetchDefaultValues())) {
+      state.defaultValues = {}
+    }
+  } catch (e) {
+    console.error("Failed to fetch param values:", e)
+    state.defaultValues = {}
+  }
+  state.loadingValues = false
+
+  // Resolve slug now that layout is available (uses stored route params)
+  resolveActiveSectionSlug(lastParams)
+  scheduleSyncInputs()
+}
+
+function formatSliderValue(val, stepStr, precisionInt, key) {
+  if (val === null || val === undefined) return "--"
+  const v = parseFloat(val)
+  if (Number.isNaN(v)) return val
+
+  const volumeKeys = [
+    "DisengageVolume", "EngageVolume", "PromptVolume",
+    "PromptDistractedVolume", "RefuseVolume",
+    "WarningImmediateVolume", "WarningSoftVolume",
+  ]
+  if (key && volumeKeys.includes(key)) {
+    if (v === 0) return "Muted"
+    if (v === 101) return "Auto"
+    return `${v}%`
+  }
+
+  if (precisionInt !== undefined && precisionInt !== null) {
+    return Number(v.toFixed(precisionInt)).toString()
+  }
+
+  if (!stepStr || !stepStr.includes(".")) return Math.round(v).toString()
+  const dec = stepStr.split(".")[1].length
+  return Number(v.toFixed(dec)).toString()
+}
+
+function numericBounds(param) {
+  const defaultBounds = {
+    min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
+    max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
+    step: param.step !== undefined ? param.step : (param.data_type === "float" ? 0.01 : 1),
+  }
+
+  const toFinite = (value) => {
+    const n = Number(value)
+    return Number.isFinite(n) ? n : null
+  }
+
+  if (param.key === "ScreenBrightness") {
+    return { min: 1, max: 101, step: 1 }
+  }
+  if (param.key === "ScreenBrightnessOnroad") {
+    return { min: 0, max: 101, step: 1 }
+  }
+
+  // Personality jerk params are stored as percentage-style integers (25..200).
+  // Layout metadata currently uses normalized 0.5..3.0 ranges, which breaks
+  // the +/- stepper and clamps values like 50 down to 3.
+  if (/^(Traffic|Aggressive|Standard|Relaxed)Jerk(Acceleration|Deceleration|Danger|SpeedDecrease|Speed)$/.test(String(param.key || ""))) {
+    return { min: 25, max: 200, step: 1 }
+  }
+
+  if (param.key === "SteerKP") {
+    const base = toFinite(state.values.SteerKPStock) || toFinite(state.values.SteerKP) || 0.6
+    return { min: +(base * 0.5).toFixed(2), max: +(base * 1.5).toFixed(2), step: 0.01 }
+  }
+  if (param.key === "SteerLatAccel") {
+    const base = toFinite(state.values.SteerLatAccelStock) || toFinite(state.values.SteerLatAccel) || 2.0
+    return { min: +(base * 0.5).toFixed(2), max: +(base * 1.25).toFixed(2), step: 0.01 }
+  }
+  if (param.key === "SteerRatio") {
+    const base = toFinite(state.values.SteerRatioStock) || toFinite(state.values.SteerRatio) || 15.0
+    return { min: +(base * 0.25).toFixed(2), max: +(base * 1.5).toFixed(2), step: 0.01 }
+  }
+
+  return defaultBounds
+}
+
+function coerceValueByType(rawValue, dataType) {
+  if (dataType === "int") {
+    const n = Number.parseInt(rawValue, 10)
+    return Number.isFinite(n) ? n : rawValue
+  }
+  if (dataType === "float") {
+    const n = Number.parseFloat(rawValue)
+    return Number.isFinite(n) ? n : rawValue
+  }
+  return rawValue
+}
+
+function stepPrecision(step, explicitPrecision) {
+  if (explicitPrecision !== undefined && explicitPrecision !== null && explicitPrecision !== "") {
+    const parsed = Number.parseInt(explicitPrecision, 10)
+    if (Number.isFinite(parsed) && parsed >= 0) return parsed
+  }
+
+  const stepStr = String(step ?? "")
+  if (!stepStr.includes(".")) return 0
+  return stepStr.split(".")[1].length
+}
+
+function clampNumeric(value, min, max) {
+  return Math.min(max, Math.max(min, value))
+}
+
+function snapNumericToBoundsAndStep(rawValue, bounds, precision) {
+  const min = Number(bounds.min)
+  const max = Number(bounds.max)
+  const step = Number(bounds.step)
+  const value = Number(rawValue)
+  if (!Number.isFinite(min) || !Number.isFinite(max) || !Number.isFinite(value)) return null
+
+  const clamped = clampNumeric(value, min, max)
+  if (!Number.isFinite(step) || step <= 0) {
+    return clampNumeric(Number(clamped.toFixed(precision)), min, max)
+  }
+
+  const snapped = min + Math.round((clamped - min) / step) * step
+  return clampNumeric(Number(snapped.toFixed(precision)), min, max)
+}
+
+function resolveCurrentNumericValue(param, bounds) {
+  const raw = state.values[param.key]
+  const precision = stepPrecision(bounds.step, param.precision)
+  const snapped = snapNumericToBoundsAndStep(raw, bounds, precision)
+  if (snapped !== null) return snapped
+
+  const fallback = Number(bounds.min)
+  return Number.isFinite(fallback) ? fallback : 0
+}
+
+function resolveDefaultNumericValue(param, bounds) {
+  const precision = stepPrecision(bounds.step, param.precision)
+  const stockKey = `${param.key}Stock`
+
+  // Prefer live vehicle stock values when available.
+  const liveStock = snapNumericToBoundsAndStep(state.values?.[stockKey], bounds, precision)
+  if (liveStock !== null) return liveStock
+
+  // Fallback to default table stock value if present.
+  const defaultStock = snapNumericToBoundsAndStep(state.defaultValues?.[stockKey], bounds, precision)
+  if (defaultStock !== null) return defaultStock
+
+  // Final fallback: generic param default.
+  return snapNumericToBoundsAndStep(state.defaultValues?.[param.key], bounds, precision)
+}
+
+function isNumericUpdating(key) {
+  return !!state.numericUpdating[key]
+}
+
+function showParamSnackbar(message, level, timeout = 2200) {
+  showSnackbar(message, level, timeout, {
+    key: "device-settings-param-update",
+    replace: true,
+  })
+}
+
+function syncNumericDisplay(param, rawValue) {
+  const displayEl = document.getElementById(`ds-display-${param.key}`)
+  if (!displayEl) return
+
+  const bounds = numericBounds(param)
+  displayEl.textContent = formatSliderValue(
+    rawValue,
+    String(bounds.step),
+    param.precision,
+    param.key,
+  )
+}
+
+async function updateNumericParam(param, numericValue, options = {}) {
+  const key = param.key
+  const current = state.values[key]
+  const successMessage = options.successMessage
+  state.numericUpdating = { ...state.numericUpdating, [key]: true }
+  state.values = { ...state.values, [key]: numericValue }
+  syncNumericDisplay(param, numericValue)
+  try {
+    const res = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key, value: coerceValueByType(numericValue, param.data_type) }),
+    })
+    const data = await res.json()
+
+    if (res.ok) {
+      const updated = (data.updated && typeof data.updated === "object") ? data.updated : {}
+      const resolvedValue = Object.prototype.hasOwnProperty.call(updated, key) ? updated[key] : numericValue
+      state.values = { ...state.values, [key]: resolvedValue, ...updated }
+      state.numericUpdating = { ...state.numericUpdating, [key]: false }
+      syncNumericDisplay(param, resolvedValue)
+      showParamSnackbar(successMessage || data.message || `Parameter '${key}' updated.`)
+      scheduleSyncInputs()
+    } else {
+      state.values = { ...state.values, [key]: current }
+      state.numericUpdating = { ...state.numericUpdating, [key]: false }
+      syncNumericDisplay(param, current)
+      showParamSnackbar(data.error || "Failed to update parameter", "error")
+    }
+  } catch (e) {
+    state.values = { ...state.values, [key]: current }
+    state.numericUpdating = { ...state.numericUpdating, [key]: false }
+    syncNumericDisplay(param, current)
+    showParamSnackbar("Network error — is the device reachable?", "error")
+  }
+}
+
+function stepNumericParam(param, direction) {
+  const bounds = numericBounds(param)
+  const min = Number(bounds.min)
+  const max = Number(bounds.max)
+  const step = Number(bounds.step)
+
+  if (!Number.isFinite(min) || !Number.isFinite(max) || !Number.isFinite(step) || step <= 0) return
+  if (isNumericUpdating(param.key)) return
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const precision = stepPrecision(step, param.precision)
+  const epsilon = Math.pow(10, -(precision + 2))
+
+  const next = snapNumericToBoundsAndStep(current + (direction * step), bounds, precision)
+  if (next === null) return
+  if (Math.abs(next - current) <= epsilon) return
+
+  updateNumericParam(param, next)
+}
+
+async function resetNumericParam(param) {
+  const bounds = numericBounds(param)
+  let defaultValue = resolveDefaultNumericValue(param, bounds)
+  if (defaultValue === null) {
+    const loaded = await fetchDefaultValues()
+    if (!loaded) {
+      showParamSnackbar("Couldn't load defaults. Try refreshing the page.", "error")
+      return
+    }
+    defaultValue = resolveDefaultNumericValue(param, bounds)
+  }
+
+  if (defaultValue === null) {
+    showParamSnackbar("No default value available for this setting.", "error")
+    return
+  }
+  if (isNumericUpdating(param.key)) return
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const precision = stepPrecision(bounds.step, param.precision)
+  const epsilon = Math.pow(10, -(precision + 2))
+  if (Math.abs(defaultValue - current) <= epsilon) return
+
+  updateNumericParam(param, defaultValue, {
+    successMessage: `Parameter '${param.key}' reset to default.`,
+  })
+}
+
+async function updateParam(key, elType) {
+  const current = state.values[key]
+  const el = document.getElementById(`ds-${key}`)
+  if (!el) return
+
+  const param = state.paramMetaByKey[key] || {}
+
+  let formattedVal
+  if (elType === "checkbox") {
+    formattedVal = !!el.checked
+  } else if (elType === "dropdown") {
+    formattedVal = coerceValueByType(el.value, param.data_type)
+  } else {
+    formattedVal = coerceValueByType(el.value, param.data_type)
+  }
+
+  try {
+    const res = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key, value: formattedVal }),
+    })
+    const data = await res.json()
+
+    if (res.ok) {
+      const updated = (data.updated && typeof data.updated === "object") ? data.updated : {}
+      state.values = { ...state.values, [key]: formattedVal, ...updated }
+      showParamSnackbar(data.message || `Parameter '${key}' updated.`)
+      scheduleSyncInputs()
+    } else {
+      revertInput(key, current, elType)
+      showParamSnackbar(data.error || "Failed to update parameter", "error")
+    }
+  } catch (e) {
+    revertInput(key, current, elType)
+    showParamSnackbar("Network error — is the device reachable?", "error")
+  }
+}
+
+function revertInput(key, current, elType) {
+  const el = document.getElementById(`ds-${key}`)
+  if (!el) return
+
+  if (elType === "checkbox") {
+    el.checked = !!current
+    return
+  }
+
+  if (elType === "dropdown") {
+    el.value = toSelectValue(current)
+    return
+  }
+
+  el.value = current
+}
+
+function toggleManage(key) {
+  state.expanded = { ...state.expanded, [key]: !state.expanded[key] }
+  scheduleSyncInputs()
+}
+
+function matchesFilter(p) {
+  if (!state.filter) return true
+  const q = state.filter.toLowerCase()
+  return p.label.toLowerCase().includes(q) || p.key.toLowerCase().includes(q)
+}
+
+function clearSearchFilter() {
+  if (!state.filter) return
+  state.filter = ""
+  scheduleSyncInputs()
+}
+
+function handleSectionTabClick(sectionSlug, event) {
+  if (!sectionSlug || sectionSlug === state.activeSectionSlug) return
+
+  // Preserve horizontal tab strip position on mobile when switching sections.
+  const tabsEl = event?.currentTarget?.closest(".ds-tabs")
+  const preservedScrollLeft = tabsEl ? tabsEl.scrollLeft : null
+
+  state.activeSectionSlug = sectionSlug
+
+  if (preservedScrollLeft !== null) {
+    requestAnimationFrame(() => {
+      const nextTabsEl = document.getElementById("ds-tabs")
+      if (nextTabsEl) nextTabsEl.scrollLeft = preservedScrollLeft
+    })
+  }
+}
+
+function renderSettingRow(p) {
+  if (p.parent_key && !state.filter) {
+    if (!state.values[p.parent_key]) return ""
+    if (!state.expanded[p.parent_key]) return ""
+  }
+
+  const isNumeric = p.ui_type === "numeric"
+  const isChild = p.parent_key ? "ds-child-modifier" : ""
+
+  return html`
+    <div class="ds-row ${isNumeric ? "ds-row-numeric" : ""} ${isChild}">
+      <div class="ds-row-info">
+        <div class="ds-row-text">
+          <span class="ds-row-label">${p.label}</span>
+          ${p.description ? html`<div class="ds-row-desc">${p.description}</div>` : ""}
+
+          ${() => p.is_parent_toggle && state.values[p.key] ? html`
+            <div class="ds-manage-btn" @click="${() => toggleManage(p.key)}">
+              ${state.expanded[p.key] ? "Close" : "Manage"}
+              <i class="bi bi-chevron-${state.expanded[p.key] ? "up" : "down"}"></i>
+            </div>
+          ` : ""}
+        </div>
+        ${isNumeric ? html`<span class="ds-row-value" id="ds-display-${p.key}">${() => {
+            const currentValue = state.values[p.key]
+            const bounds = numericBounds(p)
+            return currentValue !== undefined ? formatSliderValue(currentValue, String(bounds.step), p.precision, p.key) : ".."
+          }}</span>` : ""}
+      </div>
+
+      ${isNumeric ? html`
+        <div class="ds-stepper-container">
+          ${(() => {
+        const bounds = numericBounds(p)
+        const currentNumeric = resolveCurrentNumericValue(p, bounds)
+        const precision = stepPrecision(bounds.step, p.precision)
+        const epsilon = Math.pow(10, -(precision + 2))
+        const updating = isNumericUpdating(p.key)
+        const canDecrease = !updating && currentNumeric > (Number(bounds.min) + epsilon)
+        const canIncrease = !updating && currentNumeric < (Number(bounds.max) - epsilon)
+        const defaultNumeric = resolveDefaultNumericValue(p, bounds)
+        const defaultLabel = defaultNumeric !== null
+          ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
+          : "N/A"
+        const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
+        return html`
+              <div class="ds-stepper">
+                <button
+                  class="ds-stepper-btn"
+                  ?disabled="${!canDecrease}"
+                  @click="${() => stepNumericParam(p, -1)}">-</button>
+                <div class="ds-stepper-meta">
+                  <span>${formatSliderValue(bounds.min, String(bounds.step), p.precision, p.key)} to ${formatSliderValue(bounds.max, String(bounds.step), p.precision, p.key)}</span>
+                  <span class="ds-default-value">Default: ${defaultLabel}</span>
+                  <button
+                    class="ds-reset-btn"
+                    ?disabled="${!canReset}"
+                    @click="${() => resetNumericParam(p)}">Reset to Default</button>
+                </div>
+                <button
+                  class="ds-stepper-btn"
+                  ?disabled="${!canIncrease}"
+                  @click="${() => stepNumericParam(p, 1)}">+</button>
+              </div>
+            `
+      })()}
+        </div>
+      ` : p.ui_type === "dropdown" ? html`
+        <select
+          class="ds-select"
+          id="ds-${p.key}"
+          data-endpoint="${p.options_endpoint || ""}"
+          @change="${() => updateParam(p.key, "dropdown")}">
+          <option value="">Loading...</option>
+        </select>
+      ` : html`
+        <input
+          type="checkbox"
+          class="ds-toggle"
+          id="ds-${p.key}"
+          @change="${() => updateParam(p.key, "checkbox")}" />
+      `}
+    </div>
+  `
+}
+
+// Resolve the active section slug imperatively — NEVER inside a reactive expression
+function resolveActiveSectionSlug(params) {
+  if (state.layout.length === 0) return
+
+  const sections = getSectionsWithSlug()
+  const validSlugs = new Set(sections.map(s => s.slug))
+  const requestedSlug = String(params?.section || "").toLowerCase()
+  const fallbackSlug = sections[0].slug
+  const nextSlug = validSlugs.has(requestedSlug)
+    ? requestedSlug
+    : (validSlugs.has(state.activeSectionSlug) ? state.activeSectionSlug : fallbackSlug)
+
+  if (state.activeSectionSlug !== nextSlug) {
+    state.activeSectionSlug = nextSlug
+  }
+}
+
+export function DeviceSettings({ params }) {
+  lastParams = params
+
+  if (!state.fetched) {
+    state.fetched = true
+    fetchLayoutAndParams()
+  }
+
+  // Resolve slug imperatively (safe: runs in function body, not reactive context)
+  resolveActiveSectionSlug(params)
+
+  return html`
+    <div class="ds-wrapper">
+      <h2>Toggles</h2>
+
+      <div class="ds-search-row">
+        <input
+          class="ds-search"
+          type="text"
+          placeholder="Search settings..."
+          value="${() => state.filter}"
+          @keydown="${(e) => {
+            if (e.key === "Escape") clearSearchFilter()
+          }}"
+          @input="${(e) => {
+            state.filter = e.target.value
+            scheduleSyncInputs()
+          }}" />
+        ${() => state.filter ? html`
+          <button
+            class="ds-search-clear"
+            @click="${() => clearSearchFilter()}">
+            Clear
+          </button>
+        ` : ""}
+      </div>
+
+      ${() => {
+      if (state.loadingLayout || state.loadingValues) {
+        return html`<div class="ds-loading">Loading configuration...</div>`
+      }
+
+      const sections = getSectionsWithSlug()
+      if (sections.length === 0) {
+        return html`<div class="ds-empty">No settings available.</div>`
+      }
+
+      // Sync DOM inputs after ArrowJS renders (safe: syncScheduled is non-reactive)
+      scheduleSyncInputs()
+
+      // Search active → show matching results from ALL sections
+      if (state.filter) {
+        const MAX_PER_SECTION = 25
+        const searchResults = sections
+          .map(s => ({ ...s, matches: s.params.filter(p => matchesFilter(p)) }))
+          .filter(s => s.matches.length > 0)
+
+        const totalMatches = searchResults.reduce((n, s) => n + s.matches.length, 0)
+
+        return html`
+          <div class="ds-status-bar">
+            <span>${totalMatches} result${totalMatches !== 1 ? "s" : ""} across ${searchResults.length} section${searchResults.length !== 1 ? "s" : ""}</span>
+            <span>${state.allKeys.length} total mapped</span>
+          </div>
+
+          ${searchResults.map(section => html`
+            <div class="ds-section">
+              <div class="ds-section-header ds-static-header">
+                <i class="bi ${section.icon}"></i>
+                <span class="ds-section-title">${section.name} (${section.matches.length})</span>
+              </div>
+              <div class="ds-section-body">
+                ${section.matches.slice(0, MAX_PER_SECTION).map(p => renderSettingRow(p))}
+                ${section.matches.length > MAX_PER_SECTION ? html`<div class="ds-row"><span class="ds-row-label" style="opacity:0.5">+${section.matches.length - MAX_PER_SECTION} more — refine your search</span></div>` : ""}
+              </div>
+            </div>
+          `)}
+
+          ${totalMatches === 0 ? html`<div class="ds-empty">No settings match your search.</div>` : ""}
+        `
+      }
+
+      // No search → normal tab-based single-section view
+      const activeSection = sections.find(s => s.slug === state.activeSectionSlug) || sections[0]
+      const visibleParams = activeSection.params.filter(p => matchesFilter(p))
+
+      return html`
+          <div class="ds-tabs" id="ds-tabs">
+            ${sections.map(section => html`
+              <button
+                class="ds-tab ${section.slug === state.activeSectionSlug ? "active" : ""}"
+                @click="${(e) => {
+          handleSectionTabClick(section.slug, e)
+        }}">
+                <i class="bi ${section.icon}"></i>
+                <span>${section.name}</span>
+              </button>
+            `)}
+          </div>
+
+          <div class="ds-status-bar">
+            <span>${activeSection.params.length} settings in ${activeSection.name}</span>
+            <span>${state.allKeys.length} total mapped</span>
+          </div>
+
+          <div class="ds-section">
+            <div class="ds-section-header ds-static-header">
+              <i class="bi ${activeSection.icon}"></i>
+              <span class="ds-section-title">${activeSection.name} (${visibleParams.length})</span>
+            </div>
+            <div class="ds-section-body">
+              ${visibleParams.map(p => renderSettingRow(p))}
+            </div>
+          </div>
+
+          ${visibleParams.length === 0 ? html`<div class="ds-empty">No settings match your search.</div>` : ""}
+        `
+    }}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/galaxy.css

@@ -0,0 +1,137 @@
+/* ――― Galaxy Pairing Widget ――― */
+.galaxy-wrapper {
+  max-width: var(--width-xxxl);
+  padding: var(--padding-base) var(--padding-lg) var(--padding-xxl);
+}
+
+.galaxy-loading {
+  color: var(--text-muted);
+  padding: var(--padding-xl);
+  text-align: center;
+}
+
+.galaxy-widget {
+  align-items: center;
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-sm);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-lg);
+  max-width: var(--width-lg);
+  padding: var(--padding-xl);
+  transition: box-shadow var(--transition-fast), transform var(--transition-fast);
+}
+
+.galaxy-widget:hover {
+  box-shadow: var(--shadow-md);
+  transform: var(--hover-scale-sm);
+}
+
+/* ――― Status Badge ――― */
+.galaxy-status-badge {
+  align-items: center;
+  border-radius: 2rem;
+  display: inline-flex;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-bold);
+  gap: var(--gap-xs);
+  padding: 0.3rem 1rem;
+}
+
+.galaxy-paired {
+  background-color: rgba(94, 200, 200, 0.15);
+  color: var(--success-fg);
+}
+
+.galaxy-unpaired {
+  background-color: rgba(224, 85, 119, 0.15);
+  color: var(--danger-fg);
+}
+
+/* ――― Text ――― */
+.galaxy-text {
+  color: var(--text-color);
+  line-height: var(--line-height-base);
+  text-align: center;
+}
+
+/* ――― URL Link ――― */
+.galaxy-url {
+  color: var(--main-fg);
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-demi-bold);
+  text-decoration: underline;
+  text-underline-offset: 3px;
+  transition: color var(--transition-fast);
+  word-break: break-all;
+}
+
+.galaxy-url:hover {
+  color: var(--accent-hover-bg);
+}
+
+/* ――― Input Group ――― */
+.galaxy-input-group {
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-sm);
+  width: 100%;
+}
+
+.galaxy-input {
+  background-color: var(--input-bg);
+  border: var(--border-style-input);
+  border-radius: var(--border-radius-lg);
+  box-sizing: border-box;
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-base);
+  outline: none;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: box-shadow var(--transition-fast);
+  width: 100%;
+}
+
+.galaxy-input:focus {
+  box-shadow: 0 0 0 2px var(--main-fg);
+}
+
+/* ――― Buttons ――― */
+.galaxy-button {
+  background-color: var(--input-bg);
+  border: none;
+  border-radius: var(--border-radius-lg);
+  color: var(--text-color);
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+  text-align: center;
+  transition: background-color var(--transition-fast), box-shadow var(--transition-fast), transform var(--transition-fast);
+  width: 100%;
+}
+
+.galaxy-button:hover:not(:disabled) {
+  box-shadow: var(--shadow-md);
+  transform: var(--hover-scale-sm);
+}
+
+.galaxy-button:disabled {
+  opacity: var(--disabled-opacity);
+}
+
+.galaxy-button-danger {
+  background-color: rgba(224, 85, 119, 0.2);
+  color: var(--danger-fg);
+}
+
+.galaxy-button-danger:hover:not(:disabled) {
+  background-color: rgba(224, 85, 119, 0.35);
+}
+
+/* ――― Mobile ――― */
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .galaxy-wrapper {
+    padding: var(--padding-sm) var(--padding-base) var(--padding-xl);
+  }
+}

frogpilot/system/the_pond/assets/components/tools/galaxy.js

@@ -0,0 +1,166 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
+import { Modal } from "/assets/components/modal.js"
+
+const state = reactive({
+  paired: false,
+  url: "",
+  password: "",
+  loading: true,
+  submitting: false,
+  showUnpairModal: false,
+  fetched: false,
+})
+
+async function fetchStatus() {
+  state.loading = true
+  try {
+    const res = await fetch("/api/galaxy/status")
+    const data = await res.json()
+    state.paired = data.paired
+    state.url = data.url
+  } catch (e) {
+    console.error("Failed to fetch Galaxy status:", e)
+  }
+  state.loading = false
+}
+
+async function pair() {
+  if (state.submitting) return
+  const pw = state.password.trim()
+  if (pw.length < 6) {
+    showSnackbar("Password must be at least 6 characters.")
+    return
+  }
+
+  state.submitting = true
+  try {
+    const res = await fetch("/api/galaxy/pair", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ password: pw }),
+    })
+    const data = await res.json()
+    if (res.ok) {
+      state.paired = true
+      state.url = data.url
+      state.password = ""
+      // Clear the DOM input value directly (Arrow.js doesn't two-way bind)
+      const input = document.querySelector(".galaxy-input")
+      if (input) input.value = ""
+      showSnackbar(data.message || "Paired!")
+    } else {
+      showSnackbar(data.error || "Pairing failed.")
+    }
+  } catch (e) {
+    showSnackbar("Network error — is the device reachable?")
+  }
+  state.submitting = false
+}
+
+async function unpair() {
+  state.showUnpairModal = false
+  state.submitting = true
+  try {
+    const res = await fetch("/api/galaxy/unpair", { method: "POST" })
+    const data = await res.json()
+    if (res.ok) {
+      state.paired = false
+      state.url = ""
+      showSnackbar(data.message || "Unpaired!")
+    } else {
+      showSnackbar(data.error || "Unpairing failed.")
+    }
+  } catch (e) {
+    showSnackbar("Network error — is the device reachable?")
+  }
+  state.submitting = false
+}
+
+export function GalaxyPairing() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Galaxy Pairing Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Galaxy pairing requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
+  if (!state.fetched) {
+    state.fetched = true
+    fetchStatus()
+  }
+
+  return html`
+    <div class="galaxy-wrapper">
+      <h2>Galaxy</h2>
+
+      ${() => {
+      if (state.loading) {
+        return html`<div class="galaxy-loading">Checking pairing status…</div>`
+      }
+
+      if (state.paired) {
+        return html`
+            <section class="galaxy-widget">
+              <div class="galaxy-status-badge galaxy-paired">
+                <i class="bi bi-check-circle-fill"></i> Paired
+              </div>
+              <p class="galaxy-text">
+                Your device is paired with Galaxy. Access it remotely at:
+              </p>
+              <a class="galaxy-url" href="${state.url}" target="_blank" rel="noopener">
+                ${state.url}
+              </a>
+              <button
+                class="galaxy-button galaxy-button-danger"
+                @click="${() => { state.showUnpairModal = true }}"
+                disabled="${() => state.submitting}"
+              >
+                ${() => state.submitting ? "Unpairing…" : "Unpair"}
+              </button>
+            </section>
+
+            ${() => state.showUnpairModal ? Modal({
+          title: "Confirm Unpair",
+          message: "Are you sure you want to unpair from Galaxy? You will lose remote access until you pair again.",
+          onConfirm: unpair,
+          onCancel: () => { state.showUnpairModal = false },
+          confirmText: "Unpair",
+        }) : ""}
+          `
+      }
+
+      return html`
+          <section class="galaxy-widget">
+            <div class="galaxy-status-badge galaxy-unpaired">
+              <i class="bi bi-x-circle-fill"></i> Not Paired
+            </div>
+            <p class="galaxy-text">
+              Pair your device with Galaxy to access The Pond remotely from anywhere.
+              Enter a password to secure your connection.
+            </p>
+            <div class="galaxy-input-group">
+              <input
+                class="galaxy-input"
+                type="password"
+                placeholder="Password (min 6 characters)"
+                @input="${(e) => { state.password = e.target.value }}"
+                @keydown="${(e) => { if (e.key === 'Enter') pair() }}"
+              />
+              <button
+                class="galaxy-button"
+                @click="${pair}"
+                disabled="${() => state.submitting || state.password.trim().length < 6}"
+              >
+                ${() => state.submitting ? "Pairing…" : "Pair"}
+              </button>
+            </div>
+          </section>
+        `
+    }}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/longitudinal_maneuvers.css

@@ -0,0 +1,117 @@
+.longManeuverPage {
+  max-width: var(--width-xxl);
+}
+
+.longManeuverCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 90%;
+  padding: var(--border-radius-xl);
+}
+
+.longManeuverIntro {
+  margin-top: 0;
+}
+
+.longManeuverActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.longManeuverButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.longManeuverButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.longManeuverButton:disabled {
+  cursor: not-allowed;
+  opacity: 0.55;
+  transform: none;
+}
+
+.longManeuverButton.danger {
+  background: var(--danger-bg);
+}
+
+.longManeuverButton.danger:hover {
+  background: var(--danger-hover-bg);
+}
+
+.longManeuverError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-base);
+}
+
+.longManeuverMuted {
+  color: var(--text-muted);
+}
+
+.longManeuverStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.longManeuverStatusGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.longManeuverCurrent {
+  margin-top: var(--margin-base);
+}
+
+.longManeuverCurrent p {
+  font-size: var(--font-size-sm);
+  margin: 0 0 var(--margin-xs);
+}
+
+.longManeuverInstructions,
+.longManeuverHistory {
+  margin-top: var(--margin-base);
+}
+
+.longManeuverInstructions h3,
+.longManeuverHistory h3 {
+  margin-bottom: var(--margin-xs);
+}
+
+.longManeuverInstructions ol,
+.longManeuverHistory ol {
+  margin: var(--margin-xs) 0 0;
+  padding-left: 1.4rem;
+}
+
+.longManeuverInstructions li,
+.longManeuverHistory li {
+  font-size: var(--font-size-sm);
+  margin-bottom: 0.25rem;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .longManeuverCard {
+    max-width: 100%;
+  }
+
+  .longManeuverActions {
+    flex-direction: column;
+  }
+
+  .longManeuverStatusGrid {
+    grid-template-columns: 1fr;
+  }
+}
+

frogpilot/system/the_pond/assets/components/tools/longitudinal_maneuvers.js

@@ -0,0 +1,183 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const state = reactive({
+  loading: true,
+  busy: false,
+  error: "",
+  data: null,
+})
+
+let initialized = false
+let pollHandle = null
+const POLL_INTERVAL_MS = 1000
+
+function isLongitudinalManeuversRouteActive() {
+  return window.location.pathname === "/longitudinal_maneuvers"
+}
+
+function safeNumber(value, fallback = 0) {
+  const n = Number(value)
+  return Number.isFinite(n) ? n : fallback
+}
+
+function formatAgeSeconds(value) {
+  const sec = safeNumber(value, -1)
+  if (sec < 0) return "unknown"
+  if (sec < 1) return "just now"
+  if (sec < 60) return `${Math.round(sec)}s ago`
+  const min = sec / 60
+  if (min < 60) return `${Math.round(min)}m ago`
+  const hr = min / 60
+  return `${Math.round(hr)}h ago`
+}
+
+async function fetchStatus() {
+  try {
+    const response = await fetch("/api/longitudinal_maneuvers/status")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load maneuver status")
+    }
+
+    state.data = payload
+    state.error = ""
+  } catch (error) {
+    state.error = error?.message || "Failed to load maneuver status"
+  } finally {
+    state.loading = false
+  }
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isLongitudinalManeuversRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    await fetchStatus()
+    pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+async function runAction(action) {
+  if (state.busy) return
+  state.busy = true
+
+  try {
+    const response = await fetch(`/api/longitudinal_maneuvers/${action}`, { method: "POST" })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || `Failed to ${action} maneuvers`)
+    }
+
+    state.data = payload
+    state.error = ""
+    showSnackbar(payload.message || "Action complete.")
+  } catch (error) {
+    const message = error?.message || `Failed to ${action} maneuvers`
+    state.error = message
+    showSnackbar(message, "error")
+  } finally {
+    state.busy = false
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+  fetchStatus()
+  ensurePolling()
+}
+
+function statusLine(label, value) {
+  return html`<p><strong>${label}:</strong> ${value}</p>`
+}
+
+export function LongitudinalManeuvers() {
+  initialize()
+
+  return html`
+    <div class="longManeuverPage">
+      <h2>Long Maneuvers</h2>
+
+      <div class="longManeuverCard">
+        <p class="longManeuverIntro">
+          Run the longitudinal maneuver suite from your phone and monitor progress live.
+        </p>
+
+        <div class="longManeuverActions">
+          <button
+            class="longManeuverButton"
+            ?disabled="${state.busy}"
+            @click="${() => runAction("start")}">
+            Start / Arm
+          </button>
+          <button
+            class="longManeuverButton danger"
+            ?disabled="${state.busy}"
+            @click="${() => runAction("stop")}">
+            Stop
+          </button>
+        </div>
+
+        ${() => state.loading ? html`<p class="longManeuverMuted">Loading status...</p>` : ""}
+        ${() => state.error ? html`<p class="longManeuverError">${state.error}</p>` : ""}
+
+        ${() => state.data ? html`
+          <div class="longManeuverStatusGrid">
+            ${statusLine("Mode Enabled", state.data.modeEnabled ? "Yes" : "No")}
+            ${statusLine("State", state.data.state || "idle")}
+            ${statusLine("Onroad", state.data.isOnroad ? "Yes" : "No")}
+            ${statusLine("Engaged", state.data.isEngaged ? "Yes" : "No")}
+            ${statusLine("Phase", state.data.phase || "n/a")}
+            ${statusLine("Paddle Mode", state.data.paddleMode || "auto")}
+            ${statusLine("Step", `${safeNumber(state.data.stepIndex, 0)}/${safeNumber(state.data.stepTotal, 0)}`)}
+            ${statusLine("Run", `${safeNumber(state.data.runIndex, 0)}/${safeNumber(state.data.runTotal, 0)}`)}
+            ${statusLine("Updated", formatAgeSeconds(state.data.updatedAgeSec))}
+          </div>
+
+          <div class="longManeuverCurrent">
+            <p><strong>Current Maneuver:</strong> ${state.data.maneuver || "n/a"}</p>
+            <p><strong>Popup Text:</strong> ${state.data.uiText1 || ""} ${state.data.uiText2 ? `| ${state.data.uiText2}` : ""}</p>
+          </div>
+
+          <div class="longManeuverInstructions">
+            <h3>Quick Guide</h3>
+            <ol>
+              <li>Find a large, empty, straight road or lot with no traffic.</li>
+              <li>Press <strong>Start / Arm</strong> here, then engage openpilot with SET.</li>
+              <li>Keep full supervision and be ready to disengage at all times.</li>
+              <li>For GM pedal-long cars, the suite runs both pedal-only and pedal+paddle phases automatically.</li>
+              <li>When the status says complete, collect logs and generate your HTML report.</li>
+            </ol>
+          </div>
+
+          <div class="longManeuverHistory">
+            <h3>Progress Chain</h3>
+            ${() => (state.data.history || []).length ? html`
+              <ol>
+                ${(state.data.history || []).slice().reverse().map((line) => html`<li>${line}</li>`)}
+              </ol>
+            ` : html`<p class="longManeuverMuted">No steps logged yet.</p>`}
+          </div>
+        ` : ""}
+      </div>
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/model_manager.css

@@ -0,0 +1,253 @@
+.mm-wrapper {
+  color: var(--text-color);
+  max-width: 1200px;
+  padding-right: var(--padding-base);
+}
+
+.mm-toolbar {
+  align-items: center;
+  background: var(--card-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-md);
+  justify-content: space-between;
+  margin: var(--margin-base) 0;
+  padding: var(--padding-base);
+}
+
+.mm-summary {
+  color: var(--text-muted);
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-lg);
+}
+
+.mm-actions {
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+}
+
+.mm-status {
+  align-items: center;
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-base);
+}
+
+.mm-progress {
+  background: var(--secondary-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  padding: 0.35rem 0.6rem;
+}
+
+.mm-filters {
+  align-items: center;
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-base);
+}
+
+.mm-search,
+.mm-select {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  font-size: var(--font-size-base);
+  min-height: 2.15rem;
+  padding: 0.4rem 0.55rem;
+}
+
+.mm-search {
+  min-width: min(420px, 90vw);
+}
+
+.mm-filter-label,
+.mm-filter-checkbox {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  gap: var(--gap-xs);
+}
+
+.mm-filter-break {
+  display: none;
+}
+
+.mm-series {
+  background: var(--card-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  margin-bottom: var(--margin-base);
+  overflow: hidden;
+}
+
+.mm-series-header {
+  align-items: center;
+  background: rgba(255, 255, 255, 0.03);
+  border-bottom: 1px solid var(--sidebar-border-color);
+  display: flex;
+  justify-content: space-between;
+  padding: 0.55rem 0.8rem;
+}
+
+.mm-series-header h3 {
+  font-size: 1.02rem;
+  margin: 0;
+  padding: 0;
+}
+
+.mm-series-header span {
+  color: var(--text-muted);
+}
+
+.mm-row {
+  align-items: center;
+  border-bottom: 1px solid var(--sidebar-border-color);
+  display: flex;
+  gap: var(--gap-md);
+  justify-content: space-between;
+  padding: 0.75rem 0.8rem;
+}
+
+.mm-row:last-child {
+  border-bottom: none;
+}
+
+.mm-row-main {
+  min-width: 0;
+}
+
+.mm-row-title {
+  align-items: center;
+  display: flex;
+  font-size: 1rem;
+  gap: var(--gap-xs);
+}
+
+.mm-row-meta {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 0.35rem;
+  margin-top: 0.35rem;
+}
+
+.mm-row-actions {
+  align-items: center;
+  display: flex;
+  flex-shrink: 0;
+  gap: var(--gap-sm);
+}
+
+.mm-btn {
+  border: none;
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  min-height: 2.2rem;
+  min-width: 7.5rem;
+  padding: 0.45rem 0.8rem;
+}
+
+.mm-btn:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+.mm-btn-primary {
+  background: var(--success-bg);
+  color: var(--color-black);
+}
+
+.mm-btn-primary:hover:not(:disabled) {
+  background: var(--success-hover-bg);
+}
+
+.mm-btn-secondary {
+  background: var(--sidebar-active-bg);
+}
+
+.mm-btn-secondary:hover:not(:disabled) {
+  background: var(--accent-hover-bg);
+}
+
+.mm-btn-danger {
+  background: var(--danger-bg);
+}
+
+.mm-btn-danger:hover:not(:disabled) {
+  background: var(--danger-hover-bg);
+}
+
+.mm-chip {
+  background: var(--secondary-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: 999px;
+  color: var(--text-muted);
+  display: inline-flex;
+  font-size: 0.78rem;
+  padding: 0.1rem 0.5rem;
+}
+
+.mm-chip-active {
+  background: var(--success-bg);
+  border-color: transparent;
+  color: var(--color-black);
+}
+
+.mm-chip-favorite {
+  background: rgba(212, 160, 96, 0.18);
+  border-color: rgba(212, 160, 96, 0.5);
+  color: var(--warning-bg);
+}
+
+.mm-chip-warning {
+  background: rgba(224, 85, 119, 0.12);
+  border-color: rgba(224, 85, 119, 0.45);
+  color: var(--danger-fg);
+}
+
+.mm-star {
+  background: transparent;
+  border: none;
+  color: #e0b45a;
+  font-size: 1rem;
+  line-height: 1;
+  padding: 0;
+}
+
+.mm-empty {
+  color: var(--text-muted);
+  padding: 0.7rem 0;
+}
+
+@media (max-width: 850px) {
+  .mm-row {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+
+  .mm-row-actions {
+    width: 100%;
+  }
+
+  .mm-btn {
+    width: 100%;
+  }
+
+  .mm-search {
+    min-width: 100%;
+  }
+
+  .mm-filter-break {
+    display: block;
+    flex-basis: 100%;
+    height: 0;
+  }
+}

frogpilot/system/the_pond/assets/components/tools/model_manager.js

@@ -0,0 +1,586 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core";
+
+const state = reactive({
+  loading: true,
+  refreshing: false,
+  error: "",
+  actionBusy: false,
+  sortMode: "alphabetical",
+  communityFavoriteFilter: "all",
+  models: [],
+  currentModel: "",
+  summary: { installed: 0, missing: 0, total: 0 },
+  status: {
+    modelToDownload: "",
+    downloadAll: false,
+    downloading: false,
+    cancelling: false,
+    progress: "",
+    isOnroad: false,
+    terminal: false,
+  },
+});
+
+let initialized = false;
+let pollingHandle = null;
+let statusInFlight = false;
+let lastStatusSignature = "";
+
+const REQUEST_TIMEOUT_MS = 20000;
+const ACTIVE_POLL_INTERVAL_MS = 1000;
+const IDLE_POLL_INTERVAL_MS = 4000;
+
+function notify(message, variant = "success") {
+  if (typeof showSnackbar === "function") {
+    showSnackbar(message, variant);
+  } else if (variant === "error") {
+    console.error(message);
+  } else {
+    console.log(message);
+  }
+}
+
+function logDebug(message, details = null) {
+  if (details === null || details === undefined) {
+    console.log(`[ModelManager] ${message}`);
+  } else {
+    console.log(`[ModelManager] ${message}`, details);
+  }
+}
+
+function isModelRouteActive() {
+  return window.location.pathname === "/manage_models";
+}
+
+function safeText(value, fallback = "") {
+  if (value === null || value === undefined) return fallback;
+  return String(value);
+}
+
+function toBool(value) {
+  return !!value;
+}
+
+function toInt(value) {
+  const n = Number(value);
+  return Number.isFinite(n) ? n : 0;
+}
+
+function parseReleased(value) {
+  const ts = Date.parse(safeText(value, ""));
+  return Number.isNaN(ts) ? 0 : ts;
+}
+
+function normalizeSeries(model) {
+  return safeText(model?.series, "Custom Series") || "Custom Series";
+}
+
+function modelSortCompare(a, b) {
+  if (state.sortMode === "release_date") {
+    const dateDelta = parseReleased(b?.released) - parseReleased(a?.released);
+    if (dateDelta !== 0) return dateDelta;
+  }
+
+  return safeText(a?.label, a?.value).localeCompare(
+    safeText(b?.label, b?.value),
+    undefined,
+    { sensitivity: "base", numeric: true },
+  );
+}
+
+function getFilteredModels() {
+  let rows = [...state.models].filter(model => model && typeof model === "object");
+
+  if (state.communityFavoriteFilter === "yes") {
+    rows = rows.filter(model => !!model.communityFavorite);
+  } else if (state.communityFavoriteFilter === "no") {
+    rows = rows.filter(model => !model.communityFavorite);
+  }
+
+  return rows;
+}
+
+function getSeriesGroups() {
+  const grouped = {};
+
+  for (const model of getFilteredModels()) {
+    const seriesName = normalizeSeries(model);
+    if (!grouped[seriesName]) grouped[seriesName] = [];
+    grouped[seriesName].push(model);
+  }
+
+  const seriesNames = Object.keys(grouped);
+  for (const seriesName of seriesNames) {
+    grouped[seriesName].sort(modelSortCompare);
+  }
+
+  if (state.sortMode === "release_date") {
+    seriesNames.sort((a, b) => {
+      const aNewest = Math.max(...grouped[a].map(model => parseReleased(model?.released)));
+      const bNewest = Math.max(...grouped[b].map(model => parseReleased(model?.released)));
+      const delta = bNewest - aNewest;
+      if (delta !== 0) return delta;
+      return a.localeCompare(b, undefined, { sensitivity: "base" });
+    });
+  } else {
+    seriesNames.sort((a, b) => a.localeCompare(b, undefined, { sensitivity: "base" }));
+  }
+
+  return { grouped, seriesNames };
+}
+
+function getVisibleModels() {
+  const { grouped, seriesNames } = getSeriesGroups();
+  const rows = [];
+  for (const seriesName of seriesNames) {
+    rows.push(...grouped[seriesName]);
+  }
+  return rows;
+}
+
+function getReleaseOrderedModels() {
+  return getFilteredModels().sort(modelSortCompare);
+}
+
+function getInstalledModels() {
+  const rows = state.sortMode === "release_date" ? getReleaseOrderedModels() : getVisibleModels();
+  return rows.filter(model => !!model.installed);
+}
+
+function getCurrentModelName() {
+  const current = safeText(state.currentModel, "");
+  if (!current) return "none";
+
+  const match = state.models.find(model => safeText(model?.value, "") === current);
+  if (!match) return current;
+
+  return safeText(match.label, current);
+}
+
+async function fetchJson(url, options = {}) {
+  const controller = new AbortController();
+  const timer = setTimeout(() => controller.abort(), REQUEST_TIMEOUT_MS);
+
+  try {
+    const response = await fetch(url, { ...options, signal: controller.signal });
+
+    let payload = {};
+    try {
+      payload = await response.json();
+    } catch {
+      payload = {};
+    }
+
+    if (!response.ok) {
+      const message = payload?.error || payload?.message || `Request failed (${response.status})`;
+      throw new Error(message);
+    }
+
+    return payload;
+  } finally {
+    clearTimeout(timer);
+  }
+}
+
+async function fetchStatus() {
+  if (statusInFlight) return;
+  statusInFlight = true;
+
+  try {
+    const payload = await fetchJson("/api/models/status");
+
+    const models = Array.isArray(payload.models)
+      ? payload.models.filter(model => model && typeof model === "object")
+      : [];
+
+    state.models = models;
+    state.currentModel = safeText(payload.currentModel, "");
+
+    const summary = payload.summary && typeof payload.summary === "object" ? payload.summary : {};
+    state.summary = {
+      installed: toInt(summary.installed),
+      missing: toInt(summary.missing),
+      total: toInt(summary.total),
+    };
+
+    state.status = {
+      modelToDownload: safeText(payload.modelToDownload, ""),
+      downloadAll: toBool(payload.downloadAll),
+      downloading: toBool(payload.downloading),
+      cancelling: toBool(payload.cancelling),
+      progress: safeText(payload.progress, ""),
+      isOnroad: toBool(payload.isOnroad),
+      terminal: toBool(payload.terminal),
+    };
+
+    state.error = "";
+
+    const signature = [
+      state.models.length,
+      state.currentModel,
+      state.status.downloading,
+      state.status.downloadAll,
+      state.status.modelToDownload,
+      state.status.progress,
+    ].join("|");
+
+    if (signature !== lastStatusSignature) {
+      lastStatusSignature = signature;
+      logDebug("Status updated", {
+        models: state.models.length,
+        currentModel: state.currentModel || "none",
+        downloading: state.status.downloading,
+        progress: state.status.progress || "Idle",
+      });
+    }
+  } catch (error) {
+    state.error = error?.message || String(error);
+    logDebug("Status fetch failed", state.error);
+  } finally {
+    statusInFlight = false;
+    state.loading = false;
+    state.refreshing = false;
+  }
+}
+
+async function refreshAll(showToast = false) {
+  state.refreshing = true;
+  if (state.models.length === 0) {
+    state.loading = true;
+  }
+
+  await fetchStatus();
+
+  if (showToast && !state.error) {
+    notify("Model list refreshed.");
+  }
+}
+
+function ensurePolling() {
+  if (pollingHandle) return;
+
+  const poll = async () => {
+    if (!isModelRouteActive()) {
+      pollingHandle = null;
+      return;
+    }
+
+    let nextDelay = IDLE_POLL_INTERVAL_MS;
+    try {
+      await fetchStatus();
+      nextDelay = state.status.downloading ? ACTIVE_POLL_INTERVAL_MS : IDLE_POLL_INTERVAL_MS;
+    } finally {
+      pollingHandle = setTimeout(poll, nextDelay);
+    }
+  };
+
+  pollingHandle = setTimeout(poll, ACTIVE_POLL_INTERVAL_MS);
+}
+
+async function setActiveModel(modelKey) {
+  const payload = await fetchJson("/api/params", {
+    method: "PUT",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ key: "Model", value: modelKey }),
+  });
+
+  notify(payload.message || `Selected "${modelKey}".`);
+}
+
+async function startDownload(modelKey) {
+  const payload = await fetchJson("/api/models/download", {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ model: modelKey }),
+  });
+
+  notify(payload.message || `Downloading "${modelKey}"...`);
+}
+
+async function startDownloadAll() {
+  const payload = await fetchJson("/api/models/download_all", { method: "POST" });
+  notify(payload.message || "Started downloading all models.");
+}
+
+async function cancelDownload() {
+  const payload = await fetchJson("/api/models/cancel", { method: "POST" });
+  notify(payload.message || "Cancellation requested.");
+}
+
+async function deleteModel(modelKey) {
+  const payload = await fetchJson("/api/models/delete", {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ model: modelKey }),
+  });
+
+  notify(payload.message || `Deleted files for "${modelKey}".`);
+}
+
+async function refreshManifest() {
+  const payload = await fetchJson("/api/models/refresh_manifest", { method: "POST" });
+  notify(payload.message || "Model manifest refreshed.");
+}
+
+async function runAction(action, modelKey = "") {
+  if (state.actionBusy) {
+    notify("Please wait for the current action to finish.", "error");
+    return;
+  }
+
+  state.actionBusy = true;
+  try {
+    if (action === "refresh") {
+      await refreshManifest();
+      await refreshAll(false);
+      return;
+    }
+
+    if (state.status.isOnroad && action !== "refresh") {
+      notify("Actions are blocked while onroad.", "error");
+      return;
+    }
+
+    if (action === "select") {
+      if (!modelKey) return;
+      await setActiveModel(modelKey);
+    } else if (action === "download") {
+      if (!modelKey) return;
+      await startDownload(modelKey);
+    } else if (action === "download-all") {
+      await startDownloadAll();
+    } else if (action === "cancel") {
+      await cancelDownload();
+    } else if (action === "delete") {
+      if (!modelKey) return;
+      const confirmed = window.confirm(`Delete local files for model \"${modelKey}\"?`);
+      if (!confirmed) return;
+      await deleteModel(modelKey);
+    }
+
+    await fetchStatus();
+  } catch (error) {
+    notify(error?.message || String(error), "error");
+  } finally {
+    state.actionBusy = false;
+  }
+}
+
+function bindDomHandlers() {
+  if (window.__modelManagerHandlersBound) return;
+  window.__modelManagerHandlersBound = true;
+
+  document.addEventListener("click", event => {
+    if (!isModelRouteActive()) return;
+
+    const target = event.target;
+    if (!(target instanceof Element)) return;
+
+    const button = target.closest("[data-mm-action]");
+    if (!button) return;
+
+    const action = safeText(button.getAttribute("data-mm-action"), "");
+    const modelKey = safeText(button.getAttribute("data-model"), "");
+
+    runAction(action, modelKey).catch(() => {});
+  });
+
+  document.addEventListener("change", event => {
+    if (!isModelRouteActive()) return;
+
+    const target = event.target;
+    if (!(target instanceof HTMLSelectElement)) return;
+    if (target.id === "mm-active-model-select") {
+      const modelKey = safeText(target.value, "");
+      if (!modelKey) return;
+      runAction("select", modelKey).catch(() => {});
+      return;
+    }
+
+    if (target.id === "mm-sort-mode-select") {
+      const value = safeText(target.value, "alphabetical");
+      state.sortMode = value === "release_date" ? "release_date" : "alphabetical";
+      return;
+    }
+
+    if (target.id === "mm-community-filter-select") {
+      const value = safeText(target.value, "all");
+      if (value === "yes" || value === "no" || value === "all") {
+        state.communityFavoriteFilter = value;
+      } else {
+        state.communityFavoriteFilter = "all";
+      }
+    }
+  });
+}
+
+function renderActions(model) {
+  const modelKey = safeText(model.value, "");
+  const modelIsDownloading = state.status.downloading && !state.status.downloadAll && state.status.modelToDownload === modelKey;
+
+  if (state.currentModel === modelKey) {
+    return html`<span class="mm-chip mm-chip-active">Active</span>`;
+  }
+
+  if (state.status.downloading) {
+    if (state.status.downloadAll || modelIsDownloading) {
+      return html`<button class="mm-btn mm-btn-danger" data-mm-action="cancel">Cancel</button>`;
+    }
+    return html`<span class="mm-chip">Busy</span>`;
+  }
+
+  if (model.installed) {
+    return html`
+      <button class="mm-btn mm-btn-secondary" data-mm-action="select" data-model="${modelKey}">Set Active</button>
+      <button class="mm-btn mm-btn-danger" data-mm-action="delete" data-model="${modelKey}">Delete</button>
+    `;
+  }
+
+  return html`<button class="mm-btn mm-btn-primary" data-mm-action="download" data-model="${modelKey}">Download</button>`;
+}
+
+function renderModelRow(model) {
+  const label = safeText(model.label, safeText(model.value, "Unnamed"));
+  const key = safeText(model.value, "");
+
+  return html`
+    <div class="mm-row">
+      <div class="mm-row-main">
+        <div class="mm-row-title">
+          <span>${label}</span>
+        </div>
+        <div class="mm-row-meta">
+          <span class="mm-chip">${key}</span>
+          ${state.sortMode === "release_date" ? "" : model.series ? html`<span class="mm-chip">${safeText(model.series)}</span>` : ""}
+          ${model.version ? html`<span class="mm-chip">Version ${safeText(model.version)}</span>` : ""}
+          ${model.released ? html`<span class="mm-chip">Released ${safeText(model.released)}</span>` : ""}
+          ${model.communityFavorite ? html`<span class="mm-chip mm-chip-favorite">Community Favorite</span>` : ""}
+          ${model.partial ? html`<span class="mm-chip mm-chip-warning">Partial Files</span>` : ""}
+        </div>
+      </div>
+      <div class="mm-row-actions">
+        ${renderActions(model)}
+      </div>
+    </div>
+  `;
+}
+
+function renderSeriesSection(seriesName, models) {
+  return html`
+    <section class="mm-series">
+      <header class="mm-series-header">
+        <h3>${seriesName}</h3>
+        <span>${models.length}</span>
+      </header>
+      <div class="mm-series-body">
+        ${models.map(model => renderModelRow(model))}
+      </div>
+    </section>
+  `;
+}
+
+export function ModelManager() {
+  if (!initialized) {
+    initialized = true;
+    bindDomHandlers();
+    logDebug("Initializing component");
+    refreshAll().catch(error => {
+      state.error = error?.message || String(error);
+      state.loading = false;
+      state.refreshing = false;
+      logDebug("Initial refresh failed", state.error);
+    });
+  }
+  ensurePolling();
+
+  return html`
+    <div class="mm-wrapper">
+      <h2>Model Manager</h2>
+
+      ${() => state.error ? html`<div class="mm-error">${state.error}</div>` : ""}
+
+      <div class="mm-debug">
+        Available Models=${() => state.models.length}
+        Current Model=${() => getCurrentModelName()}
+      </div>
+
+      <div class="mm-toolbar">
+        <div class="mm-summary">
+          <span><b>${state.summary.installed}</b> installed</span>
+          <span><b>${state.summary.missing}</b> missing</span>
+          <span><b>${state.summary.total}</b> total</span>
+        </div>
+
+        <div class="mm-actions">
+          ${() => state.status.downloading
+            ? html`<button class="mm-btn mm-btn-danger" data-mm-action="cancel">Cancel Download</button>`
+            : html`<button class="mm-btn mm-btn-primary" data-mm-action="download-all">Download All Missing</button>`}
+          <button class="mm-btn mm-btn-secondary" data-mm-action="refresh">Refresh</button>
+        </div>
+      </div>
+
+      <div class="mm-status">
+        <span class="mm-chip">Current: ${getCurrentModelName()}</span>
+        <span class="mm-chip">Progress: ${safeText(state.status.progress, "Idle")}</span>
+        ${() => state.status.isOnroad ? html`<span class="mm-chip mm-chip-warning">Onroad: actions disabled</span>` : ""}
+      </div>
+
+      <div class="mm-filters">
+        <label class="mm-filter-label" for="mm-active-model-select">Active Model</label>
+        <select class="mm-select" id="mm-active-model-select">
+          ${(() => {
+            const orderedInstalled = getInstalledModels().sort((a, b) => {
+              const aCurrent = safeText(a.value) === state.currentModel ? 0 : 1;
+              const bCurrent = safeText(b.value) === state.currentModel ? 0 : 1;
+              if (aCurrent !== bCurrent) return aCurrent - bCurrent;
+              return safeText(a.label, a.value).localeCompare(safeText(b.label, b.value), undefined, { sensitivity: "base" });
+            });
+
+            return orderedInstalled.length > 0
+              ? orderedInstalled.map(model => html`
+                <option value="${safeText(model.value)}" ${safeText(model.value) === state.currentModel ? "selected" : ""}>
+                  ${safeText(model.label, model.value)}
+                </option>
+              `)
+              : html`<option value="">No installed models</option>`;
+          })()}
+        </select>
+
+        <label class="mm-filter-label" for="mm-sort-mode-select">Sort</label>
+        <select class="mm-select" id="mm-sort-mode-select">
+          <option value="alphabetical" ${state.sortMode === "alphabetical" ? "selected" : ""}>Alphabetical</option>
+          <option value="release_date" ${state.sortMode === "release_date" ? "selected" : ""}>Release Date</option>
+        </select>
+
+        <div class="mm-filter-break"></div>
+
+        <label class="mm-filter-label" for="mm-community-filter-select">Community Favorite</label>
+        <select class="mm-select" id="mm-community-filter-select">
+          <option value="all" ${state.communityFavoriteFilter === "all" ? "selected" : ""}>All</option>
+          <option value="yes" ${state.communityFavoriteFilter === "yes" ? "selected" : ""}>Yes</option>
+          <option value="no" ${state.communityFavoriteFilter === "no" ? "selected" : ""}>No</option>
+        </select>
+      </div>
+
+      ${() => state.loading ? html`<div class="mm-empty">Loading models...</div>` : ""}
+
+      ${() => !state.loading ? html`
+        <div class="mm-list">
+          ${(() => {
+            if (state.sortMode === "release_date") {
+              const models = getReleaseOrderedModels();
+              return models.length === 0
+                ? html`<div class="mm-empty">No models available.</div>`
+                : models.map(model => renderModelRow(model));
+            }
+
+            const { grouped, seriesNames } = getSeriesGroups();
+            return seriesNames.length === 0
+              ? html`<div class="mm-empty">No models available.</div>`
+              : seriesNames.map(seriesName => renderSeriesSection(seriesName, grouped[seriesName]));
+          })()}
+        </div>
+      ` : ""}
+    </div>
+  `;
+}

frogpilot/system/the_pond/assets/components/tools/plots.css

@@ -0,0 +1,280 @@
+.plotsPage {
+  max-width: var(--width-xxxxl);
+}
+
+.plotCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 95%;
+  padding: var(--border-radius-xl);
+}
+
+.plotStatusCard {
+  margin-bottom: var(--margin-base);
+}
+
+.plotDescription {
+  margin: 0;
+}
+
+.plotStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.plotStatusGrid p,
+.plotRangeRow span,
+.plotLegendItem {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.plotActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.plotButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.plotButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.plotCharts {
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: repeat(auto-fit, minmax(420px, 1fr));
+  max-width: 95%;
+}
+
+.plotAdvancedRow {
+  margin: var(--margin-base) 0;
+}
+
+.plotChartCard {
+  max-width: 100%;
+}
+
+.plotCardHeader {
+  align-items: baseline;
+  display: flex;
+  gap: var(--gap-sm);
+  justify-content: space-between;
+}
+
+.plotSource {
+  color: var(--text-muted);
+  font-size: var(--font-size-sm);
+}
+
+.plotLegend {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-sm);
+}
+
+.plotLegendItem {
+  align-items: center;
+  display: inline-flex;
+  gap: var(--gap-xs);
+}
+
+.plotLegendLine {
+  border-radius: var(--border-radius-sm);
+  display: inline-block;
+  height: 3px;
+  width: 22px;
+}
+
+.plotLegendLine.desired,
+.plotLine.desired {
+  background-color: var(--main-fg);
+  stroke: var(--main-fg);
+}
+
+.plotLegendLine.actual,
+.plotLine.actual {
+  background-color: var(--success-fg);
+  stroke: var(--success-fg);
+}
+
+.plotLegendLine.p,
+.plotLine.p {
+  background-color: #63b3ff;
+  stroke: #63b3ff;
+}
+
+.plotLegendLine.i,
+.plotLine.i {
+  background-color: #63d79d;
+  stroke: #63d79d;
+}
+
+.plotLegendLine.d,
+.plotLine.d {
+  background-color: #f0b35e;
+  stroke: #f0b35e;
+}
+
+.plotLegendLine.f,
+.plotLine.f {
+  background-color: #d08bff;
+  stroke: #d08bff;
+}
+
+.plotSvgWrap {
+  background: #0b0b18;
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  min-height: 260px;
+  overflow: hidden;
+}
+
+.plotSvg {
+  display: block;
+  height: 260px;
+  width: 100%;
+}
+
+.plotLine {
+  fill: none;
+  stroke-linecap: round;
+  stroke-linejoin: round;
+  stroke-width: 3;
+}
+
+.plotGridLine {
+  stroke: rgba(255, 255, 255, 0.08);
+  stroke-width: 1;
+}
+
+.plotZeroLine {
+  stroke: rgba(255, 255, 255, 0.35);
+  stroke-dasharray: 6 6;
+  stroke-width: 1;
+}
+
+.plotRangeRow {
+  display: flex;
+  justify-content: space-between;
+  margin-top: var(--margin-xs);
+}
+
+.plotEmpty {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--font-size-sm);
+  height: 260px;
+  justify-content: center;
+}
+
+.plotError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-sm);
+}
+
+.qualityDetail {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.95);
+}
+
+.qualitySummaryGrid {
+  display: grid;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.qualitySummaryRow {
+  background: rgba(255, 255, 255, 0.03);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.qualitySentence {
+  align-items: baseline;
+  display: flex;
+  flex-wrap: wrap;
+  font-size: calc(var(--font-size-lg) * 1.05);
+  font-weight: var(--font-weight-demi-bold);
+  gap: var(--gap-xs);
+  line-height: 1.3;
+  margin: 0;
+}
+
+.qualityTone {
+  font-size: calc(var(--font-size-xl) * 1.05);
+  font-weight: var(--font-weight-extra-bold);
+  letter-spacing: 0.01em;
+  text-transform: uppercase;
+}
+
+.qualityTone-great {
+  color: #66e3ad;
+}
+
+.qualityTone-good {
+  color: #7fc2ff;
+}
+
+.qualityTone-fair {
+  color: #f8c36d;
+}
+
+.qualityTone-poor {
+  color: #ff8ca5;
+}
+
+.qualityTone-na {
+  color: #d7dcec;
+}
+
+.qualityMethodNote {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.92);
+  margin-top: var(--margin-sm);
+}
+
+.qualityUserGuidance {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.95);
+  margin: var(--margin-sm) 0 0 0;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .plotCard,
+  .plotCharts {
+    max-width: 100%;
+  }
+
+  .plotCharts {
+    grid-template-columns: 1fr;
+  }
+
+  .plotStatusGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .plotActions {
+    flex-direction: column;
+  }
+
+  .plotLegend {
+    flex-direction: column;
+    gap: var(--gap-xs);
+  }
+}

frogpilot/system/the_pond/assets/components/tools/plots.js

@@ -0,0 +1,666 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  paused: false,
+  showAdvancedTerms: false,
+  live: null,
+  samples: [],
+})
+
+let initialized = false
+let pollHandle = null
+let lastTimestamp = 0
+let visibilityListenerAttached = false
+
+const MAX_POINTS = 240
+const POLL_INTERVAL_MS = 750
+const SVG_WIDTH = 1000
+const SVG_HEIGHT = 260
+const ADVANCED_TERMS_KEY = "plotsShowAdvancedTerms"
+const QUALITY_WINDOW_SECONDS = 30
+const QUALITY_MIN_SAMPLES = 12
+
+const LATERAL_QUALITY_CONFIG = {
+  desiredKey: "desiredLateralAccel",
+  actualKey: "actualLateralAccel",
+  minSpeedMps: 0.5,
+  minDemand: 0.015,
+  allowLowDemandFallback: true,
+  fallbackMinSpeedMps: 1.0,
+  fallbackMinPeakDemand: 0.03,
+  great: 0.15,
+  good: 0.30,
+  fair: 0.50,
+}
+
+const LONGITUDINAL_QUALITY_CONFIG = {
+  desiredKey: "desiredLongitudinalAccel",
+  actualKey: "actualLongitudinalAccel",
+  minSpeedMps: 0.0,
+  minDemand: 0.08,
+  allowLowDemandFallback: false,
+  applyPersistenceRules: true,
+  warnError: 0.50,
+  severeError: 0.90,
+  great: 0.32,
+  good: 0.52,
+  fair: 0.78,
+}
+
+function isPlotsRouteActive() {
+  return window.location.pathname === "/plots"
+}
+
+function toNumber(value, fallback = 0) {
+  const n = Number(value)
+  return Number.isFinite(n) ? n : fallback
+}
+
+function formatValue(value, digits = 2) {
+  return toNumber(value).toFixed(digits)
+}
+
+function formatAge(seconds) {
+  const value = Math.max(0, toNumber(seconds))
+  if (value < 1) return `${Math.round(value * 1000)} ms`
+  return `${value.toFixed(1)} s`
+}
+
+function formatSourceLabel(kind, source) {
+  const normalizedKind = String(kind || "").toLowerCase()
+  const normalizedSource = String(source || "").toLowerCase()
+
+  if (normalizedKind === "lateral") {
+    if (normalizedSource === "torquestate") return "Steering controller output"
+    if (normalizedSource === "curvature") return "Path model estimate"
+  }
+
+  if (normalizedKind === "longitudinal") {
+    if (normalizedSource.includes("atarget")) return "Planner target acceleration + measured acceleration"
+    if (normalizedSource.includes("pid sum")) return "PID term sum + measured acceleration"
+    if (normalizedSource.includes("caroutput")) return "Final accel command + measured acceleration"
+    if (normalizedSource.includes("livelocationkalman")) return "Control output + calibrated acceleration"
+    if (normalizedSource === "controlsstate") return "Planner target output"
+  }
+
+  if (normalizedKind === "lateralterms") {
+    if (normalizedSource === "torquestate") return "Steering torque controller"
+    if (normalizedSource === "pidstate") return "Steering angle PID controller"
+  }
+
+  if (normalizedKind === "longitudinalterms") {
+    if (normalizedSource === "controlsstate") return "Longitudinal controller terms"
+  }
+
+  return "Live control signal"
+}
+
+function percentile(sortedValues, percentileValue) {
+  const values = Array.isArray(sortedValues) ? sortedValues : []
+  if (!values.length) return 0
+  const p = Math.max(0, Math.min(1, Number(percentileValue)))
+  const index = (values.length - 1) * p
+  const lower = Math.floor(index)
+  const upper = Math.ceil(index)
+  if (lower === upper) return values[lower]
+  const weight = index - lower
+  return values[lower] * (1 - weight) + values[upper] * weight
+}
+
+function formatQualityLabel(label) {
+  const text = String(label || "").trim()
+  return text || "N/A"
+}
+
+function computeMatchQuality(samples, config) {
+  const safeSamples = Array.isArray(samples) ? samples : []
+  if (safeSamples.length < 2) {
+    return { label: "N/A", value: null, detail: "Waiting for data" }
+  }
+
+  const latestTs = toNumber(safeSamples[safeSamples.length - 1]?.timestamp, 0)
+  const cutoffTs = latestTs > 0 ? latestTs - QUALITY_WINDOW_SECONDS : 0
+  const recentSamples = safeSamples.filter((sample) => toNumber(sample?.timestamp, 0) >= cutoffTs)
+
+  const demandEligibleSamples = recentSamples.filter((sample) => {
+    const speed = Math.abs(toNumber(sample?.speed, 0))
+    const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+
+    const speedOk = config.minSpeedMps <= 0 ? true : speed >= config.minSpeedMps
+    const demandOk = config.minDemand <= 0 ? true : desired >= config.minDemand
+    return speedOk && demandOk
+  })
+
+  let eligibleSamples = demandEligibleSamples
+  let usedLowDemandFallback = false
+  const allowLowDemandFallback = config.allowLowDemandFallback !== false
+  if (allowLowDemandFallback && eligibleSamples.length < QUALITY_MIN_SAMPLES && recentSamples.length >= QUALITY_MIN_SAMPLES) {
+    const totalSpeed = recentSamples.reduce((sum, sample) => sum + Math.abs(toNumber(sample?.speed, 0)), 0)
+    const avgSpeed = recentSamples.length > 0 ? (totalSpeed / recentSamples.length) : 0
+    const peakDemand = recentSamples.reduce((peak, sample) => {
+      const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+      return Math.max(peak, desired)
+    }, 0)
+
+    const fallbackMinSpeed = Math.max(0, toNumber(config.fallbackMinSpeedMps, 0))
+    const fallbackMinPeakDemand = Math.max(0, toNumber(config.fallbackMinPeakDemand, 0))
+    if (avgSpeed >= fallbackMinSpeed && peakDemand >= fallbackMinPeakDemand) {
+      eligibleSamples = recentSamples
+      usedLowDemandFallback = true
+    }
+  }
+
+  if (eligibleSamples.length < QUALITY_MIN_SAMPLES) {
+    if (allowLowDemandFallback) {
+      return {
+        label: "N/A",
+        value: null,
+        detail: `Need ${QUALITY_MIN_SAMPLES} samples (${eligibleSamples.length} eligible / ${recentSamples.length} total)`,
+      }
+    }
+
+    return {
+      label: "N/A",
+      value: null,
+      detail: `Need ${QUALITY_MIN_SAMPLES} demand samples (${eligibleSamples.length} demand / ${recentSamples.length} total)`,
+    }
+  }
+
+  const errors = eligibleSamples
+    .map((sample) => Math.abs(toNumber(sample?.[config.desiredKey], 0) - toNumber(sample?.[config.actualKey], 0)))
+    .sort((a, b) => a - b)
+
+  if (!errors.length) {
+    return { label: "N/A", value: null, detail: "No eligible samples" }
+  }
+
+  const p50 = percentile(errors, 0.50)
+  const p90 = percentile(errors, 0.90)
+  const robustError = (0.7 * p50) + (0.3 * p90)
+
+  const sampleSummary = `${eligibleSamples.length} samples / ${QUALITY_WINDOW_SECONDS}s${usedLowDemandFallback ? ", low-demand fallback" : ""}`
+
+  if (config.applyPersistenceRules) {
+    const warnThreshold = Math.max(config.warnError || 0.35, config.good || 0.35)
+    const severeThreshold = Math.max(config.severeError || 0.70, config.fair || 0.55)
+    const warnFrac = errors.filter((value) => value > warnThreshold).length / errors.length
+    const severeFrac = errors.filter((value) => value > severeThreshold).length / errors.length
+
+    let label = "Poor"
+    if (robustError <= config.great && warnFrac <= 0.18 && severeFrac <= 0.05) label = "Great"
+    else if (robustError <= config.good && warnFrac <= 0.34 && severeFrac <= 0.12) label = "Good"
+    else if (robustError <= config.fair && warnFrac <= 0.55 && severeFrac <= 0.24) label = "Fair"
+
+    const warnPct = Math.round(warnFrac * 100)
+    const severePct = Math.round(severeFrac * 100)
+    return {
+      label,
+      value: robustError,
+      detail: `${sampleSummary}, ${warnPct}% > ${formatValue(warnThreshold)} and ${severePct}% > ${formatValue(severeThreshold)}`,
+    }
+  }
+
+  let label = "Poor"
+  if (robustError <= config.great) label = "Great"
+  else if (robustError <= config.good) label = "Good"
+  else if (robustError <= config.fair) label = "Fair"
+
+  return {
+    label,
+    value: robustError,
+    detail: sampleSummary,
+  }
+}
+
+function qualityToneClass(label) {
+  const normalized = String(label || "").toLowerCase()
+  if (normalized === "great") return "qualityTone-great"
+  if (normalized === "good") return "qualityTone-good"
+  if (normalized === "fair") return "qualityTone-fair"
+  if (normalized === "poor") return "qualityTone-poor"
+  return "qualityTone-na"
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function pushSample(payload) {
+  const timestamp = toNumber(payload.timestamp, 0)
+  if (!timestamp || timestamp <= 0 || timestamp === lastTimestamp) return
+
+  lastTimestamp = timestamp
+  state.samples.push({
+    timestamp,
+    speed: toNumber(payload.speed),
+    controlsActive: !!payload.controlsActive,
+    longitudinalControlActive: !!payload.longitudinalControlActive,
+    desiredLateralAccel: toNumber(payload.desiredLateralAccel),
+    actualLateralAccel: toNumber(payload.actualLateralAccel),
+    desiredLongitudinalAccel: toNumber(payload.desiredLongitudinalAccel),
+    actualLongitudinalAccel: toNumber(payload.actualLongitudinalAccel),
+    lateralP: toNumber(payload.lateralP),
+    lateralI: toNumber(payload.lateralI),
+    lateralD: toNumber(payload.lateralD),
+    lateralF: toNumber(payload.lateralF),
+    longitudinalUpAccelCmd: toNumber(payload.longitudinalUpAccelCmd),
+    longitudinalUiAccelCmd: toNumber(payload.longitudinalUiAccelCmd),
+    longitudinalUfAccelCmd: toNumber(payload.longitudinalUfAccelCmd),
+  })
+
+  if (state.samples.length > MAX_POINTS) {
+    state.samples.splice(0, state.samples.length - MAX_POINTS)
+  }
+}
+
+async function fetchLiveData() {
+  const response = await fetch("/api/plots/live")
+  const payload = await response.json()
+
+  if (!response.ok) {
+    throw new Error(payload.error || response.statusText || "Failed to load live plot data")
+  }
+
+  state.live = payload
+  state.error = ""
+  state.loading = false
+
+  if (!payload.stale) {
+    pushSample(payload)
+  }
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isPlotsRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    if (!state.paused) {
+      try {
+        await fetchLiveData()
+      } catch (error) {
+        state.error = error?.message || String(error)
+        state.loading = false
+      }
+    }
+
+    pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+function clearHistory() {
+  state.samples = []
+  lastTimestamp = 0
+}
+
+function togglePaused() {
+  state.paused = !state.paused
+  if (state.paused) {
+    stopPolling()
+    return
+  }
+
+  if (!isPlotsRouteActive()) return
+
+  fetchLiveData().catch((error) => {
+    state.error = error?.message || String(error)
+  })
+  ensurePolling()
+}
+
+function toggleAdvancedTerms() {
+  state.showAdvancedTerms = !state.showAdvancedTerms
+  try {
+    localStorage.setItem(ADVANCED_TERMS_KEY, state.showAdvancedTerms ? "1" : "0")
+  } catch (error) {
+    console.warn("Failed to persist plots advanced terms preference", error)
+  }
+}
+
+function yForValue(value, min, max) {
+  const safeMin = toNumber(min, -1)
+  const safeMax = toNumber(max, 1)
+  const clamped = Math.max(safeMin, Math.min(safeMax, toNumber(value)))
+  const span = Math.max(1e-6, safeMax - safeMin)
+  return ((safeMax - clamped) / span) * SVG_HEIGHT
+}
+
+function computeRange(samples, desiredKey, actualKey) {
+  let maxAbs = 0
+  for (const sample of samples) {
+    maxAbs = Math.max(
+      maxAbs,
+      Math.abs(toNumber(sample?.[desiredKey])),
+      Math.abs(toNumber(sample?.[actualKey])),
+    )
+  }
+
+  const halfSpan = Math.max(1.5, Math.ceil((maxAbs * 1.25) * 10) / 10)
+  return { min: -halfSpan, max: halfSpan }
+}
+
+function buildPolyline(samples, key, min, max) {
+  if (!samples.length) return ""
+
+  const lastIndex = Math.max(1, samples.length - 1)
+  return samples.map((sample, index) => {
+    const x = (index / lastIndex) * SVG_WIDTH
+    const y = yForValue(sample?.[key], min, max)
+    return `${x.toFixed(2)},${y.toFixed(2)}`
+  }).join(" ")
+}
+
+function computeRangeForKeys(samples, keys) {
+  let maxAbs = 0
+  for (const sample of samples) {
+    for (const key of keys) {
+      maxAbs = Math.max(maxAbs, Math.abs(toNumber(sample?.[key])))
+    }
+  }
+
+  const halfSpan = Math.max(0.15, Math.ceil((maxAbs * 1.35) * 1000) / 1000)
+  return { min: -halfSpan, max: halfSpan }
+}
+
+function latestSampleValue(key) {
+  const latest = state.samples[state.samples.length - 1]
+  if (latest) return latest[key]
+  return toNumber(state.live?.[key])
+}
+
+function PlotCard(title, desiredKey, actualKey, sourceKind, sourceLabel, desiredLabel = "Target", actualLabel = "Measured") {
+  const hasData = state.samples.length > 1
+  const range = computeRange(state.samples, desiredKey, actualKey)
+  const desiredPolyline = buildPolyline(state.samples, desiredKey, range.min, range.max)
+  const actualPolyline = buildPolyline(state.samples, actualKey, range.min, range.max)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>${title}</h2>
+        <span class="plotSource">Source: ${formatSourceLabel(sourceKind, sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine desired"></i>${desiredLabel}: ${formatValue(latestSampleValue(desiredKey))}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine actual"></i>${actualLabel}: ${formatValue(latestSampleValue(actualKey))}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="${title} live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine desired" points="${desiredPolyline}"></polyline>
+            <polyline class="plotLine actual" points="${actualPolyline}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 1)} m/s²</span>
+        <span>0.0 m/s²</span>
+        <span>${formatValue(range.min, 1)} m/s²</span>
+      </div>
+    </section>
+  `
+}
+
+function LateralTermsPlotCard(sourceLabel) {
+  const hasData = state.samples.length > 1
+  const keys = ["lateralP", "lateralI", "lateralD", "lateralF"]
+  const range = computeRangeForKeys(state.samples, keys)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>Lateral Controller Terms</h2>
+        <span class="plotSource">Source: ${formatSourceLabel("lateralTerms", sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine p"></i>P: ${formatValue(latestSampleValue("lateralP"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine i"></i>I: ${formatValue(latestSampleValue("lateralI"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine d"></i>D: ${formatValue(latestSampleValue("lateralD"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine f"></i>F: ${formatValue(latestSampleValue("lateralF"), 3)}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="Lateral controller terms live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine p" points="${buildPolyline(state.samples, "lateralP", range.min, range.max)}"></polyline>
+            <polyline class="plotLine i" points="${buildPolyline(state.samples, "lateralI", range.min, range.max)}"></polyline>
+            <polyline class="plotLine d" points="${buildPolyline(state.samples, "lateralD", range.min, range.max)}"></polyline>
+            <polyline class="plotLine f" points="${buildPolyline(state.samples, "lateralF", range.min, range.max)}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 3)}</span>
+        <span>0.000</span>
+        <span>${formatValue(range.min, 3)}</span>
+      </div>
+    </section>
+  `
+}
+
+function LongitudinalTermsPlotCard(sourceLabel) {
+  const hasData = state.samples.length > 1
+  const keys = ["longitudinalUpAccelCmd", "longitudinalUiAccelCmd", "longitudinalUfAccelCmd"]
+  const range = computeRangeForKeys(state.samples, keys)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>Longitudinal Accel Cmd Terms</h2>
+        <span class="plotSource">Source: ${formatSourceLabel("longitudinalTerms", sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine p"></i>Up: ${formatValue(latestSampleValue("longitudinalUpAccelCmd"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine i"></i>Ui: ${formatValue(latestSampleValue("longitudinalUiAccelCmd"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine f"></i>Uf: ${formatValue(latestSampleValue("longitudinalUfAccelCmd"), 3)}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="Longitudinal accel cmd terms live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine p" points="${buildPolyline(state.samples, "longitudinalUpAccelCmd", range.min, range.max)}"></polyline>
+            <polyline class="plotLine i" points="${buildPolyline(state.samples, "longitudinalUiAccelCmd", range.min, range.max)}"></polyline>
+            <polyline class="plotLine f" points="${buildPolyline(state.samples, "longitudinalUfAccelCmd", range.min, range.max)}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 3)}</span>
+        <span>0.000</span>
+        <span>${formatValue(range.min, 3)}</span>
+      </div>
+    </section>
+  `
+}
+
+async function initialize() {
+  try {
+    state.showAdvancedTerms = localStorage.getItem(ADVANCED_TERMS_KEY) === "1"
+  } catch (error) {
+    state.showAdvancedTerms = false
+  }
+
+  try {
+    await fetchLiveData()
+  } catch (error) {
+    state.error = error?.message || String(error)
+    state.loading = false
+  } finally {
+    ensurePolling()
+  }
+
+  if (!visibilityListenerAttached) {
+    visibilityListenerAttached = true
+    document.addEventListener("visibilitychange", () => {
+      if (document.visibilityState !== "visible") {
+        stopPolling()
+        return
+      }
+
+      if (isPlotsRouteActive() && !state.paused) {
+        fetchLiveData().catch((error) => {
+          state.error = error?.message || String(error)
+          state.loading = false
+        })
+        ensurePolling()
+      }
+    })
+  }
+}
+
+export function LivePlots() {
+  if (!initialized) {
+    initialized = true
+    initialize()
+  }
+  if (!state.paused) {
+    ensurePolling()
+  }
+
+  return html`
+    <div class="plotsPage">
+      <h1>Plots</h1>
+
+      <section class="plotCard plotStatusCard">
+        <p class="plotDescription">
+          Live comparison view for tuning diagnostics. These scores are a quick health check, not a final verdict. Short spikes from bumps, lane changes, traffic transitions, and manual inputs can temporarily lower a score.
+        </p>
+        <p class="qualityUserGuidance">
+          Work in progress: use this as trend guidance over time. If you see a brief "Poor," keep driving and look for repeated behavior across multiple situations before changing tune values.
+        </p>
+
+        <div class="plotStatusGrid">
+          <p><strong>Onroad:</strong> ${state.live?.isOnroad ? "Yes" : "No"}</p>
+          <p><strong>Sample Age:</strong> ${formatAge(state.live?.sampleAgeSeconds)}</p>
+          <p><strong>Vehicle Speed:</strong> ${formatValue(state.live?.speed)} m/s</p>
+          <p><strong>Samples:</strong> ${state.samples.length}</p>
+        </div>
+
+        ${() => {
+          const lateralQuality = computeMatchQuality(state.samples, LATERAL_QUALITY_CONFIG)
+          const longQuality = computeMatchQuality(state.samples, LONGITUDINAL_QUALITY_CONFIG)
+
+          return html`
+            <div class="qualitySummaryGrid">
+              <div class="qualitySummaryRow">
+                <p class="qualitySentence">
+                  Your lateral tuning is
+                  <span class="qualityTone ${qualityToneClass(lateralQuality.label)}">${formatQualityLabel(lateralQuality.label)}</span>
+                </p>
+                <p class="qualityDetail">
+                  ${lateralQuality.value === null ? lateralQuality.detail : `${formatValue(lateralQuality.value)} m/s² error (${lateralQuality.detail})`}
+                </p>
+              </div>
+              <div class="qualitySummaryRow">
+                <p class="qualitySentence">
+                  Your longitudinal tuning is
+                  <span class="qualityTone ${qualityToneClass(longQuality.label)}">${formatQualityLabel(longQuality.label)}</span>
+                </p>
+                <p class="qualityDetail">
+                  ${longQuality.value === null ? longQuality.detail : `${formatValue(longQuality.value)} m/s² error (${longQuality.detail})`}
+                </p>
+              </div>
+            </div>
+          `
+        }}
+
+        <div class="plotActions">
+          <button class="plotButton" @click="${togglePaused}">
+            ${state.paused ? "Resume Live" : "Pause Live"}
+          </button>
+          <button class="plotButton" @click="${clearHistory}">
+            Clear History
+          </button>
+        </div>
+
+        ${state.error ? html`<p class="plotError"><strong>Error:</strong> ${state.error}</p>` : ""}
+        ${state.live?.lastError ? html`<p class="plotError"><strong>Source Error:</strong> ${state.live.lastError}</p>` : ""}
+        <p class="qualityMethodNote">
+          Match rating uses a 30-second rolling window. Lateral prefers true steering-demand moments, and longitudinal also checks how much of the window stays above error limits so brief spikes are less likely to mark "Poor."
+        </p>
+      </section>
+
+      <div class="plotCharts">
+        ${PlotCard(
+          "Lateral Response (m/s²)",
+          "desiredLateralAccel",
+          "actualLateralAccel",
+          "lateral",
+          state.live?.lateralSource,
+          "Target",
+          "Measured",
+        )}
+        ${PlotCard(
+          "Longitudinal Response (m/s²)",
+          "desiredLongitudinalAccel",
+          "actualLongitudinalAccel",
+          "longitudinal",
+          state.live?.longitudinalSource,
+          "Target",
+          "Measured",
+        )}
+      </div>
+
+      <div class="plotAdvancedRow">
+        <button class="plotButton" @click="${toggleAdvancedTerms}">
+          ${state.showAdvancedTerms ? "Hide Advanced Controller Terms" : "Show Advanced Controller Terms"}
+        </button>
+      </div>
+
+      ${state.showAdvancedTerms ? html`
+        <div class="plotCharts">
+          ${LateralTermsPlotCard(state.live?.lateralTermsSource)}
+          ${LongitudinalTermsPlotCard(state.live?.longitudinalTermsSource)}
+        </div>
+      ` : ""}
+
+      ${state.loading ? html`<p>Loading live data...</p>` : ""}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/testing_ground.css

@@ -0,0 +1,152 @@
+.testingGroundPage {
+  max-width: var(--width-xxl);
+}
+
+.testingGroundCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 90%;
+  padding: var(--border-radius-xl);
+}
+
+.testingGroundIntro {
+  margin-top: 0;
+}
+
+.testingGroundTopList {
+  margin-top: var(--margin-base);
+}
+
+.testingGroundTopList ol {
+  margin: var(--margin-xs) 0 0;
+  padding-left: 1.4rem;
+}
+
+.testingGroundTopList li {
+  font-size: var(--font-size-sm);
+  margin-bottom: 0.25rem;
+}
+
+.testingGroundStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.testingGroundStatusGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.testingGroundSelectionRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.testingGroundSelect {
+  background-color: var(--main-bg);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  min-width: 0;
+  padding: var(--padding-sm);
+}
+
+.testingGroundModeButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.testingGroundDetails {
+  margin-top: var(--margin-base);
+}
+
+.testingGroundDetails h3 {
+  margin-bottom: var(--margin-xs);
+}
+
+.testingGroundDetails p {
+  font-size: var(--font-size-sm);
+  margin: 0 0 var(--margin-xs);
+}
+
+.testingGroundMuted {
+  color: var(--text-muted);
+}
+
+.testingGroundActionGrid {
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.testingGroundModeButton {
+  align-items: center;
+  background: #2a2752;
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-xs);
+  min-height: 120px;
+  padding: var(--padding-base);
+}
+
+.testingGroundModeButtonB {
+  background: #27434b;
+}
+
+.testingGroundModeButtonC {
+  background: #413029;
+}
+
+.testingGroundModeButton.active {
+  box-shadow: 0 0 0 2px var(--main-fg) inset;
+}
+
+.testingGroundModeLetter {
+  font-size: clamp(2rem, 4vw, 2.75rem);
+  font-weight: var(--font-weight-bold);
+  line-height: 1;
+}
+
+.testingGroundModeLabel {
+  font-size: var(--font-size-sm);
+  text-align: center;
+}
+
+.testingGroundError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-base);
+}
+
+.testingGroundActiveSummary {
+  margin-top: var(--margin-base);
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .testingGroundCard {
+    max-width: 100%;
+  }
+
+  .testingGroundStatusGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .testingGroundSelectionRow {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .testingGroundActionGrid {
+    grid-template-columns: 1fr;
+  }
+}

frogpilot/system/the_pond/assets/components/tools/testing_ground.js

@@ -0,0 +1,288 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  busy: false,
+  data: null,
+  selectedSlot: "",
+})
+
+let initialized = false
+
+function slotId(slot) {
+  return String(slot?.id || "").trim()
+}
+
+function isUnusedSlot(slot) {
+  const name = String(slot?.name || "").trim().toLowerCase()
+  return name === "unused" || name.startsWith("unused ")
+}
+
+function getSelectableSlots() {
+  const selectable = Array.isArray(state.data?.selectableSlots) ? state.data.selectableSlots : []
+  if (selectable.length) return selectable
+
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  return slots.filter((slot) => !isUnusedSlot(slot))
+}
+
+function getVisibleSlotLines() {
+  return getSelectableSlots().map((slot) => `${slot.id}. ${slot.name}`)
+}
+
+function getSelectedSlot() {
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  const selectedId = String(state.selectedSlot || "").trim()
+  if (!selectedId) return null
+  return slots.find((slot) => slotId(slot) === selectedId) || null
+}
+
+function getActiveSlot() {
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  const activeId = String(state.data?.activeSlot || "").trim()
+  if (!activeId) return null
+  return slots.find((slot) => slotId(slot) === activeId) || null
+}
+
+function getVariantLabels(slot) {
+  if (!slot || typeof slot !== "object") {
+    return { A: "A" }
+  }
+
+  const labels = {}
+  const rawVariantLabels = slot.variantLabels
+  if (rawVariantLabels && typeof rawVariantLabels === "object") {
+    Object.entries(rawVariantLabels).forEach(([rawMode, rawLabel]) => {
+      const mode = String(rawMode || "").trim().toUpperCase()
+      const label = String(rawLabel || "").trim()
+      if (mode.length === 1 && /^[A-Z]$/.test(mode) && label) {
+        labels[mode] = label
+      }
+    })
+  }
+
+  const aLabel = String(slot.aLabel || "").trim()
+  const bLabel = String(slot.bLabel || "").trim()
+  if (aLabel) labels.A = labels.A || aLabel
+  if (bLabel) labels.B = labels.B || bLabel
+  if (!labels.A) labels.A = "A"
+
+  return Object.keys(labels).sort().reduce((acc, key) => {
+    acc[key] = labels[key]
+    return acc
+  }, {})
+}
+
+function getVariantModes(slot) {
+  return Object.keys(getVariantLabels(slot))
+}
+
+function getDefaultMode(slot) {
+  const modes = getVariantModes(slot)
+  if (modes.includes("A")) return "A"
+  return modes[0] || "A"
+}
+
+function toModeLabel(slot, mode) {
+  const labels = getVariantLabels(slot)
+  return labels[String(mode || "").trim().toUpperCase()] || String(mode || "").trim().toUpperCase() || "A"
+}
+
+function isModeActive(mode) {
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  return String(state.data?.activeSlot || "").trim() === String(state.selectedSlot || "").trim() && String(state.data?.activeVariant || "").trim().toUpperCase() === normalizedMode
+}
+
+function getSelectedMode() {
+  const selectedSlot = getSelectedSlot()
+  if (!selectedSlot) return "A"
+  if (String(state.data?.activeSlot || "").trim() === String(state.selectedSlot || "").trim()) {
+    return String(state.data?.activeVariant || "").trim().toUpperCase() || getDefaultMode(selectedSlot)
+  }
+  return getDefaultMode(selectedSlot)
+}
+
+function modeButtonClass(mode) {
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  return [
+    "testingGroundModeButton",
+    `testingGroundModeButton${normalizedMode}`,
+    isModeActive(normalizedMode) ? "active" : "",
+  ].filter(Boolean).join(" ")
+}
+
+async function fetchTestingGrounds() {
+  try {
+    const response = await fetch("/api/testing_grounds")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load testing grounds")
+    }
+
+    state.data = payload
+    state.error = ""
+
+    const selectable = Array.isArray(payload.selectableSlots) ? payload.selectableSlots : []
+    const hasCurrentSelection = selectable.some((slot) => slotId(slot) === String(state.selectedSlot || "").trim())
+    if (!hasCurrentSelection) {
+      const activeSlot = String(payload.activeSlot || "").trim()
+      const activeSelectable = selectable.some((slot) => slotId(slot) === activeSlot)
+      state.selectedSlot = activeSelectable ? activeSlot : slotId(selectable[0] || {})
+    }
+
+  } catch (error) {
+    const message = error?.message || "Failed to load testing grounds"
+    state.error = message
+  }
+}
+
+async function applySelection(slotValue, mode, showToast = true) {
+  const normalizedSlot = String(slotValue || "").trim()
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  if (!normalizedSlot || !normalizedMode) return false
+
+  state.busy = true
+  try {
+    const response = await fetch("/api/testing_grounds/select", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ slotId: normalizedSlot, variant: normalizedMode }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to update testing ground mode")
+    }
+
+    state.data = payload
+    state.error = ""
+    state.selectedSlot = normalizedSlot
+    if (showToast) {
+      showSnackbar(payload.message || `Testing Ground ${normalizedSlot} set to ${normalizedMode}.`)
+    }
+    return true
+  } catch (error) {
+    const message = error?.message || "Failed to update testing ground mode"
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+    return false
+  } finally {
+    state.busy = false
+  }
+}
+
+async function selectMode(mode) {
+  if (state.busy) return
+
+  const slot = getSelectedSlot()
+  const slotValue = slotId(slot)
+  if (!slotValue) {
+    showSnackbar("Select a testing ground first.", "error")
+    return
+  }
+
+  await applySelection(slotValue, mode, true)
+}
+
+async function selectSlot(slotValue) {
+  const normalizedSlot = String(slotValue || "").trim()
+  state.selectedSlot = normalizedSlot
+  if (!normalizedSlot || state.busy) return
+
+  const activeSlot = String(state.data?.activeSlot || "").trim()
+  if (normalizedSlot === activeSlot) return
+
+  const success = await applySelection(normalizedSlot, "A", false)
+  if (!success) {
+    state.selectedSlot = activeSlot
+    if (state.error) {
+      showSnackbar(state.error, "error")
+    }
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+
+  fetchTestingGrounds().finally(() => {
+    state.loading = false
+  })
+}
+
+export function TestingGround() {
+  initialize()
+
+  return html`
+    <div class="testingGroundPage">
+      <h2>Testing Ground</h2>
+      ${() => state.loading ? html`<div class="testingGroundCard">Loading testing ground state...</div>` : ""}
+      ${() => !state.loading ? html`
+        <div class="testingGroundCard">
+          <p class="testingGroundIntro">
+            A/B Tuning Sandbox. If you don't know what this is, you probably shouldn't be here ;)
+          </p>
+
+          <div class="testingGroundTopList">
+            <strong>Current Test Slots</strong>
+            <ol>
+              ${getVisibleSlotLines().map((line) => html`<li>${line}</li>`)}
+            </ol>
+          </div>
+
+          <div class="testingGroundStatusGrid">
+            <p><strong>Selected Slot:</strong> ${getSelectedSlot()?.name || "Unknown"}</p>
+            <p><strong>Selected Mode:</strong> ${getSelectedMode()}</p>
+            <p><strong>Onroad:</strong> ${state.data?.isOnroad ? "Yes" : "No"}</p>
+            <p><strong>Selectable Slots:</strong> ${getSelectableSlots().length}</p>
+          </div>
+
+          <div class="testingGroundSelectionRow">
+            <select
+              class="testingGroundSelect"
+              ?disabled="${state.busy || getSelectableSlots().length === 0}"
+              @change="${(event) => {
+                selectSlot(String(event.target.value || ""))
+              }}">
+              ${() => getSelectableSlots().length
+                ? getSelectableSlots().map((slot) => html`<option value="${slotId(slot)}" ${slotId(slot) === state.selectedSlot ? "selected" : ""}>${slot.id}. ${slot.name}</option>`)
+                : html`<option value="">No active test slots</option>`
+              }
+            </select>
+          </div>
+
+          ${() => getSelectedSlot() ? html`
+            <div class="testingGroundDetails">
+              <h3>${getSelectedSlot().name}</h3>
+              ${() => getSelectedSlot().description ? html`<p>${getSelectedSlot().description}</p>` : ""}
+            </div>
+          ` : ""}
+
+          ${() => getSelectedSlot() ? html`
+            <div class="testingGroundActionGrid">
+              ${() => getVariantModes(getSelectedSlot()).map((mode) => html`
+                <button
+                  class="${modeButtonClass(mode)}"
+                  ?disabled="${state.busy}"
+                  @click="${() => selectMode(mode)}">
+                  <span class="testingGroundModeLetter">${mode}</span>
+                  <span class="testingGroundModeLabel">${toModeLabel(getSelectedSlot(), mode)}</span>
+                </button>
+              `)}
+            </div>
+          ` : ""}
+
+          ${() => state.error ? html`<p class="testingGroundError"><strong>Error:</strong> ${state.error}</p>` : ""}
+
+          ${() => getActiveSlot() ? html`
+            <p class="testingGroundActiveSummary">
+              Currently active: <strong>${getActiveSlot().id}. ${getActiveSlot().name}</strong> in mode <strong>${state.data?.activeVariant || "A"}</strong>.
+            </p>
+          ` : ""}
+        </div>
+      ` : ""}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/theme_maker.css

@@ -77,11 +77,11 @@
   display: none;
 }
 
-.checklist-item input[type="checkbox"]:checked ~ .custom-checkbox {
+.checklist-item input[type="checkbox"]:checked~.custom-checkbox {
   background-color: var(--success-bg);
 }
 
-.checklist-item input[type="checkbox"]:checked ~ .custom-checkbox::before {
+.checklist-item input[type="checkbox"]:checked~.custom-checkbox::before {
   transform: translateX(24px);
 }
 
@@ -170,6 +170,7 @@
   flex-shrink: 0;
   transition: color var(--transition-fast), transform 0.2s;
 }
+
 .file-clear-button:hover {
   color: var(--danger-hover-bg);
   transform: scale(1.1);
@@ -613,7 +614,7 @@ label.file-upload-button {
 .turn-signal-input:focus,
 .turn-signal-input:hover {
   border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   outline: none;
   transform: var(--hover-scale-sm);
 }
@@ -690,8 +691,15 @@ label.file-upload-button {
 }
 
 @keyframes modalFadeIn {
-  from { opacity: 0; transform: scale(0.95); }
-  to { opacity: 1; transform: scale(1); }
+  from {
+    opacity: 0;
+    transform: scale(0.95);
+  }
+
+  to {
+    opacity: 1;
+    transform: scale(1);
+  }
 }
 
 @media only screen and (max-width: 768px) and (orientation: portrait) {
@@ -713,8 +721,8 @@ label.file-upload-button {
     flex-wrap: wrap;
   }
 
-  .save-button-wrapper > button {
+  .save-button-wrapper>button {
     flex-basis: calc(50% - 1rem);
     margin-bottom: var(--gap-sm);
   }
-}
+}

frogpilot/system/the_pond/assets/components/tools/theme_maker.js

@@ -97,7 +97,8 @@ const state = reactive({
   showDeleteConfirmModal: false,
   themeToDelete: null,
   themes: [],
-  activeTab: "colors"
+  activeTab: "colors",
+  fetched: false,
 });
 
 let draggedIndex = -1;
@@ -405,17 +406,19 @@ const fetchDownloadables = async () => {
 };
 
 
-(async () => {
-  try {
-    const response = await fetch("/api/params?key=DiscordUsername");
-    state.discordUsername = await response.text();
-    await loadDefaultTheme();
-    await fetchDownloadables();
-
-  } catch {}
-})();
-
 export function ThemeMaker() {
+  if (!state.fetched) {
+    state.fetched = true;
+    (async () => {
+      try {
+        const response = await fetch("/api/params?key=DiscordUsername");
+        state.discordUsername = await response.text();
+        await loadDefaultTheme();
+        await fetchDownloadables();
+      } catch {}
+    })();
+  }
+
   const normalize = (str) => (str || "")
     .toString()
     .trim()

frogpilot/system/the_pond/assets/components/tools/tmux.js

@@ -1,5 +1,5 @@
 import { html, reactive } from "https://esm.sh/@arrow-js/core"
-import { formatSecondsToHuman } from "/assets/js/utils.js"
+import { formatSecondsToHuman, isGalaxyTunnel } from "/assets/js/utils.js"
 import { Modal } from "/assets/components/modal.js";
 
 const logSelectorState = reactive({
@@ -12,6 +12,16 @@ const logSelectorState = reactive({
   newName: ""
 });
 
+let liveEventSource = null;
+let livePollTimer = null;
+let tmuxLifecycleVersion = 0;
+const REMOTE_POLL_INTERVAL_MS = 2000;
+const TRANSPORT_LIFECYCLE_INTERVAL_MS = 500;
+
+function isTmuxRouteActive() {
+  return window.location.pathname === "/manage_tmux";
+}
+
 async function loadTmuxLogs() {
   if (logSelectorState.loading || logSelectorState.logsLoadedOnce) return;
 
@@ -122,34 +132,34 @@ function TmuxLogSelector({ action, closeFn }) {
         </div>
 
         ${() => {
-          if (logSelectorState.loading && !logSelectorState.logsLoadedOnce) {
-            return html`<div class="fileEntry"><p>Loading...</p></div>`;
-          }
-          if (logSelectorState.files.length === 0) {
-            return html`<div class="fileEntry"><p>No tmux logs found!</p></div>`;
-          }
-          return logSelectorState.files.map(file => html`
+      if (logSelectorState.loading && !logSelectorState.logsLoadedOnce) {
+        return html`<div class="fileEntry"><p>Loading...</p></div>`;
+      }
+      if (logSelectorState.files.length === 0) {
+        return html`<div class="fileEntry"><p>No tmux logs found!</p></div>`;
+      }
+      return logSelectorState.files.map(file => html`
             <div class="fileEntry" @click="${() => handleFileClick(file)}">
               <p><span class="label">Filename:</span> <span class="value">${file.filename}</span></p>
               <p><span class="label">Date:</span> <span class="value">${file.date}</span></p>
               <p><span class="label">Age:</span> <span class="value">${file.timeSince < 60 ? "just now" : `${formatSecondsToHuman(file.timeSince, "minutes")} ago`}</span></p>
             </div>
           `);
-        }}
+    }}
 
         <button @click="${closeFn}" class="cancel-button">Close</button>
 
         ${() => logSelectorState.logToDelete ? Modal({
-          title: "Confirm Delete",
-          message: `Are you sure you want to delete <strong>${logSelectorState.logToDelete.filename}</strong>?`,
-          onConfirm: confirmDeleteFile,
-          onCancel: () => { logSelectorState.logToDelete = null },
-          confirmText: "Yes, Delete"
-        }) : ""}
+      title: "Confirm Delete",
+      message: `Are you sure you want to delete <strong>${logSelectorState.logToDelete.filename}</strong>?`,
+      onConfirm: confirmDeleteFile,
+      onCancel: () => { logSelectorState.logToDelete = null },
+      confirmText: "Yes, Delete"
+    }) : ""}
 
         ${() => logSelectorState.logToRename ? Modal({
-          title: "Rename Log",
-          message: html`
+      title: "Rename Log",
+      message: html`
             <div>
               <p>Rename <strong>${logSelectorState.logToRename.filename}</strong> to:</p>
               <div style="margin-top: 10px;">
@@ -163,14 +173,14 @@ function TmuxLogSelector({ action, closeFn }) {
               </div>
             </div>
           `,
-          onConfirm: confirmRenameFile,
-          onCancel: () => {
-            logSelectorState.logToRename = null;
-            logSelectorState.newName = "";
-          },
-          confirmText: "Rename",
-          confirmClass: "btn-primary"
-        }) : ""}
+      onConfirm: confirmRenameFile,
+      onCancel: () => {
+        logSelectorState.logToRename = null;
+        logSelectorState.newName = "";
+      },
+      confirmText: "Rename",
+      confirmClass: "btn-primary"
+    }) : ""}
       </div>
     </div>
   `
@@ -182,23 +192,143 @@ export function TmuxLog() {
     latest: '',
     log: '',
     selectorAction: null,
+    transport: "connecting",
   });
+  const lifecycleVersion = ++tmuxLifecycleVersion;
+  let lifecycleTimer = null;
 
-  const event_source = new EventSource("/api/tmux_log/live");
-
-  event_source.onmessage = e => {
-    state.latest = e.data;
+  function applyIncomingLog(data) {
+    state.latest = data || "";
     if (!state.paused) {
       state.log = state.latest;
     }
   }
 
-  event_source.onerror = err => {
-    console.error("Error receiving tmux log:", err);
-    event_source.close();
+  function stopLiveTransport() {
+    if (liveEventSource) {
+      liveEventSource.close();
+      liveEventSource = null;
+    }
+    if (livePollTimer) {
+      clearInterval(livePollTimer);
+      livePollTimer = null;
+    }
   }
 
-  function togglePause () {
+  async function fetchSnapshot() {
+    try {
+      const response = await fetch("/api/tmux_log/snapshot");
+      if (!response.ok) throw new Error(await response.text());
+      const payload = await response.json();
+      applyIncomingLog(payload?.data || "");
+    } catch (err) {
+      console.error("Error fetching tmux log snapshot:", err);
+    }
+  }
+
+  function startPolling() {
+    if (livePollTimer) return;
+    if (liveEventSource) {
+      liveEventSource.close();
+      liveEventSource = null;
+    }
+    state.transport = "polling";
+    fetchSnapshot();
+    livePollTimer = setInterval(() => {
+      if (!isTmuxRouteActive()) {
+        stopLiveTransport();
+        return;
+      }
+      if (document.visibilityState !== "visible") {
+        return;
+      }
+      fetchSnapshot();
+    }, REMOTE_POLL_INTERVAL_MS);
+  }
+
+  function startEventStream() {
+    if (liveEventSource) return;
+    if (livePollTimer) {
+      clearInterval(livePollTimer);
+      livePollTimer = null;
+    }
+    state.transport = "streaming";
+    liveEventSource = new EventSource("/api/tmux_log/live");
+    let receivedAnyMessage = false;
+
+    liveEventSource.onmessage = e => {
+      if (!isTmuxRouteActive() || document.visibilityState !== "visible") return;
+      receivedAnyMessage = true;
+      applyIncomingLog(e.data);
+    };
+
+    liveEventSource.onerror = err => {
+      console.error("Error receiving tmux log stream:", err);
+      if (!isTmuxRouteActive()) {
+        stopLiveTransport();
+        return;
+      }
+      startPolling();
+    };
+
+    // If SSE connects but no payload arrives quickly (common through tunnels), fallback.
+    setTimeout(() => {
+      if (!receivedAnyMessage && state.transport === "streaming" && isTmuxRouteActive()) {
+        startPolling();
+      }
+    }, 3000);
+  }
+
+  function updateTransportForLifecycle() {
+    if (lifecycleVersion !== tmuxLifecycleVersion) {
+      stopLiveTransport();
+      if (lifecycleTimer) {
+        clearInterval(lifecycleTimer);
+        lifecycleTimer = null;
+      }
+      return;
+    }
+
+    if (!isTmuxRouteActive()) {
+      stopLiveTransport();
+      state.transport = "inactive";
+      if (lifecycleTimer) {
+        clearInterval(lifecycleTimer);
+        lifecycleTimer = null;
+      }
+      return;
+    }
+
+    if (document.visibilityState !== "visible") {
+      stopLiveTransport();
+      state.transport = "paused";
+      return;
+    }
+
+    if (isGalaxyTunnel()) {
+      startPolling();
+      return;
+    }
+
+    if (!liveEventSource && !livePollTimer) {
+      startEventStream();
+    }
+  }
+
+  updateTransportForLifecycle();
+  lifecycleTimer = setInterval(updateTransportForLifecycle, TRANSPORT_LIFECYCLE_INTERVAL_MS);
+
+  function getStatusLabel() {
+    if (state.transport === "polling") {
+      return "Tmux Live Log (Remote Mode)";
+    }
+    if (state.transport === "streaming") {
+      return "Tmux Live Log";
+    }
+    return "Tmux Live Log";
+  }
+
+  function togglePause() {
     state.paused = !state.paused;
     if (!state.paused) {
       state.log = state.latest;
@@ -248,7 +378,7 @@ export function TmuxLog() {
     <div class="tmux-block">
       <div class="tmux-wrapper">
         <div class="tmuxContainer">
-          <div class="tmuxHeader">Tmux Live Log</div>
+          <div class="tmuxHeader">${() => getStatusLabel()}</div>
           <pre class="tmuxLog">${() => state.log}</pre>
         </div>
       </div>
@@ -263,20 +393,20 @@ export function TmuxLog() {
       </div>
 
       ${() => state.selectorAction
-        ? TmuxLogSelector({
-            action: state.selectorAction,
-            closeFn: () => (state.selectorAction = null)
-          })
-        : ""
-      }
+      ? TmuxLogSelector({
+        action: state.selectorAction,
+        closeFn: () => (state.selectorAction = null)
+      })
+      : ""
+    }
 
       ${() => logSelectorState.showDeleteAllModal ? Modal({
-        title: "Delete All Logs",
-        message: "Are you sure you want to delete all of your session logs?",
-        onConfirm: deleteAllSessions,
-        onCancel: () => { logSelectorState.showDeleteAllModal = false },
-        confirmText: "Delete All"
-      }) : ""}
+      title: "Delete All Logs",
+      message: "Are you sure you want to delete all of your session logs?",
+      onConfirm: deleteAllSessions,
+      onCancel: () => { logSelectorState.showDeleteAllModal = false },
+      confirmText: "Delete All"
+    }) : ""}
     </div>
   `;
 }

frogpilot/system/the_pond/assets/components/tools/toggles.js

@@ -1,7 +1,8 @@
 import { html, reactive } from "https://esm.sh/@arrow-js/core"
 import { Modal } from "/assets/components/modal.js"
+import { TailscaleControl } from "/assets/components/tailscale/tailscale.js"
 
-export function ToggleControl () {
+export function ToggleControl() {
   const state = reactive({
     showResetDefaultModal: false,
     showResetStockModal: false,
@@ -14,7 +15,7 @@ export function ToggleControl () {
   fileInput.addEventListener("change", restoreToggles)
   document.body.appendChild(fileInput)
 
-  async function backupToggles () {
+  async function backupToggles() {
     const response = await fetch("/api/toggles/backup", { method: "POST" })
     const blob = await response.blob()
 
@@ -26,7 +27,7 @@ export function ToggleControl () {
     URL.revokeObjectURL(downloadUrl)
   }
 
-  async function restoreToggles (event) {
+  async function restoreToggles(event) {
     const uploadedFile = event.target.files[0]
     if (uploadedFile) {
       const fileContents = await uploadedFile.text()
@@ -45,11 +46,11 @@ export function ToggleControl () {
     }
   }
 
-  function confirmResetDefault () {
+  function confirmResetDefault() {
     state.showResetDefaultModal = true;
   }
 
-  async function resetTogglesToDefault () {
+  async function resetTogglesToDefault() {
     state.showResetDefaultModal = false;
     showSnackbar("Resetting toggles to their default values...");
     await new Promise(resolve => setTimeout(resolve, 3000));
@@ -58,11 +59,11 @@ export function ToggleControl () {
     await fetch("/api/toggles/reset_default", { method: "POST" });
   }
 
-  function confirmResetStock () {
+  function confirmResetStock() {
     state.showResetStockModal = true;
   }
 
-  async function resetTogglesToStock () {
+  async function resetTogglesToStock() {
     state.showResetStockModal = false;
     showSnackbar("Resetting toggles to stock openpilot values...");
     await new Promise(resolve => setTimeout(resolve, 3000));
@@ -71,7 +72,7 @@ export function ToggleControl () {
     await fetch("/api/toggles/reset_stock", { method: "POST" });
   }
 
-  function triggerRestorePrompt () {
+  function triggerRestorePrompt() {
     fileInput.click()
   }
 
@@ -87,9 +88,9 @@ export function ToggleControl () {
       </section>
 
       <section class="toggle-control-widget" style="margin-left: 1.5rem">
-        <div class="toggle-control-title">Reset Toggles to Default FrogPilot/Stock openpilot</div>
+        <div class="toggle-control-title">Reset Toggles to Default StarPilot</div>
         <p class="toggle-control-text">
-          Reset all toggles to default FrogPilot/stock openpilot settings.
+          Reset all toggles to default StarPilot settings.
         </p>
         <button class="toggle-control-button" @click="${confirmResetDefault}">
           Reset Toggles to Default
@@ -98,20 +99,22 @@ export function ToggleControl () {
           Reset Toggles to Stock
         </button>
       </section>
+
+      ${TailscaleControl()}
     </div>
     ${() => state.showResetDefaultModal ? Modal({
-        title: "Reset Toggles",
-        message: "Are you sure you want to reset all toggles to their default FrogPilot values?",
-        onConfirm: resetTogglesToDefault,
-        onCancel: () => { state.showResetDefaultModal = false; },
-        confirmText: "Reset to Default"
-      }) : ""}
+    title: "Reset Toggles",
+    message: "Are you sure you want to reset all toggles to their default FrogPilot values?",
+    onConfirm: resetTogglesToDefault,
+    onCancel: () => { state.showResetDefaultModal = false; },
+    confirmText: "Reset to Default"
+  }) : ""}
     ${() => state.showResetStockModal ? Modal({
-        title: "Reset Toggles",
-        message: "Are you sure you want to reset all toggles to stock openpilot values?",
-        onConfirm: resetTogglesToStock,
-        onCancel: () => { state.showResetStockModal = false; },
-        confirmText: "Reset to Stock"
-      }) : ""}
+    title: "Reset Toggles",
+    message: "Are you sure you want to reset all toggles to stock openpilot values?",
+    onConfirm: resetTogglesToStock,
+    onCancel: () => { state.showResetStockModal = false; },
+    confirmText: "Reset to Stock"
+  }) : ""}
   `
 }

frogpilot/system/the_pond/assets/components/tools/troubleshoot.css

@@ -0,0 +1,124 @@
+.troubleshootPage {
+  display: flex;
+  flex-direction: column;
+  gap: 16px;
+}
+
+.troubleshootCard {
+  background: var(--sidebar-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  padding: 16px;
+}
+
+.troubleshootIntro {
+  margin: 0 0 12px;
+  opacity: 0.9;
+}
+
+.troubleshootActionRow {
+  display: flex;
+  gap: 10px;
+  flex-wrap: wrap;
+  margin-bottom: 10px;
+}
+
+.troubleshootButton {
+  background: linear-gradient(135deg, #7a62b8, #8b6cc5);
+  color: #fff;
+  border: none;
+  border-radius: var(--border-radius-md);
+  padding: 10px 14px;
+  font-size: 0.95rem;
+  font-weight: 700;
+  cursor: pointer;
+}
+
+.troubleshootButton:disabled {
+  opacity: 0.6;
+  cursor: not-allowed;
+}
+
+.troubleshootDanger {
+  background: linear-gradient(135deg, #b14a6b, #d95a7b);
+}
+
+.troubleshootError {
+  color: #ff6b6b;
+}
+
+.troubleshootStatusLine {
+  margin: 6px 0 0;
+}
+
+.troubleshootSectionHeader {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 12px;
+  margin-bottom: 8px;
+}
+
+.troubleshootSectionHeader h3,
+.troubleshootCard h3 {
+  margin: 0;
+}
+
+.troubleshootHeaderRow,
+.troubleshootItemRow,
+.troubleshootSnapshotRow {
+  display: grid;
+  gap: 10px;
+  align-items: center;
+  border-top: 1px solid var(--sidebar-border-color);
+  padding: 8px 0;
+}
+
+.troubleshootHeaderRow {
+  font-weight: 700;
+  opacity: 0.9;
+}
+
+.troubleshootHeaderRow {
+  grid-template-columns: 2fr 1fr 1fr;
+}
+
+.troubleshootHeaderRowSnapshot {
+  grid-template-columns: 2fr 2fr;
+}
+
+.troubleshootSnapshotRow {
+  grid-template-columns: 2fr 2fr;
+}
+
+.troubleshootItemRow {
+  grid-template-columns: 2fr 1fr 1fr;
+}
+
+.troubleshootItemLabel {
+  font-weight: 600;
+}
+
+.troubleshootItemValue,
+.troubleshootItemDefault {
+  font-family: "Open Sans", sans-serif;
+  word-break: break-word;
+}
+
+@media (max-width: 720px) {
+  .troubleshootHeaderRow,
+  .troubleshootItemRow {
+    grid-template-columns: 1.3fr 1fr 1fr;
+    font-size: 0.9rem;
+  }
+
+  .troubleshootSnapshotRow {
+    grid-template-columns: 1fr;
+    gap: 4px;
+  }
+
+  .troubleshootSectionHeader {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+}

frogpilot/system/the_pond/assets/components/tools/troubleshoot.js

@@ -0,0 +1,208 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  snapshot: [],
+  sections: [],
+  isOnroad: false,
+  refreshing: false,
+  busySection: "",
+})
+
+let initialized = false
+
+function formatValue(value) {
+  if (typeof value === "boolean") return value ? "On" : "Off"
+  if (typeof value === "number") {
+    if (Number.isInteger(value)) return String(value)
+    return String(Number(value.toFixed(4)))
+  }
+  if (value === null || value === undefined) return "n/a"
+  const text = String(value).trim()
+  return text || "(empty)"
+}
+
+function buildReportText() {
+  const lines = []
+  lines.push("StarPilot Troubleshoot Report")
+  lines.push(`Generated: ${new Date().toISOString()}`)
+  lines.push(`Onroad: ${state.isOnroad ? "Yes" : "No"}`)
+  lines.push("")
+  lines.push("Snapshot")
+  for (const item of state.snapshot) {
+    lines.push(`- ${item.label}: ${formatValue(item.value)}`)
+  }
+
+  for (const section of state.sections) {
+    lines.push("")
+    lines.push(section.title)
+    for (const item of section.items || []) {
+      lines.push(`- ${item.label}: ${formatValue(item.value)} (default: ${formatValue(item.defaultValue)})`)
+    }
+  }
+
+  return lines.join("\n")
+}
+
+async function copyToClipboard() {
+  const text = buildReportText()
+  try {
+    if (navigator?.clipboard?.writeText) {
+      await navigator.clipboard.writeText(text)
+    } else {
+      const textArea = document.createElement("textarea")
+      textArea.value = text
+      textArea.style.position = "fixed"
+      textArea.style.left = "-9999px"
+      document.body.appendChild(textArea)
+      textArea.focus()
+      textArea.select()
+      document.execCommand("copy")
+      document.body.removeChild(textArea)
+    }
+    showSnackbar("Troubleshoot report copied to clipboard.", "", 2500, { key: "troubleshoot-copy" })
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to copy report.", "error", 3000, { key: "troubleshoot-copy" })
+  }
+}
+
+async function fetchTroubleshoot(showToast = false) {
+  state.refreshing = true
+  try {
+    const response = await fetch("/api/troubleshoot")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load troubleshoot data")
+    }
+
+    state.snapshot = Array.isArray(payload.snapshot) ? payload.snapshot : []
+    state.sections = Array.isArray(payload.sections) ? payload.sections : []
+    state.isOnroad = !!payload.isOnroad
+    state.error = ""
+
+    if (showToast) {
+      showSnackbar("Troubleshoot data refreshed.", "", 1800, { key: "troubleshoot-refresh" })
+    }
+  } catch (error) {
+    const message = error?.message || "Failed to load troubleshoot data"
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error", 3000, { key: "troubleshoot-refresh" })
+    }
+  } finally {
+    state.loading = false
+    state.refreshing = false
+  }
+}
+
+async function resetSection(section) {
+  const sectionId = String(section?.id || "")
+  if (!sectionId || state.busySection) return
+
+  const sectionTitle = String(section?.title || "this section")
+  if (!confirm(`Reset ${sectionTitle} to defaults?`)) return
+
+  state.busySection = sectionId
+  try {
+    const response = await fetch("/api/troubleshoot/reset", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ sectionId }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to reset section")
+    }
+
+    showSnackbar(payload.message || `${sectionTitle} reset.`, "", 2500, { key: "troubleshoot-reset" })
+    await fetchTroubleshoot(false)
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to reset section.", "error", 3000, { key: "troubleshoot-reset" })
+  } finally {
+    state.busySection = ""
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+  fetchTroubleshoot(false)
+}
+
+function itemRows(section) {
+  const items = Array.isArray(section?.items) ? section.items : []
+  return items.map((item) => html`
+    <div class="troubleshootItemRow">
+      <div class="troubleshootItemLabel">${item.label}</div>
+      <div class="troubleshootItemValue">${formatValue(item.value)}</div>
+      <div class="troubleshootItemDefault">${formatValue(item.defaultValue)}</div>
+    </div>
+  `)
+}
+
+export function Troubleshoot() {
+  initialize()
+
+  return html`
+    <div class="troubleshootPage">
+      <h2>Troubleshoot</h2>
+
+      ${() => state.loading ? html`<div class="troubleshootCard">Loading troubleshoot data...</div>` : ""}
+
+      ${() => !state.loading ? html`
+        <div class="troubleshootCard">
+          <p class="troubleshootIntro">
+            Quick diagnostics snapshot for weird behavior reports and copy-ready debug logs.
+          </p>
+          <div class="troubleshootActionRow">
+            <button class="troubleshootButton" ?disabled="${state.refreshing}" @click="${() => fetchTroubleshoot(true)}">
+              ${state.refreshing ? "Refreshing..." : "Refresh"}
+            </button>
+            <button class="troubleshootButton" @click="${copyToClipboard}">
+              Copy to Clipboard
+            </button>
+          </div>
+          ${() => state.error ? html`<p class="troubleshootError"><strong>Error:</strong> ${state.error}</p>` : ""}
+          <p class="troubleshootStatusLine"><strong>Onroad:</strong> ${state.isOnroad ? "Yes" : "No"}</p>
+        </div>
+
+        <div class="troubleshootCard">
+          <h3>Snapshot</h3>
+          <div class="troubleshootHeaderRow troubleshootHeaderRowSnapshot">
+            <span>Field</span>
+            <span>Value</span>
+          </div>
+          ${() => state.snapshot.map((item) => html`
+            <div class="troubleshootSnapshotRow">
+              <div class="troubleshootItemLabel">${item.label}</div>
+              <div class="troubleshootItemValue">${formatValue(item.value)}</div>
+            </div>
+          `)}
+        </div>
+
+        ${() => state.sections.map((section) => html`
+          <div class="troubleshootCard">
+            <div class="troubleshootSectionHeader">
+              <h3>${section.title}</h3>
+              ${section.resettable ? html`
+                <button
+                  class="troubleshootButton troubleshootDanger"
+                  ?disabled="${state.busySection === section.id}"
+                  @click="${() => resetSection(section)}">
+                  ${state.busySection === section.id ? "Resetting..." : "Reset to Default"}
+                </button>
+              ` : ""}
+            </div>
+            <div class="troubleshootHeaderRow">
+              <span>Setting</span>
+              <span>Current</span>
+              <span>Default</span>
+            </div>
+            ${itemRows(section)}
+          </div>
+        `)}
+      ` : ""}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/tsk_manager.css

@@ -73,7 +73,7 @@
   transition: opacity var(--transition-slow);
 }
 
-.tskkeys-group > .tskkeys-row:last-of-type {
+.tskkeys-group>.tskkeys-row:last-of-type {
   margin-bottom: 0;
 }
 
@@ -105,7 +105,7 @@
 .tskkeys-input:hover,
 .tskkeys-input:focus {
   border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
   transform: var(--hover-scale-sm);
 }
 
@@ -211,4 +211,4 @@
   .tskkeys-input {
     font-size: var(--font-size-sm);
   }
-}
+}

frogpilot/system/the_pond/assets/components/tools/tsk_manager.js

@@ -165,15 +165,16 @@ const api = {
   }
 }
 
-let hasLoaded = false
-if (!hasLoaded) {
-  hasLoaded = true
-  api.load()
-}
-
-export function TSKManager() {
-  return html`
-    <div class="tskkeys-wrapper tskkeys-offset-top">
+let hasLoaded = false
+
+export function TSKManager() {
+  if (!hasLoaded) {
+    hasLoaded = true
+    api.load()
+  }
+
+  return html`
+    <div class="tskkeys-wrapper tskkeys-offset-top">
       <div class="tskkeys-container">
         <div class="tskkeys-title">Toyota Security Key Manager</div>
 

frogpilot/system/the_pond/assets/components/tools/update_manager.css

@@ -0,0 +1,206 @@
+.updateManager {
+  max-width: var(--width-xxl);
+}
+
+.updateActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.updateButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.updateButton.danger {
+  background: var(--danger-bg);
+}
+
+.updateButton.danger:hover {
+  background: var(--danger-hover-bg);
+}
+
+.updateButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.updateButton:disabled {
+  cursor: not-allowed;
+  opacity: 0.55;
+  transform: none;
+}
+
+.updateCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 80%;
+  padding: var(--border-radius-xl);
+}
+
+.updateError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-sm);
+}
+
+.updateGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(3, 1fr);
+}
+
+.updateGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.updateLink {
+  color: var(--main-fg);
+  display: inline-block;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-bold);
+}
+
+.updateMessage {
+  margin-top: var(--margin-sm);
+}
+
+.updateProgressCard {
+  margin-top: var(--margin-base);
+}
+
+.updateProgressDetail {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateProgressDetail.error {
+  color: var(--danger-fg);
+}
+
+.updateProgressFill {
+  background: linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%);
+  border-radius: var(--border-radius-sm);
+  height: 100%;
+  transition: width var(--transition-base);
+}
+
+.updateProgressFill.error {
+  background: linear-gradient(90deg, #b43a3a 0%, #de5656 100%);
+}
+
+.updateProgressHeader {
+  display: flex;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  justify-content: space-between;
+  margin-bottom: var(--margin-xs);
+}
+
+.updateProgressTrack {
+  background: var(--track-color);
+  border-radius: var(--border-radius-sm);
+  height: 12px;
+  overflow: hidden;
+}
+
+.updateProgressTrack.error {
+  border: 1px solid var(--danger-bg);
+}
+
+.updateToggleRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  justify-content: space-between;
+  margin-top: var(--margin-base);
+}
+
+.updateWarning {
+  margin-top: var(--margin-base);
+}
+
+.updateHint {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateRebootNotice {
+  font-weight: var(--font-weight-bold);
+}
+
+.updateFooter {
+  border-top: 1px solid var(--track-color);
+  margin-top: var(--margin-base);
+  padding-top: var(--margin-sm);
+}
+
+.updateBranchSection {
+  margin-top: var(--margin-base);
+}
+
+.updateAdvancedNote {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateBranchHeader {
+  align-items: center;
+  display: flex;
+  font-size: var(--font-size-sm);
+  justify-content: space-between;
+}
+
+.updateBranchRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateSelect {
+  background-color: var(--main-bg);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  min-width: 0;
+  padding: var(--padding-sm);
+}
+
+.updateSelect:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+.updateToggleRow input:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .updateActions {
+    flex-direction: column;
+  }
+
+  .updateBranchRow {
+    flex-direction: column;
+    align-items: stretch;
+  }
+
+  .updateCard {
+    max-width: 100%;
+  }
+
+  .updateGrid {
+    grid-template-columns: repeat(auto-fit, minmax(220px, 1fr));
+  }
+}

frogpilot/system/the_pond/assets/components/tools/update_manager.js

@@ -0,0 +1,617 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  status: null,
+  checkedForUpdates: false,
+  checkBusy: false,
+  updateBusy: false,
+  toggleBusy: false,
+  showAdvancedOptions: false,
+  branches: [],
+  selectedBranch: "",
+  hasManualBranchSelection: false,
+  branchesError: "",
+  branchesBusy: false,
+  switchBusy: false,
+})
+
+let initialized = false
+let pollHandle = null
+let reconnectPending = false
+let rebootNoticeShown = false
+const POLL_INTERVAL_MS = 1000
+const ADVANCED_OPTIONS_KEY = "softwareShowAdvancedOptions"
+
+function isUpdateRouteActive() {
+  return window.location.pathname === "/manage_updates"
+}
+
+function shortHash(value) {
+  const text = String(value || "").trim()
+  return text ? text.slice(0, 10) : "Unknown"
+}
+
+function toPercent(value) {
+  const n = Number(value)
+  if (!Number.isFinite(n)) return 0
+  return Math.max(0, Math.min(100, n))
+}
+
+function findBranchInList(branches, target) {
+  const wanted = String(target || "").trim()
+  if (!wanted || !Array.isArray(branches) || branches.length === 0) return ""
+  if (branches.includes(wanted)) return wanted
+
+  const wantedLower = wanted.toLowerCase()
+  const caseInsensitive = branches.find((branch) => String(branch || "").toLowerCase() === wantedLower)
+  return caseInsensitive || ""
+}
+
+function isSelectedBranchDifferent() {
+  const currentBranch = String(state.status?.branch || "").trim()
+  const selectedBranch = String(state.selectedBranch || "").trim()
+  return !!currentBranch && !!selectedBranch && currentBranch !== selectedBranch
+}
+
+function normalizeGithubRemote(remoteValue, commitsUrlValue = "") {
+  let remote = String(remoteValue || "").trim()
+  if (!remote) {
+    const commitsUrl = String(commitsUrlValue || "").trim()
+    const marker = "/commits/"
+    const markerIndex = commitsUrl.indexOf(marker)
+    if (commitsUrl.startsWith("https://github.com/") && markerIndex > 0) {
+      remote = commitsUrl.slice(0, markerIndex)
+    } else {
+      return ""
+    }
+  }
+
+  if (remote.startsWith("git@github.com:")) {
+    remote = `https://github.com/${remote.split(":", 2)[1] || ""}`
+  } else if (remote.startsWith("ssh://git@github.com/")) {
+    remote = `https://github.com/${remote.split("ssh://git@github.com/", 2)[1] || ""}`
+  } else if (remote.startsWith("http://github.com/")) {
+    remote = `https://github.com/${remote.split("http://github.com/", 2)[1] || ""}`
+  }
+
+  if (!remote.startsWith("https://github.com/")) return ""
+  remote = remote.replace(/\/+$/, "")
+  if (remote.endsWith(".git")) remote = remote.slice(0, -4)
+  return remote
+}
+
+function currentOrSelectedBranchForCommits() {
+  const selected = String(state.selectedBranch || "").trim()
+  if (selected) return selected
+  return String(state.status?.branch || "").trim()
+}
+
+function activeCommitsUrl() {
+  const branch = currentOrSelectedBranchForCommits()
+  if (!branch) return ""
+
+  const remote = normalizeGithubRemote(state.status?.originRemote, state.status?.commitsUrl)
+  if (!remote) return ""
+  return `${remote}/commits/${encodeURIComponent(branch)}/`
+}
+
+function activeCommitsLabel() {
+  const branch = currentOrSelectedBranchForCommits()
+  return branch
+    ? `View latest commit for the "${branch}" branch`
+    : "View latest commit for this branch"
+}
+
+function shouldShowPrimaryUpdateAction() {
+  if (state.status?.running) return true
+  if (isSelectedBranchDifferent()) return true
+  return !!state.checkedForUpdates && !!state.status?.updateAvailable
+}
+
+function shouldContinuePolling() {
+  return !!state.status?.running || state.status?.stage === "rebooting" || reconnectPending
+}
+
+function shouldShowRebootNotice() {
+  if (state.status?.stage === "rebooting") return true
+  if (reconnectPending) return true
+  const message = String(state.status?.message || "").toLowerCase()
+  return message.includes("reboot")
+}
+
+function isHtmlLike(text) {
+  const value = String(text || "").trim()
+  return value.startsWith("<!DOCTYPE") || value.startsWith("<html") || value.startsWith("<")
+}
+
+async function readJsonPayload(response) {
+  const bodyText = await response.text()
+  if (!bodyText) return {}
+
+  try {
+    return JSON.parse(bodyText)
+  } catch (parseError) {
+    const error = new Error("Invalid JSON response")
+    error.cause = parseError
+    error.bodyText = bodyText
+    throw error
+  }
+}
+
+function setRebootingUiState(detail = "Reboot in progress...") {
+  state.status = {
+    ...(state.status || {}),
+    running: false,
+    stage: "rebooting",
+    progressStep: 5,
+    progressTotalSteps: state.status?.progressTotalSteps || 5,
+    progressStepPercent: 100,
+    progressPercent: 100,
+    progressLabel: "Rebooting device",
+    progressDetail: detail,
+    message: "Update complete. Device is rebooting. Please wait...",
+  }
+  state.error = ""
+}
+
+function isRebootRelatedConnectionError(error) {
+  const message = String(error?.message || "")
+  return /Invalid JSON response|Unexpected token '<'|Failed to fetch|NetworkError|Load failed/i.test(message)
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isUpdateRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    await fetchStatus(false)
+    if (shouldContinuePolling()) {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+    } else {
+      pollHandle = null
+    }
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+async function fetchStatus(showToast) {
+  if (showToast) state.checkBusy = true
+  try {
+    const response = await fetch("/api/update/fast/status")
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load update status")
+    }
+
+    state.status = payload
+    state.error = ""
+
+    if (reconnectPending && !payload.running && payload.stage !== "rebooting") {
+      reconnectPending = false
+      rebootNoticeShown = false
+      showSnackbar("Connection reestablished.")
+    }
+
+    if (payload.stage === "rebooting" && !rebootNoticeShown) {
+      rebootNoticeShown = true
+      showSnackbar("Device rebooting, please wait for reconnection...")
+    }
+
+    if (!state.selectedBranch && payload.branch) {
+      state.selectedBranch = payload.branch
+    }
+
+    if (shouldContinuePolling()) {
+      ensurePolling()
+    } else {
+      stopPolling()
+    }
+
+    if (showToast) {
+      state.checkedForUpdates = true
+      showSnackbar(payload.updateAvailable ? "Update available." : "No update available.")
+    }
+  } catch (error) {
+    const isRebootTransitionError = !showToast
+      && (state.status?.running || state.status?.stage === "rebooting" || reconnectPending)
+      && (isHtmlLike(error?.bodyText) || isRebootRelatedConnectionError(error))
+
+    if (isRebootTransitionError) {
+      reconnectPending = true
+      setRebootingUiState("Device rebooting, please wait for reconnection...")
+      if (!rebootNoticeShown) {
+        rebootNoticeShown = true
+        showSnackbar("Device rebooting, please wait for reconnection...")
+      }
+      ensurePolling()
+      return
+    }
+
+    const message = error?.message || String(error)
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+  } finally {
+    if (showToast) state.checkBusy = false
+  }
+}
+
+async function fetchBranches(showToast = false) {
+  state.branchesBusy = true
+  try {
+    const response = await fetch("/api/update/branches")
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load branches")
+    }
+
+    const branches = Array.isArray(payload.branches) ? payload.branches : []
+    const currentBranchRaw = String(payload.currentBranch || state.status?.branch || "").trim()
+    const matchedCurrentBranch = findBranchInList(branches, currentBranchRaw)
+    state.branches = branches
+    state.branchesError = payload.remoteError || ""
+
+    if (branches.length === 0) {
+      state.selectedBranch = currentBranchRaw
+      state.hasManualBranchSelection = false
+    } else if (matchedCurrentBranch && !state.hasManualBranchSelection) {
+      // Default to the branch currently installed unless the user picked one explicitly.
+      state.selectedBranch = matchedCurrentBranch
+    } else if (!state.selectedBranch || !branches.includes(state.selectedBranch)) {
+      state.selectedBranch = matchedCurrentBranch || branches[0]
+      state.hasManualBranchSelection = false
+    }
+
+    if (showToast) {
+      showSnackbar(branches.length ? `Loaded ${branches.length} branches.` : "No branches found.")
+    }
+  } catch (error) {
+    const message = error?.message || "Failed to load branches"
+    state.branchesError = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+  } finally {
+    state.branchesBusy = false
+  }
+}
+
+function setAdvancedOptions(enabled) {
+  const next = !!enabled
+  state.showAdvancedOptions = next
+
+  if (!next) {
+    const currentBranch = String(state.status?.branch || "").trim()
+    if (currentBranch) {
+      state.selectedBranch = currentBranch
+    }
+    state.hasManualBranchSelection = false
+  }
+
+  try {
+    localStorage.setItem(ADVANCED_OPTIONS_KEY, next ? "1" : "0")
+  } catch (error) {
+    console.warn("Failed to persist advanced options preference", error)
+  }
+
+  if (next && state.branches.length === 0 && !state.branchesBusy) {
+    fetchBranches(false)
+  }
+}
+
+async function setAutomaticUpdates(enabled) {
+  if (state.toggleBusy) return
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+  state.toggleBusy = true
+  try {
+    const response = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key: "AutomaticUpdates", value: !!enabled }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to update Automatic Updates")
+    }
+
+    state.status = { ...(state.status || {}), automaticUpdates: !!enabled }
+    showSnackbar(payload.message || "Automatic updates updated.")
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to update Automatic Updates", "error")
+    await fetchStatus(false)
+  } finally {
+    state.toggleBusy = false
+  }
+}
+
+async function runFastUpdate() {
+  if (state.updateBusy) return
+  if (state.status?.running) {
+    showSnackbar("Fast update is already running.")
+    return
+  }
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+
+  const confirmed = window.confirm(
+    "Fast update warning:\n\n" +
+    "- This update method skips backup creation.\n" +
+    "- Your device will reboot when the update is done.\n\n" +
+    "Continue with fast update?"
+  )
+  if (!confirmed) return
+
+  state.updateBusy = true
+  try {
+    reconnectPending = false
+    rebootNoticeShown = false
+    const response = await fetch("/api/update/fast", { method: "POST" })
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to start fast update")
+    }
+
+    state.status = {
+      ...(state.status || {}),
+      running: true,
+      stage: "starting",
+      progressStep: 1,
+      progressTotalSteps: state.status?.progressTotalSteps || 5,
+      progressStepPercent: 0,
+      progressPercent: 0,
+      progressLabel: "Preparing update",
+      progressDetail: "Initializing update process...",
+      message: payload.message || "Fast update started. Device will reboot when complete.",
+      lastError: "",
+    }
+    state.error = ""
+    showSnackbar(payload.message || "Fast update started.")
+    await fetchStatus(false)
+    ensurePolling()
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to start fast update", "error")
+  } finally {
+    state.updateBusy = false
+  }
+}
+
+async function runBranchSwitch() {
+  if (state.switchBusy) return
+  if (state.status?.running) {
+    showSnackbar("An update action is already running.")
+    return
+  }
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+
+  const targetBranch = String(state.selectedBranch || "").trim()
+  if (!targetBranch) {
+    showSnackbar("Select a target branch first.", "error")
+    return
+  }
+
+  const currentBranch = String(state.status?.branch || "").trim()
+  const actionLabel = currentBranch && currentBranch === targetBranch ? "update" : "switch and update"
+  const confirmed = window.confirm(
+    `This will ${actionLabel} to the '${targetBranch}' branch.\n\n` +
+    "- This update method skips backup creation.\n" +
+    "- Your device will reboot when the update is done.\n\n" +
+    "Continue?"
+  )
+  if (!confirmed) return
+
+  state.switchBusy = true
+  try {
+    reconnectPending = false
+    rebootNoticeShown = false
+    const response = await fetch("/api/update/branch", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ branch: targetBranch }),
+    })
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to start branch switch")
+    }
+
+    state.status = {
+      ...(state.status || {}),
+      running: true,
+      stage: "starting",
+      progressStep: 1,
+      progressTotalSteps: state.status?.progressTotalSteps || 5,
+      progressStepPercent: 0,
+      progressPercent: 0,
+      progressLabel: "Preparing branch switch",
+      progressDetail: "Initializing branch switch...",
+      message: payload.message || `Branch switch started for '${targetBranch}'. Device will reboot when complete.`,
+      lastError: "",
+    }
+    state.error = ""
+    showSnackbar(payload.message || "Branch switch started.")
+    await fetchStatus(false)
+    ensurePolling()
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to start branch switch", "error")
+  } finally {
+    state.switchBusy = false
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+
+  try {
+    state.showAdvancedOptions = localStorage.getItem(ADVANCED_OPTIONS_KEY) === "1"
+  } catch (error) {
+    state.showAdvancedOptions = false
+  }
+
+  const initTasks = [fetchStatus(false)]
+  if (state.showAdvancedOptions) {
+    initTasks.push(fetchBranches(false))
+  }
+
+  Promise.all(initTasks).finally(() => {
+    state.loading = false
+  })
+}
+
+export function UpdateManager() {
+  initialize()
+
+  return html`
+    <div class="updateManager">
+      <h2>Software</h2>
+
+      ${() => state.loading ? html`<div class="updateCard">Loading update status...</div>` : ""}
+      ${() => !state.loading ? html`
+        <div class="updateCard">
+          <div class="updateGrid">
+            <p><strong>Current Branch:</strong> ${state.status?.branch || "Unknown"}</p>
+            <p><strong>Installed Commit:</strong> ${shortHash(state.status?.localCommit)}</p>
+            <p><strong>Latest Commit:</strong> ${shortHash(state.status?.remoteCommit)}</p>
+            <p><strong>Update Available:</strong> ${state.status?.updateAvailable ? "Yes" : "No"}</p>
+            <p><strong>Status:</strong> ${state.status?.stage || "idle"}</p>
+            <p><strong>Onroad:</strong> ${state.status?.isOnroad ? "Yes" : "No"}</p>
+          </div>
+
+          <div class="updateProgressCard">
+            <div class="updateProgressHeader">
+              <span>
+                Step ${state.status?.progressStep || 0}/${state.status?.progressTotalSteps || 5}:
+                ${state.status?.progressLabel || "Idle"}
+              </span>
+              <span>${Math.round(toPercent(state.status?.progressPercent))}%</span>
+            </div>
+            <div class="updateProgressTrack ${state.status?.stage === "error" ? "error" : ""}">
+              <div class="updateProgressFill ${state.status?.stage === "error" ? "error" : ""}" style="width: ${toPercent(state.status?.progressPercent)}%;"></div>
+            </div>
+            ${() => state.status?.progressDetail ? html`<p class="updateProgressDetail ${state.status?.stage === "error" ? "error" : ""}">${state.status.progressDetail}</p>` : ""}
+          </div>
+
+          ${() => state.status?.isOnroad ? html`<p class="updateWarning"><strong>Onroad: actions disabled</strong></p>` : ""}
+
+          <label class="updateToggleRow">
+            <span>Automatically install updates</span>
+            <input
+              type="checkbox"
+              class="ds-toggle"
+              ?checked="${!!state.status?.automaticUpdates}"
+              ?disabled="${!!state.status?.isOnroad || state.toggleBusy || !!state.status?.running}"
+              @change="${(event) => setAutomaticUpdates(!!event.target.checked)}"
+            />
+          </label>
+
+          <label class="updateToggleRow updateAdvancedToggle">
+            <span>Show advanced options</span>
+            <input
+              type="checkbox"
+              class="ds-toggle"
+              ?checked="${() => state.showAdvancedOptions}"
+              @change="${(event) => setAdvancedOptions(!!event.target.checked)}"
+            />
+          </label>
+
+          ${() => state.showAdvancedOptions ? html`
+            <div class="updateBranchSection">
+              <div class="updateBranchHeader">
+                <strong>Branch switching</strong>
+                ${state.branchesBusy ? html`<span>Loading...</span>` : ""}
+              </div>
+              <p class="updateAdvancedNote">
+                For advanced users only. Switching to test/dev branches can introduce instability.
+              </p>
+              <div class="updateBranchRow">
+                <select
+                  class="updateSelect"
+                  ?disabled="${!!state.status?.isOnroad || !!state.status?.running || state.switchBusy || state.branchesBusy || state.branches.length === 0}"
+                  @change="${(event) => {
+                    state.selectedBranch = String(event.target.value || "")
+                    state.hasManualBranchSelection = true
+                  }}">
+                  ${() => state.branches.length
+                    ? state.branches.map((branch) => html`<option value="${branch}" ${branch === state.selectedBranch ? "selected" : ""}>${branch}${branch === state.status?.branch ? " (current)" : ""}</option>`)
+                    : html`<option value="">No branches found</option>`
+                  }
+                </select>
+                <button
+                  class="updateButton"
+                  ?disabled="${state.branchesBusy || !!state.status?.running}"
+                  @click="${() => fetchBranches(true)}">
+                  ${state.branchesBusy ? "Refreshing..." : "Refresh Branches"}
+                </button>
+              </div>
+              ${() => state.branchesError ? html`<p class="updateError"><strong>Branch List:</strong> ${state.branchesError}</p>` : ""}
+            </div>
+          ` : ""}
+
+          ${() => state.status?.message && state.status?.stage !== "rebooting" ? html`<p class="updateMessage">${state.status.message}</p>` : ""}
+          ${() => state.status?.remoteError ? html`<p class="updateError"><strong>Remote Check:</strong> ${state.status.remoteError}</p>` : ""}
+          ${() => state.status?.lastError ? html`<p class="updateError"><strong>Last Error:</strong> ${state.status.lastError}</p>` : ""}
+          ${() => state.error ? html`<p class="updateError"><strong>Error:</strong> ${state.error}</p>` : ""}
+
+          <div class="updateActions">
+            ${() => !isSelectedBranchDifferent() ? html`
+              <button class="updateButton" @click="${() => fetchStatus(true)}">
+                ${state.checkBusy ? "Checking..." : "Check for Updates"}
+              </button>
+            ` : ""}
+            ${() => shouldShowPrimaryUpdateAction() ? html`
+              <button
+                class="updateButton danger"
+                ?disabled="${!!state.status?.isOnroad || !!state.status?.running || (isSelectedBranchDifferent() ? state.switchBusy : state.updateBusy)}"
+                @click="${() => isSelectedBranchDifferent() ? runBranchSwitch() : runFastUpdate()}">
+                ${state.status?.running
+                  ? "Update Running..."
+                  : (isSelectedBranchDifferent()
+                    ? (state.switchBusy ? "Starting..." : "Switch + Update")
+                    : (state.updateBusy ? "Starting..." : "Fast Update (No Backup)"))}
+              </button>
+            ` : ""}
+          </div>
+          ${() => !state.status?.running && !shouldShowPrimaryUpdateAction()
+            ? html`<p class="updateHint">Run <strong>Check for Updates</strong> first, or select a different branch in advanced options.</p>`
+            : ""}
+          ${() => shouldShowRebootNotice()
+            ? html`<p class="updateHint updateRebootNotice">Device rebooting, please wait for reconnection...</p>`
+            : ""}
+          ${() => activeCommitsUrl() ? html`
+            <div class="updateFooter">
+              <a class="updateLink" href="${activeCommitsUrl()}" target="_blank" rel="noopener noreferrer">
+                ${activeCommitsLabel()}
+              </a>
+            </div>
+          ` : ""}
+        </div>
+      ` : ""}
+    </div>
+  `
+}

frogpilot/system/the_pond/assets/components/tools/vehicle_features.js

@@ -0,0 +1,162 @@
+import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { DoorControl } from "/assets/components/tools/doors.js"
+import { TSKManager } from "/assets/components/tools/tsk_manager.js"
+
+const state = reactive({
+  activeTool: null,
+  toolStatus: {
+    doors: "untested", // untested, allowed, denied
+    tsk: "untested"
+  },
+  loading: false
+})
+
+async function checkToolAvailability(toolName) {
+  if (state.toolStatus[toolName] !== "untested") {
+    state.activeTool = toolName;
+    return;
+  }
+
+  state.loading = true;
+  state.activeTool = toolName;
+
+  try {
+    const response = await fetch(`/api/car_features_check?tool=${toolName}`);
+    const data = await response.json();
+    state.toolStatus[toolName] = data.result ? "allowed" : "denied";
+  } catch (error) {
+    console.error("Failed to check feature availability:", error);
+    state.toolStatus[toolName] = "denied";
+  } finally {
+    state.loading = false;
+  }
+}
+
+export function VehicleFeatures() {
+  return html`
+    <style>
+      .vf-container {
+        padding: var(--padding-lg);
+        max-width: var(--max-width-content);
+        margin: 0 auto;
+      }
+      .vf-grid {
+        display: grid;
+        grid-template-columns: repeat(auto-fit, minmax(280px, 1fr));
+        gap: var(--gap-lg);
+        margin-top: var(--margin-lg);
+      }
+      .vf-card {
+        background: var(--card-bg);
+        border: var(--border-width-thin) var(--border-style-base) var(--sidebar-border-color);
+        border-radius: var(--border-radius-lg);
+        padding: var(--padding-lg);
+        cursor: pointer;
+        transition: transform var(--transition-fast), box-shadow var(--transition-fast);
+        display: flex;
+        flex-direction: column;
+        align-items: center;
+        text-align: center;
+      }
+      .vf-card:hover {
+        transform: translateY(-2px);
+        box-shadow: var(--shadow-md);
+        border-color: var(--main-fg);
+      }
+      .vf-card i {
+        font-size: 2.5rem;
+        margin-bottom: var(--margin-sm);
+        color: var(--main-fg);
+      }
+      .vf-card h3 {
+        margin: 0 0 var(--margin-xs) 0;
+        font-size: var(--font-size-lg);
+      }
+      .vf-card p {
+        margin: 0;
+        font-size: var(--font-size-sm);
+        color: var(--text-muted);
+      }
+      .vf-back {
+        background: none;
+        border: none;
+        color: var(--main-fg);
+        cursor: pointer;
+        font-size: var(--font-size-base);
+        display: flex;
+        align-items: center;
+        gap: var(--gap-sm);
+        padding: 0;
+        margin-bottom: var(--margin-lg);
+      }
+      .vf-back:hover {
+        text-decoration: underline;
+      }
+      .vf-error {
+        margin-top: var(--margin-lg);
+        padding: var(--padding-base);
+        background: rgba(224, 85, 119, 0.1);
+        border: var(--border-width-thin) var(--border-style-base) var(--danger-fg);
+        border-radius: var(--border-radius-md);
+        color: var(--danger-fg);
+        text-align: center;
+      }
+      .vf-loader {
+        text-align: center;
+        padding: var(--padding-xxl);
+        color: var(--text-muted);
+      }
+    </style>
+
+    <div class="vf-container">
+      ${() => {
+      if (!state.activeTool) {
+        return html`
+            <h1>Vehicle Specific Features</h1>
+            <p style="color: var(--text-muted); margin-bottom: var(--margin-xl);">
+              Select a feature below to access it. These features verify vehicle compatibility when launched.
+            </p>
+            <div class="vf-grid">
+              <div class="vf-card" @click="${() => checkToolAvailability('doors')}">
+                <i class="bi bi-door-closed"></i>
+                <h3>Lock/Unlock Doors</h3>
+                <p>Send lock or unlock commands remotely to your vehicle.</p>
+              </div>
+              <div class="vf-card" @click="${() => checkToolAvailability('tsk')}">
+                <i class="bi bi-key-fill"></i>
+                <h3>Toyota Security Keys</h3>
+                <p>Manage and apply security keys for secOC protected devices.</p>
+              </div>
+            </div>
+          `;
+      }
+
+      return html`
+          <button class="vf-back" @click="${() => { state.activeTool = null; }}">
+            <i class="bi bi-arrow-left"></i> Back to Features
+          </button>
+
+          ${() => {
+          if (state.loading) {
+            return html`<div class="vf-loader"><i class="bi bi-hourglass-split"></i> Verifying vehicle compatibility...</div>`;
+          }
+
+          if (state.toolStatus[state.activeTool] === "denied") {
+            const toolNames = { doors: "Lock/Unlock Doors", tsk: "Toyota Security Keys" };
+            return html`
+                <div class="vf-error">
+                  <i class="bi bi-exclamation-triangle-fill" style="font-size: 2rem; display: block; margin-bottom: var(--margin-sm);"></i>
+                  <strong>${toolNames[state.activeTool]}</strong> is not supported for your current vehicle.
+                </div>
+              `;
+          }
+
+          if (state.activeTool === "doors") return DoorControl();
+          if (state.activeTool === "tsk") return TSKManager();
+          return "";
+        }}
+        `;
+    }}
+    </div>
+  `;
+}

frogpilot/system/the_pond/assets/js/snackbar.js

@@ -1,26 +1,50 @@
-function showSnackbar(msg, level, timeout = 3500) {
+function showSnackbar(msg, level, timeout = 3500, options = {}) {
   const wrapper = document.getElementById("snackbar_wrapper")
+  if (!wrapper) return
+
+  const key = String(options?.key || "").trim()
+  const replace = options?.replace !== false
+
+  const dismissSnackbar = (snackbar) => {
+    if (!snackbar) return
+    if (snackbar.__hideTimer) clearTimeout(snackbar.__hideTimer)
+    if (snackbar.__removeTimer) clearTimeout(snackbar.__removeTimer)
+    snackbar.style.opacity = 0
+    snackbar.__removeTimer = setTimeout(() => snackbar.remove(), 1000)
+  }
+
+  const setSnackbarContent = (snackbar) => {
+    snackbar.innerHTML = msg
+    snackbar.className = "snackbar show"
+    if (level === "error") {
+      snackbar.style.backgroundColor = "#f44336"
+    } else {
+      snackbar.style.backgroundColor = ""
+    }
+  }
+
+  if (key && replace) {
+    const existing = Array.from(wrapper.children).find((el) => el.dataset?.snackbarKey === key)
+    if (existing) {
+      setSnackbarContent(existing)
+      existing.style.opacity = 1
+      if (existing.__hideTimer) clearTimeout(existing.__hideTimer)
+      if (existing.__removeTimer) clearTimeout(existing.__removeTimer)
+      existing.__hideTimer = setTimeout(() => dismissSnackbar(existing), timeout)
+      return
+    }
+  }
 
   // Ensure max 2 snackbars are visible
   if (wrapper.children.length >= 2) {
-    const first = wrapper.children[0]
-    first.style.opacity = 0
-    setTimeout(() => first.remove(), 1000)
+    dismissSnackbar(wrapper.children[0])
   }
 
   const snackbar = document.createElement("div")
-  snackbar.innerHTML = msg
-  snackbar.className = "snackbar show"
   snackbar.id = `snackbar_${Math.random().toString(36).slice(5)}`
-
-  if (level === "error") {
-    snackbar.style.backgroundColor = "#f44336"
-  }
+  if (key) snackbar.dataset.snackbarKey = key
+  setSnackbarContent(snackbar)
 
   wrapper.appendChild(snackbar)
-
-  setTimeout(() => {
-    snackbar.style.opacity = 0
-    setTimeout(() => snackbar.remove(), 1000)
-  }, timeout)
+  snackbar.__hideTimer = setTimeout(() => dismissSnackbar(snackbar), timeout)
 }

frogpilot/system/the_pond/assets/js/utils.js

@@ -65,3 +65,11 @@ export function hideSidebar() {
   document.getElementById("sidebarUnderlay")?.classList.add("hidden")
   html.classList.remove("no_scroll")
 }
+
+/**
+ * Returns true when the page is being accessed through the Galaxy tunnel
+ * (the public-facing domain is galaxy.firestar.link)
+ */
+export function isGalaxyTunnel() {
+  return window.location.hostname === 'galaxy.firestar.link';
+}

frogpilot/system/the_pond/assets/manifest.json

@@ -1,5 +1,5 @@
 {
-  "name": "The Pond",
+  "name": "Galaxy",
   "short_name": "",
   "icons": [
     {
@@ -17,4 +17,4 @@
   "background_color": "#151414",
   "theme_color": "#151414",
   "display": "standalone"
-}
+}

frogpilot/system/the_pond/templates/index.html

@@ -1,59 +1,66 @@
 <!doctype html>
 <html lang="en" id="htmlElement" data-theme="dark">
-  <head>
-    <meta charset="utf-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
-    <link rel="apple-touch-icon" sizes="180x180" href="/assets/images/apple-touch-icon.png">
-    <link rel="icon" type="image/png" sizes="32x32" href="/assets/images/favicon-32x32.png">
-    <link rel="icon" type="image/png" sizes="16x16" href="/assets/images/favicon-16x16.png">
-    <link rel="manifest" href="/assets/manifest.json">
-    <link rel="shortcut icon" href="/assets/images/favicon.ico">
 
-    <meta name="theme-color" content="#4285f4" />
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+  <link rel="apple-touch-icon" sizes="180x180" href="/assets/images/apple-touch-icon.png">
+  <link rel="icon" type="image/png" sizes="32x32" href="/assets/images/favicon-32x32.png">
+  <link rel="icon" type="image/png" sizes="16x16" href="/assets/images/favicon-16x16.png">
+  <link rel="manifest" href="/manifest.json">
+  <link rel="shortcut icon" href="/assets/images/favicon.ico">
 
-    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.11.3/font/bootstrap-icons.min.css" />
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
-    <link href="https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.css" rel="stylesheet">
+  <meta name="theme-color" content="#8b6cc5" />
 
-    <link rel="stylesheet" href="/assets/components/home/home.css">
-    <link rel="stylesheet" href="/assets/components/main.css">
-    <link rel="stylesheet" href="/assets/components/modal.css">
-    <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css">
-    <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css">
-    <link rel="stylesheet" href="/assets/components/recordings/dashcam_routes.css">
-    <link rel="stylesheet" href="/assets/components/recordings/screen_recordings.css">
-    <link rel="stylesheet" href="/assets/components/settings.css">
-    <link rel="stylesheet" href="/assets/components/sidebar.css">
-    <link rel="stylesheet" href="/assets/components/tailscale/tailscale.css">
-    <link rel="stylesheet" href="/assets/components/tools/doors.css">
-    <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
-    <link rel="stylesheet" href="/assets/components/tools/speed_limits.css">
-    <link rel="stylesheet" href="/assets/components/tools/theme_maker.css">
-    <link rel="stylesheet" href="/assets/components/tools/tmux.css">
-    <link rel="stylesheet" href="/assets/components/tools/toggles.css">
-    <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
+  <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.11.3/font/bootstrap-icons.min.css" />
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
 
-    <script type="module" src="/assets/components/router.js"></script>
-    <script src="/assets/js/snackbar.js"></script>
+  <link rel="stylesheet" href="/assets/components/home/home.css">
+  <link rel="stylesheet" href="/assets/components/main.css">
+  <link rel="stylesheet" href="/assets/components/modal.css">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css">
+  <link rel="stylesheet" href="/assets/components/recordings/dashcam_routes.css">
+  <link rel="stylesheet" href="/assets/components/recordings/screen_recordings.css">
+  <link rel="stylesheet" href="/assets/components/settings.css">
+  <link rel="stylesheet" href="/assets/components/sidebar.css">
+  <link rel="stylesheet" href="/assets/components/tailscale/tailscale.css">
+  <link rel="stylesheet" href="/assets/components/tools/doors.css">
+  <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
+  <link rel="stylesheet" href="/assets/components/tools/model_manager.css">
+  <link rel="stylesheet" href="/assets/components/tools/plots.css">
+  <link rel="stylesheet" href="/assets/components/tools/speed_limits.css">
+  <link rel="stylesheet" href="/assets/components/tools/theme_maker.css">
+  <link rel="stylesheet" href="/assets/components/tools/testing_ground.css">
+  <link rel="stylesheet" href="/assets/components/tools/troubleshoot.css">
+  <link rel="stylesheet" href="/assets/components/tools/tmux.css">
+  <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">
+  <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
+  <link rel="stylesheet" href="/assets/components/tools/longitudinal_maneuvers.css">
+  <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
 
-    <script src="https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.js"></script>
+  <script type="module" src="/assets/components/router.js"></script>
+  <script src="/assets/js/snackbar.js"></script>
 
-    <link rel="preconnect" href="https://fonts.googleapis.com">
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
-    <link href="https://fonts.googleapis.com/css2?family=Open+Sans:ital,wght@0,300..800;1,300..800&display=swap"
-      rel="stylesheet">
+  <link rel="preconnect" href="https://fonts.googleapis.com">
+  <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
+  <link
+    href="https://fonts.googleapis.com/css2?family=Inter:wght@300..800&family=Open+Sans:ital,wght@0,300..800;1,300..800&display=swap"
+    rel="stylesheet">
 
-    <title>The Pond</title>
-  </head>
+  <title>Galaxy</title>
+</head>
 
-  <body>
-    <div id="app"></div>
-    <!-- Menu button for phone -->
-    <div id="menu_button">
-      <i class="bi bi-list"></i>
-    </div>
-    <!-- Snackbar for messages -->
-    <div id="snackbar_wrapper"></div>
-  </body>
+<body>
+  <div id="app"></div>
+  <!-- Menu button for phone -->
+  <div id="menu_button">
+    <i class="bi bi-list"></i>
+  </div>
+  <!-- Snackbar for messages -->
+  <div id="snackbar_wrapper"></div>
+</body>
 
 </html>

frogpilot/system/the_pond/utilities.py

@@ -8,7 +8,6 @@ import secrets
 import shutil
 import subprocess
 import time
-import uuid
 
 from datetime import datetime
 from pathlib import Path
@@ -563,20 +562,11 @@ def process_route(footage_path, route_name):
 
   return {
     "name": route_name,
-    "gif": f"/thumbnails/{route_name}--0/preview.gif",
     "png": f"/thumbnails/{route_name}--0/preview.png",
     "timestamp": route_timestamp_str,
     "is_preserved": has_preserve_attr(segment_path)
   }
 
-def process_route_gif(footage_path, route_name):
-  segment_path = f"{footage_path}{route_name}--0"
-  qcamera_path = f"{segment_path}/qcamera.ts"
-  gif_output_path = os.path.join(segment_path, "preview.gif")
-
-  if not os.path.exists(gif_output_path):
-    video_to_gif(qcamera_path, gif_output_path)
-
 def process_screen_recording(mp4):
   stem = mp4.with_suffix("")
   png_path = stem.with_suffix(".png")
@@ -592,44 +582,29 @@ def process_screen_recording(mp4):
 
   return {
     "filename": mp4.name,
-    "gif": f"/screen_recordings/{stem.with_suffix('.gif').name}",
     "png": f"/screen_recordings/{png_path.name}",
     "timestamp": datetime.fromtimestamp(mp4.stat().st_mtime).isoformat(),
     "is_custom_name": is_custom_name
   }
 
-def process_screen_recording_gif(mp4):
-  stem = mp4.with_suffix("")
-  gif_path = stem.with_suffix(".gif")
-  if not gif_path.exists():
-    video_to_gif(mp4, gif_path)
-
-def run_ffmpeg(args):
-  process = subprocess.Popen(["ffmpeg", "-hide_banner", "-loglevel", "error"] + args, stdout=subprocess.DEVNULL, stderr=subprocess.PIPE)
-  stdout, stderr = process.communicate()
-  return stdout
-
 def segment_to_segment_name(data_dir, segment):
   full_path = os.path.join(data_dir, f"FakeDongleID1337|{segment}")
   return SegmentName(full_path)
 
-def video_to_gif(input_path, output_path):
-  output_path = Path(output_path)
-  sped_up_path = output_path.with_suffix(f".{uuid.uuid4()}.spedup.mp4")
-
-  run_ffmpeg(["-i", str(input_path), "-an", "-vf", "setpts=PTS/35", str(sped_up_path)])
-  run_ffmpeg(["-i", str(sped_up_path), "-loop", "0", str(output_path)])
-
-  if os.path.exists(sped_up_path):
-    os.remove(sped_up_path)
-
 def video_to_png(input_path, output_path):
-  run_ffmpeg([
-    "-ss", str(get_video_duration(input_path) / 2),
-    "-i", str(input_path),
-    "-frames:v", "1",
-    str(output_path)
-  ])
+  try:
+    subprocess.run([
+      "ffmpeg", "-hide_banner", "-loglevel", "error",
+      "-ss", "1",
+      "-i", str(input_path),
+      "-frames:v", "1",
+      "-y",
+      str(output_path)
+    ], capture_output=True, check=True, text=True)
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to generate PNG for {input_path}")
+    if e.stderr:
+      print(e.stderr)
 
 def xor_encrypt_decrypt(data, key):
   return "".join(chr(ord(c) ^ ord(key[i % len(key)])) for i, c in enumerate(data))

frogpilot/tinygrad_modeld/parse_model_outputs.py

@@ -103,6 +103,10 @@ class Parser:
                      out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
       if 'planplus' in outs:
         self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    elif 'planplus' in outs:
+      planplus_mhp = outs['planplus'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
+      planplus_in_N, planplus_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if planplus_mhp else (0, 0)
+      self.parse_mdn('planplus', outs, in_N=planplus_in_N, out_N=planplus_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
                      out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))

frogpilot/tinygrad_modeld/tinygrad_modeld.py

@@ -125,8 +125,8 @@ class ModelState:
       cloudlog.warning(f"ModelVersion parameter not available: {e}")
 
     model_dir = MODELS_PATH
-    # For the default "bd2" model, use built-in files from the models directory
-    if model_id == "bd2":
+    # For the default "sc" model, use built-in files from the models directory
+    if model_id == "sc":
         models_dir = Path(__file__).parent / "models"
         VISION_PKL_PATH = models_dir / "driving_vision_tinygrad.pkl"
         POLICY_PKL_PATH = models_dir / "driving_policy_tinygrad.pkl"
@@ -191,6 +191,8 @@ class ModelState:
     # Add policy_generation attribute after loading policy_metadata
     self.policy_generation = model_version or "v8"
     self.is_v11 = (self.policy_generation == "v11")
+    self.is_v10 = (self.policy_generation == "v10")
+    self.is_v12 = (self.policy_generation == "v12")
     self.is_v9 = (self.policy_generation == "v9")
     self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12"))
 
@@ -329,14 +331,14 @@ class ModelState:
       self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
 
       if self.prev_desired_curv_key is not None:
-        # v9 models expect zeros for prev_desired_curv(s); others use history
-        if self.is_v9:
+        # v9/v10/v11/v12 models expect zeros for prev_desired_curv(s); others use history
+        if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12:
           self.numpy_inputs[self.prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
         else:
           self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
       if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
-        if self.is_v9:
+        if self.is_v9 or self.is_v12:
           self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
         else:
           self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]

frogpilot/ui/qt/offroad/device_settings.cc

@@ -37,6 +37,7 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : Fr
     {"DeviceShutdown", tr("Device Shutdown Timer"), tr("<b>Keep the device on for the set amount of time after a drive</b> before it shuts down automatically."), ""},
     {"NoLogging", tr("Disable Logging"), QString("<b>%1</b><br><br>%2").arg(tr("WARNING: This will prevent your drives from being recorded and all data will be unobtainable!")).arg(tr("<b>Prevent the device from saving driving data.</b>")), ""},
     {"NoUploads", tr("Disable Uploads"), QString("<b>%1</b><br><br>%2").arg(tr("WARNING: This will prevent your drives from being uploaded to <b>comma connect</b> which will impact debugging and official support from comma!")).arg(tr("<b>Prevent the device from uploading driving data.</b>")), ""},
+    {"AlwaysAllowUploads", tr("Always Allow Uploads"), tr("<b>Force driving data uploads regardless of network type, metered status, and upload restrictions.</b> This overrides normal upload blocking checks."), ""},
     {"HigherBitrate", tr("High-Quality Recording"), tr("<b>Save drive footage in higher video quality.</b>"), ""},
     {"LowVoltageShutdown", tr("Low-Voltage Cutoff"), tr("<b>While parked, if the battery voltage falls below the set level, the device shuts down</b> to prevent excessive battery drain."), ""},
     {"IncreaseThermalLimits", tr("Raise Temperature Limits"), QString("<b>%1</b><br><br>%2").arg(tr("WARNING: Running at higher temperatures may damage your device!")).arg(tr("<b>Allow the device to run at higher temperatures</b> before throttling or shutting down. Use only if you understand the risks!")), ""},

frogpilot/ui/qt/offroad/device_settings.h

@@ -25,7 +25,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> deviceManagementKeys = {"DeviceShutdown", "HigherBitrate", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "UseKonikServer"};
+  QSet<QString> deviceManagementKeys = {"AlwaysAllowUploads", "DeviceShutdown", "HigherBitrate", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "UseKonikServer"};
   QSet<QString> screenKeys = {"ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", "ScreenTimeout", "ScreenTimeoutOnroad", "StandbyMode"};
 
   QSet<QString> parentKeys;

frogpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -1651,7 +1651,6 @@ void FrogPilotLongitudinalPanel::updateToggles() {
 
     else if (key == "StoppingDecelRate" || key == "VEgoStarting" ||
              key == "VEgoStopping") {
-      setVisible &= !isGM || !params.getBool("ExperimentalGMTune");
       setVisible &= !isToyota || !params.getBool("FrogsGoMoosTweak");
     }
 

frogpilot/ui/qt/offroad/sounds_settings.cc

@@ -53,6 +53,7 @@ FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : Fr
 
     {"CustomAlerts", tr("FrogPilot Alerts"), tr("<b>Optional FrogPilot alerts</b> that highlight driving events in a more noticeable way."), "../../frogpilot/assets/toggle_icons/icon_green_light.png"},
     {"GoatScream", tr("Goat Scream"), tr("<b>Play the infamous \"Goat Scream\" when the steering controller reaches its limit.</b> Based on the \"Turn Exceeds Steering Limit\" event."), ""},
+    {"GoatScreamCriticalAlerts", tr("Goat Scream Critical Alerts"), tr("<b>Play the infamous \"Goat Scream\" for full-screen critical alerts that require immediate takeover.</b><br><br>Examples include: \"TAKE CONTROL IMMEDIATELY\" and \"Stock AEB: Risk of Collision\"."), ""},
     {"GreenLightAlert", tr("Green Light Alert"), tr("<b>Play an alert when the model predicts a red light has turned green.</b><br><br><i><b>Disclaimer</b>: openpilot does not explicitly detect traffic lights. This alert is based on end-to-end model predictions from camera input and may trigger even when the light has not changed.</i>"), ""},
     {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("<b>Play an alert when the lead vehicle departs from a stop.</b>"), ""},
     {"LoudBlindspotAlert", tr("Loud \"Car Detected in Blindspot\" Alert"), tr("<b>Play a louder alert if a vehicle is in the blind spot when attempting to change lanes.</b> Based on the \"Car Detected in Blindspot\" event."), ""},

frogpilot/ui/qt/offroad/sounds_settings.h

@@ -28,7 +28,7 @@ private:
   std::map<QString, AbstractControl*> toggles;
 
   QSet<QString> alertVolumeControlKeys {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
-  QSet<QString> customAlertsKeys {"GoatScream", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"};
+  QSet<QString> customAlertsKeys {"GoatScream", "GoatScreamCriticalAlerts", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"};
 
   QSet<QString> parentKeys;
 

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -170,8 +170,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
 
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GMToggles", tr("General Motors Settings"), tr("<b>FrogPilot features for General Motors vehicles.</b>"), ""},
-    {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
+    {"RemapCancelToDistance", tr("Remap cancel to distance"), tr("<b>Treat CANCEL as distance-button input</b> on supported pedal-long GM platforms. Toggle requires a reboot to take effect."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"RedPanda", tr("Red Panda"), tr("<b>Enable Red Panda behavior</b> for GM (alternate safety config and bus numbering). Requires a reboot to take effect."), ""},
     {"RemoteStartBootsComma", tr("Remote Start Boots Comma"), tr("<b>Use GM C9 SystemPowerMode</b> for ignition detection. Toggle requires a panda firmware update and a reboot to take effect."), ""},
@@ -288,7 +288,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
 
   static_cast<FrogPilotParamValueControl*>(toggles["LockDoorsTimer"])->setWarning("<b>Warning:</b> openpilot can't detect if keys are still inside the car, so ensure you have a spare key to prevent accidental lockouts!");
 
-  QSet<QString> rebootKeys = {"NewLongAPI", "TacoTuneHacks"};
+  QSet<QString> rebootKeys = {"NewLongAPI", "RemapCancelToDistance", "TacoTuneHacks"};
   for (const QString &key : rebootKeys) {
     QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, [key, this](bool state) {
       if (started) {
@@ -405,7 +405,9 @@ void FrogPilotVehiclesPanel::updateToggles() {
 
     bool setVisible = tuningLevel >= frogpilotToggleLevels[key].toDouble();
 
-    if (gmKeys.contains(key)) {
+    if (key == "ClusterOffset") {
+      setVisible &= isGM || isToyota;
+    } else if (gmKeys.contains(key)) {
       setVisible &= isGM;
     } else if (hkgKeys.contains(key)) {
       setVisible &= isHKG;
@@ -431,7 +433,7 @@ void FrogPilotVehiclesPanel::updateToggles() {
       setVisible &= isHKGCanFd;
     }
 
-    else if (key == "GMPedalLongitudinal") {
+    else if (key == "GMPedalLongitudinal" || key == "RemapCancelToDistance") {
       setVisible &= hasPedal;
     }
 

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -36,10 +36,10 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "RedPanda", "RemoteStartBootsComma", "VoltSNG"};
+  QSet<QString> gmKeys = {"GMPedalLongitudinal", "LongPitch", "RedPanda", "RemapCancelToDistance", "RemoteStartBootsComma", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
-  QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
-  QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
+  QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
+  QSet<QString> toyotaKeys = {"FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
   QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SASCMSupport", "SDSUSupport", "SNGSupport"};
 
   QSet<QString> parentKeys;

panda/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[] = "DEV-4d1efbb2-DEBUG";
+const uint8_t gitversion[] = "DEV-45631cf2-DEBUG";

panda/board/safety/safety_gm.h

@@ -48,16 +48,16 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
                                   {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2},   // obs bus
                                   {0x315, 2, 5}};  // ch bus
 
-const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
+const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
+const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
                                       {0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
 const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                   {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
+const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
@@ -72,6 +72,17 @@ RxCheck gm_rx_checks[] = {
   {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
 };
 
+// Volt ASCM / ASCM_INT stock-camera path should pin 0x1E1/0xF1 to bus 0 to avoid
+// latching bus 2 when mirrored startup traffic is present.
+RxCheck gm_ascm_int_stock_cam_rx_checks[] = {
+  {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
+};
+
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
 const uint16_t GM_PARAM_CC_LONG = 4;
@@ -86,6 +97,20 @@ const uint16_t GM_PARAM_HW_SDGM = 1024;
 const uint16_t GM_PARAM_BOLT_2017 = 2048;
 const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
 const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
+const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
+const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768;
+
+const uint32_t GM_3D1_PERIOD_US = 100000U;
+const uint32_t GM_3D1_TX_OFFSET_US = 0U;
+const uint32_t GM_3D1_LOCK_TOLERANCE_US = 20000U;
+const uint32_t GM_PADDLE_PERIOD_US = 25000U;
+const uint32_t GM_PADDLE_TX_OFFSET_US = 0U;
+const uint32_t GM_PADDLE_LOCK_TOLERANCE_US = 5000U;
+const uint32_t GM_PADDLE_STALE_US = 100000U;
+const uint32_t GM_PADDLE_FEED_STALE_US = 100000U;
+
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
+void can_set_checksum(CANPacket_t *packet);
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -111,6 +136,111 @@ bool gm_bolt_2022_pedal = false;
 bool gm_ascm_int = false;
 bool gm_force_brake_c9 = false;
 bool gm_remote_start_boots_comma = false;
+bool gm_panda_3d1_sched = false;
+bool gm_panda_paddle_sched = false;
+
+bool gm_3d1_spoof_valid = false;
+bool gm_3d1_internal_tx = false;
+uint8_t gm_3d1_spoof_data[8] = {0U};
+uint32_t gm_3d1_next_tx_us = 0U;
+uint32_t gm_3d1_expected_stock_us = 0U;
+uint32_t gm_3d1_last_stock_us = 0U;
+bool gm_3d1_phase_locked = false;
+bool gm_paddle_internal_tx = false;
+
+typedef struct {
+  bool spoof_valid;
+  uint8_t spoof_data[8];
+  uint32_t next_tx_us;
+  uint32_t expected_stock_us;
+  uint32_t last_stock_us;
+  uint32_t last_feed_us;
+  bool phase_locked;
+} GmPeriodicSpoofState;
+
+GmPeriodicSpoofState gm_bd_state = {0};
+GmPeriodicSpoofState gm_prndl2_state = {0};
+
+static void gm_update_periodic_phase(GmPeriodicSpoofState *state, uint32_t now_us, uint32_t period_us, uint32_t lock_tolerance_us) {
+  state->last_stock_us = now_us;
+  if (!state->phase_locked) {
+    state->phase_locked = true;
+    state->expected_stock_us = now_us + period_us;
+  } else {
+    int32_t phase_err_us = (int32_t)(now_us - state->expected_stock_us);
+    if (phase_err_us < 0) {
+      phase_err_us = -phase_err_us;
+    }
+
+    if ((uint32_t)phase_err_us <= lock_tolerance_us) {
+      state->expected_stock_us += period_us;
+    } else {
+      state->expected_stock_us = now_us + period_us;
+    }
+  }
+}
+
+static bool gm_periodic_scheduler_ready(const GmPeriodicSpoofState *state, uint32_t now_us, uint32_t stale_us, uint32_t feed_stale_us) {
+  bool stock_stale = (state->last_stock_us == 0U) || (get_ts_elapsed(now_us, state->last_stock_us) > stale_us);
+  bool feed_stale = (state->last_feed_us == 0U) || (get_ts_elapsed(now_us, state->last_feed_us) > feed_stale_us);
+  return state->phase_locked && !stock_stale && !feed_stale;
+}
+
+static void gm_try_send_periodic_spoof(uint32_t now_us, uint32_t addr, uint8_t dlc, GmPeriodicSpoofState *state, uint32_t period_us) {
+  if (!(gm_panda_paddle_sched && state->spoof_valid && (state->next_tx_us != 0U))) {
+    return;
+  }
+
+  if (!gm_periodic_scheduler_ready(state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US)) {
+    return;
+  }
+
+  if ((int32_t)(now_us - state->next_tx_us) < 0) {
+    return;
+  }
+
+  CANPacket_t to_send = {0};
+  to_send.returned = 0U;
+  to_send.rejected = 0U;
+  to_send.extended = 0U;
+  to_send.addr = addr;
+  to_send.bus = 0U;
+  to_send.data_len_code = dlc;
+  (void)memcpy(to_send.data, state->spoof_data, 8U);
+  can_set_checksum(&to_send);
+
+  gm_paddle_internal_tx = true;
+  can_send(&to_send, 0U, false);
+  gm_paddle_internal_tx = false;
+
+  state->next_tx_us += period_us;
+}
+
+static void gm_try_send_3d1_spoof(uint32_t now_us) {
+  if (!(gm_panda_3d1_sched && gm_3d1_spoof_valid && (gm_3d1_next_tx_us != 0U))) {
+    return;
+  }
+
+  if ((int32_t)(now_us - gm_3d1_next_tx_us) < 0) {
+    return;
+  }
+
+  CANPacket_t to_send = {0};
+  to_send.returned = 0U;
+  to_send.rejected = 0U;
+  to_send.extended = 0U;
+  to_send.addr = 0x3D1U;
+  to_send.bus = 0U;
+  to_send.data_len_code = 8U;
+  (void)memcpy(to_send.data, gm_3d1_spoof_data, 8U);
+  can_set_checksum(&to_send);
+
+  gm_3d1_internal_tx = true;
+  can_send(&to_send, 0U, false);
+  gm_3d1_internal_tx = false;
+
+  gm_3d1_next_tx_us += GM_3D1_PERIOD_US;
+}
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
   if (GET_BUS(to_push) == 0U) {
@@ -133,6 +263,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     // ACC steering wheel buttons (GM_CAM is tied to the PCM)
     if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
       int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
+      bool remap_cancel_to_distance = (alternative_experience & ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE) != 0;
+      // Malibu Hybrid pedal-long observed format uses byte3 bit0 set (typically 0x01/0x41) on ASCMSteeringButton.
+      // Don't treat that physical CANCEL frame as OP disengage.
+      bool malibu_cancel_passthrough = remap_cancel_to_distance && gm_bolt_2022_pedal && gm_pedal_long && ((GET_BYTE(to_push, 3) & 0x1U) != 0U);
+      // Gen1 Bolt pedal-long behavior: let wheel CANCEL act as an in-drive aux button (personality cycling),
+      // so safety should not force a controls drop on this RX cancel edge.
+      bool bolt_cancel_passthrough = remap_cancel_to_distance && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
 
       // enter controls on falling edge of set or rising edge of resume (avoids fault)
       bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
@@ -142,7 +279,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
 
       // exit controls on cancel press
-      if (button == GM_BTN_CANCEL) {
+      if ((button == GM_BTN_CANCEL) && !(malibu_cancel_passthrough || bolt_cancel_passthrough)) {
         controls_allowed = false;
       }
 
@@ -183,16 +320,53 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
 
     // Cruise check for CC only cars
     if ((addr == 0x3D1) && !gm_has_acc) {
+      uint32_t now_us = microsecond_timer_get();
+      gm_3d1_last_stock_us = now_us;
       bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
       if (gm_cc_long) {
         pcm_cruise_check(cruise_engaged);
       } else {
         cruise_engaged_prev = cruise_engaged;
       }
+
+      if (gm_panda_3d1_sched) {
+        if (!gm_3d1_phase_locked) {
+          gm_3d1_phase_locked = true;
+          gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+        } else {
+          int32_t phase_err_us = (int32_t)(now_us - gm_3d1_expected_stock_us);
+          if (phase_err_us < 0) {
+            phase_err_us = -phase_err_us;
+          }
+
+          if ((uint32_t)phase_err_us <= GM_3D1_LOCK_TOLERANCE_US) {
+            gm_3d1_expected_stock_us += GM_3D1_PERIOD_US;
+          } else {
+            gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+          }
+        }
+
+        gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        gm_try_send_3d1_spoof(now_us);
+      }
     }
 
     if (addr == 0xBD) {
       regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
+
+      if (gm_panda_paddle_sched) {
+        uint32_t now_us = microsecond_timer_get();
+        gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+        gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
+      }
+    }
+
+    if ((addr == 0x1F5) && gm_panda_paddle_sched) {
+      uint32_t now_us = microsecond_timer_get();
+      gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+      gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+      gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
     }
 
     // Pedal Interceptor
@@ -291,12 +465,51 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     }
   }
 
+  // Cruise status spoofing only for non-ACC (CC-only) paths
+  if (addr == 0x3D1) {
+    bool allowed_cruise_status = !gm_has_acc;
+    if (!allowed_cruise_status) {
+      tx = false;
+    } else if (gm_panda_3d1_sched) {
+      if (gm_3d1_internal_tx) {
+        tx = true;
+      } else {
+        uint32_t now_us = microsecond_timer_get();
+        (void)memcpy(gm_3d1_spoof_data, to_send->data, 8U);
+        gm_3d1_spoof_valid = true;
+        if (gm_3d1_next_tx_us == 0U) {
+          gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        }
+        bool stock_stale = (gm_3d1_last_stock_us == 0U) || (get_ts_elapsed(now_us, gm_3d1_last_stock_us) > 300000U);
+        bool scheduler_ready = gm_3d1_phase_locked && !stock_stale;
+        tx = !scheduler_ready;
+      }
+    }
+  }
+
   // REGEN PADDLE
   if (addr == 0xBD) {
     bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
     if (!controls_allowed && regen_apply) {
       tx = false;
     }
+
+    if (gm_panda_paddle_sched && !gm_paddle_internal_tx) {
+      uint32_t now_us = microsecond_timer_get();
+      if (tx) {
+        (void)memcpy(gm_bd_state.spoof_data, to_send->data, 7U);
+        gm_bd_state.spoof_data[7] = 0U;
+        gm_bd_state.spoof_valid = true;
+        gm_bd_state.last_feed_us = now_us;
+        if (gm_bd_state.next_tx_us == 0U) {
+          gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        }
+      }
+      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
+      if (scheduler_ready) {
+        tx = false;
+      }
+    }
   }
 
   // PRNDL2 regen check (7 for Gen0, Gen1. 5 For Gen2)
@@ -306,6 +519,22 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     if (!controls_allowed && prndl_apply) {
       tx = false;
     }
+
+    if (gm_panda_paddle_sched && !gm_paddle_internal_tx) {
+      uint32_t now_us = microsecond_timer_get();
+      if (tx) {
+        (void)memcpy(gm_prndl2_state.spoof_data, to_send->data, 8U);
+        gm_prndl2_state.spoof_valid = true;
+        gm_prndl2_state.last_feed_us = now_us;
+        if (gm_prndl2_state.next_tx_us == 0U) {
+          gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        }
+      }
+      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
+      if (scheduler_ready) {
+        tx = false;
+      }
+    }
   }
   return tx;
 }
@@ -317,26 +546,32 @@ static int gm_fwd_hook(int bus_num, int addr) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
       bool is_pscm_msg = (addr == 0x184);
-      if (!is_pscm_msg) {
+      // For non-ACC camera/SDGM paths, keep stock ECMCruiseControl off camera side
+      // so openpilot's spoofed 0x3D1 is the only cruise-status source there.
+      bool is_ecm_cruise_status_msg = (addr == 0x3D1) && !gm_has_acc;
+      if (!is_pscm_msg && !is_ecm_cruise_status_msg) {
         bus_fwd = 2;
       }
     }
 
     if (bus_num == 2) {
       bool is_lkas_msg = (addr == 0x180);
-      bool block_msg = false;
-      if (gm_bolt_2022_pedal) {
-        // Block 0x370 only for experimental long without pedal interceptor
-        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
-        if (gm_cam_long && !enable_gas_interceptor) {
-          is_acc_msg = is_acc_msg || (addr == 0x370);
-        }
-        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
-      } else {
-        // block lkas message and acc messages if gm_cam_long, forward all others
-        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      bool is_acc_status_msg = (addr == 0x370);
+      bool is_acc_actuation_msg = (addr == 0x315) || (addr == 0x2CB);
+
+      // Block steering if we are controlling LKA
+      bool block_msg = is_lkas_msg;
+
+      // Block Dashboard Status if we are in Native Long OR Pedal Long
+      if (gm_cam_long || gm_pedal_long) {
+        block_msg |= is_acc_status_msg;
       }
+
+      // Block Native Actuation ONLY if we are in Native Long (not Pedal)
+      if (gm_cam_long) {
+        block_msg |= is_acc_actuation_msg;
+      }
+
       if (!block_msg) {
         bus_fwd = 0;
       }
@@ -376,6 +611,33 @@ static safety_config gm_init(uint16_t param) {
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
   gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
+  gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
+  gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
+  bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
+
+  gm_3d1_spoof_valid = false;
+  gm_3d1_internal_tx = false;
+  gm_3d1_next_tx_us = 0U;
+  gm_3d1_expected_stock_us = 0U;
+  gm_3d1_last_stock_us = 0U;
+  gm_3d1_phase_locked = false;
+  gm_paddle_internal_tx = false;
+
+  gm_bd_state.spoof_valid = false;
+  gm_bd_state.next_tx_us = 0U;
+  gm_bd_state.expected_stock_us = 0U;
+  gm_bd_state.last_stock_us = 0U;
+  gm_bd_state.last_feed_us = 0U;
+  gm_bd_state.phase_locked = false;
+  (void)memset(gm_bd_state.spoof_data, 0, sizeof(gm_bd_state.spoof_data));
+
+  gm_prndl2_state.spoof_valid = false;
+  gm_prndl2_state.next_tx_us = 0U;
+  gm_prndl2_state.expected_stock_us = 0U;
+  gm_prndl2_state.last_stock_us = 0U;
+  gm_prndl2_state.last_feed_us = 0U;
+  gm_prndl2_state.phase_locked = false;
+  (void)memset(gm_prndl2_state.spoof_data, 0, sizeof(gm_prndl2_state.spoof_data));
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {
@@ -387,6 +649,9 @@ static safety_config gm_init(uint16_t param) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
   }
+  if (gm_ascm_int_stock_cam) {
+    SET_RX_CHECKS(gm_ascm_int_stock_cam_rx_checks, ret);
+  }
   return ret;
 }
 

panda/board/safety_declarations.h

@@ -275,3 +275,6 @@ const uint32_t RELAY_TRNS_TIMEOUT = 1U;
 
 // Always on Lateral
 #define ALT_EXP_ALWAYS_ON_LATERAL 32
+
+// GM pedal-long option: interpret wheel CANCEL as an auxiliary distance-style button.
+#define ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE 64

panda/python/__init__.py

@@ -112,6 +112,7 @@ class ALTERNATIVE_EXPERIENCE:
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
   ALLOW_AEB = 16
   ALWAYS_ON_LATERAL = 32
+  GM_REMAP_CANCEL_TO_DISTANCE = 64
 
 class Panda:
 
@@ -243,6 +244,8 @@ class Panda:
   FLAG_GM_BOLT_2017 = 2048
   FLAG_GM_BOLT_2022_PEDAL = 4096
   FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
+  FLAG_GM_PANDA_3D1_SCHED = 16384
+  FLAG_GM_PANDA_PADDLE_SCHED = 32768
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/car_helpers.py

@@ -70,8 +70,9 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict], dict[int, set[int]]]:
   finger = gen_empty_fingerprint()
+  nonzero_addrs = {bus: set() for bus in finger}
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
   car_fingerprint = None
@@ -86,7 +87,10 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
       if can.src < 128:
         if can.src not in finger:
           finger[can.src] = {}
+          nonzero_addrs[can.src] = set()
         finger[can.src][can.address] = len(can.dat)
+        if any(can.dat):
+          nonzero_addrs[can.src].add(can.address)
 
       for b in candidate_cars:
         # Ignore extended messages and VIN query response.
@@ -107,7 +111,7 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
     frame += 1
 
-  return car_fingerprint, finger
+  return car_fingerprint, finger, nonzero_addrs
 
 
 # **** for use live only ****
@@ -164,7 +168,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
+  car_fingerprint, finger, nonzero_addrs = can_fingerprint(lambda: get_one_can(logcan))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -183,7 +187,7 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
+  return car_fingerprint, finger, nonzero_addrs, vin, car_fw, source, exact_match
 
 
 def get_car_interface(CP, FPCP):
@@ -250,7 +254,7 @@ def migrate_legacy_bolt_candidate(candidate: str) -> str:
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
+  candidate, fingerprints, nonzero_addrs, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None or frogpilot_toggles.force_fingerprint:
     if frogpilot_toggles.car_model is not None:
@@ -299,12 +303,12 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
       if year_code in year_map:
         vin_candidate = year_map[year_code]
         if vin_candidate == GM_CAR.CHEVROLET_BOLT_ACC_2022_2023:
-          has_acc_msg = (
-            0x370 in fingerprints.get(GMCanBus.CAMERA, {}) or
-            0x370 in fingerprints.get(GMCanBus.POWERTRAIN, {})
+          has_acc_data = (
+            0x370 in nonzero_addrs.get(GMCanBus.CAMERA, set()) or
+            0x370 in nonzero_addrs.get(GMCanBus.POWERTRAIN, set())
           )
           has_pedal_msg = 0x201 in fingerprints.get(GMCanBus.POWERTRAIN, {})
-          if has_acc_msg:
+          if has_acc_data:
             vin_candidate = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if has_pedal_msg else GM_CAR.CHEVROLET_BOLT_ACC_2022_2023
           else:
             vin_candidate = GM_CAR.CHEVROLET_BOLT_CC_2022_2023

selfdrive/car/card.py

@@ -56,8 +56,9 @@ class Car:
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if self.disengage_on_accelerator:
+      self.CP.alternativeExperience &= ~ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+    else:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")

selfdrive/car/gm/carcontroller.py

@@ -15,7 +15,7 @@ from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarCon
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.common.swaglog import cloudlog
+from openpilot.frogpilot.common.testing_grounds import testing_ground
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -27,15 +27,6 @@ TransmissionType = car.CarParams.TransmissionType
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
-# Two‑sided spacing tuned for ~33 Hz steer; target a 10 ms wide window per interval
-# Paddle spoofing and scheduling constants
-PADDLE_STEER_GAP_MIN_NS = 5_000_000   # ≥5 ms each side (EPS guard)
-PADDLE_STEER_GAP_MAX_NS = 12_000_000  # cap for long intervals
-PADDLE_GAP_TARGET_NS    = 5_000_000   # aim per‑side gap even if interval//2 − early is larger
-PADDLE_NONBLOCK_GAP_NS  = 1_000_000   # ≥1 ms since last paddle send
-PADDLE_SLOT_EARLY_NS    = 1_000_000   # allow firing up to 1 ms before slot
-OVERFLOW_THRESH         = 1.00        # fire one extra slot whenever credits ≥ 1.0
-PADDLE_TARGET_HZ        = 42.0        # desired paddle rate (Hz) when regen active; steer is ~33 Hz
 # Constants for pitch compensation
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
 BRAKE_PITCH_FACTOR_V = [0., 1.]  # [unitless in [0,1]]; don't touch
@@ -52,10 +43,6 @@ class CarController(CarControllerBase):
     self.frame = 0
     self.last_steer_frame = 0
     self.last_steer_ts_ns = 0
-    self.last_regen_active = False
-    self.prev_steer_ts_ns = 0
-    self.last_spoof_ts_ns = 0
-    self.last_paddle_ts_ns = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
     self.pedal_steady = 0.
@@ -79,7 +66,9 @@ class CarController(CarControllerBase):
     self.malibu_cancel_phase = 0
     self.malibu_cancel_last_ts = 0.0
     self.malibu_cancel_frame = 0
+    self.malibu_cancel_frame_offset = 0
     self.malibu_button_phase = 0
+    self.malibu_last_button_ts_nanos = 0
 
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -92,60 +81,163 @@ class CarController(CarControllerBase):
     self.regen_paddle_pressed = False
     self.aego = 0.0
     self.regen_paddle_timer = 0
+    self.regen_press_counter = 0
+    self.regen_release_counter = 0
+    self.regen_min_on_frames = 0
+    self.regen_min_off_frames = 0
     self.planner_regen_hold = False
-
-
-
-    # Midpoint + overflow spoof accumulator and flags
-    self.spoof_accum = 0.0
-    self.spoof_mid_sent = False
-    self.spoof_over_sent = False
-    self.last_interval_ns = 0
+    self.paddle_handoff_frames = 0
+    self.pedal_active_last = False
+    self.maneuver_paddle_mode = "auto"
 
   def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
     if not long_active:
       self.planner_regen_hold = False
+      self.regen_paddle_pressed = False
+      self.regen_paddle_timer = 0
+      self.regen_press_counter = 0
+      self.regen_release_counter = 0
+      self.regen_min_on_frames = 0
+      self.regen_min_off_frames = 0
+      self.pedal_active_last = False
+      self.pedal_steady = 0.0
       return 0., False
 
-    # Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone
-    if not hasattr(self, 'regen_paddle_timer'):
-      self.regen_paddle_timer = 0  # frames
+    supports_regen_paddle = self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
+    switched_state = False
+    press_regen_paddle = False
+    if supports_regen_paddle:
+      # Regen paddle state machine: speed-aware thresholds + min on/off duration for robust paddle transitions.
+      press_cmd_threshold = interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [-0.90, -0.82, -0.72, -0.65])
+      release_cmd_threshold = interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [-0.10, -0.17, -0.24, -0.30])
+      press_aego_threshold = interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [-0.95, -0.86, -0.76, -0.70])
+      release_aego_threshold = interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [-0.16, -0.23, -0.30, -0.36])
 
-    # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
-    if self.aego < -0.7:
-      self.regen_paddle_timer += 1
-    elif self.aego > -0.3:
-      self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
-    # else: hold timer between -0.7 and -0.3
+      press_confirm_frames = int(round(interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [8.0, 6.0, 5.0, 4.0])))
+      release_confirm_frames = int(round(interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [18.0, 15.0, 12.0, 10.0])))
+      min_on_frames = int(round(interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [34.0, 27.0, 20.0, 16.0])))
+      min_off_frames = int(round(interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [16.0, 14.0, 12.0, 10.0])))
+      # Extra hysteresis in the 8-20 mph band to reduce paddle edge pulsing.
+      confirm_boost = int(round(interp(car_velocity, [0.0, 6.0, 8.0, 20.0, 25.0], [0.0, 0.0, 3.0, 3.0, 0.0])))
+      press_confirm_frames += confirm_boost
+      release_confirm_frames += confirm_boost
 
-    # Base paddle press hysteresis
-    self.regen_paddle_pressed = self.regen_paddle_timer >= 10  # 10 frames
-    press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold
+      want_press = self.planner_regen_hold or accel <= press_cmd_threshold or self.aego <= press_aego_threshold
+      want_release = (not self.planner_regen_hold) and accel >= release_cmd_threshold and self.aego >= release_aego_threshold
 
+      if want_press:
+        self.regen_press_counter += 1
+      else:
+        self.regen_press_counter = max(self.regen_press_counter - 1, 0)
+
+      if want_release:
+        self.regen_release_counter += 1
+      else:
+        self.regen_release_counter = max(self.regen_release_counter - 1, 0)
+
+      # Strong planner request can skip most of debounce delay.
+      if self.planner_regen_hold and accel <= (press_cmd_threshold - 0.30):
+        self.regen_press_counter = max(self.regen_press_counter, press_confirm_frames)
+
+      if self.regen_min_on_frames > 0:
+        self.regen_min_on_frames -= 1
+      if self.regen_min_off_frames > 0:
+        self.regen_min_off_frames -= 1
+
+      if self.regen_paddle_pressed:
+        if self.regen_min_on_frames == 0 and self.regen_release_counter >= release_confirm_frames:
+          self.regen_paddle_pressed = False
+          self.regen_min_off_frames = min_off_frames
+          self.regen_release_counter = 0
+          switched_state = True
+      else:
+        if self.regen_min_off_frames == 0 and self.regen_press_counter >= press_confirm_frames:
+          self.regen_paddle_pressed = True
+          self.regen_min_on_frames = min_on_frames
+          self.regen_press_counter = 0
+          switched_state = True
+
+      self.regen_paddle_timer = self.regen_press_counter
+      press_regen_paddle = self.regen_paddle_pressed
+
+      if self.maneuver_paddle_mode == "off":
+        self.regen_paddle_pressed = False
+        self.regen_press_counter = 0
+        self.regen_release_counter = 0
+        self.regen_min_on_frames = 0
+        press_regen_paddle = False
+      elif self.maneuver_paddle_mode == "force":
+        forced_press = accel < -0.02
+        self.regen_paddle_pressed = forced_press
+        press_regen_paddle = forced_press
+    else:
+      self.planner_regen_hold = False
+      self.regen_paddle_pressed = False
+      self.regen_paddle_timer = 0
+      self.regen_press_counter = 0
+      self.regen_release_counter = 0
+      self.regen_min_on_frames = 0
+      self.regen_min_off_frames = 0
 
     # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
     speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
                  11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
                  22.939, 24.058, 25.177, 26.296]
-    regen_gain_ratio = [
-      1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002,
-      1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805,
-      1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172
-    ]
+    regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.31, 1.33,
+                        1.34, 1.35, 1.36, 1.37, 1.38, 1.39, 1.39,
+                        1.40, 1.40, 1.41, 1.42, 1.43, 1.43, 1.44,
+                        1.44, 1.45, 1.45]
 
     gain = interp(car_velocity, speed_mps, regen_gain_ratio)
-    pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+    # Terminal-stop authority boost for paddle+pedal mode: lower gain at low speed => stronger net decel.
+    gain *= interp(car_velocity, [0.0, 2.0, 4.0, 5.5, 8.0, 12.0], [0.92, 0.92, 0.93, 0.94, 0.96, 1.0])
+    accel_gain = interp(car_velocity, [0.0, 3.0, 8.0, 20.0], [0.47, 0.52, 0.57, 0.61])
+    pedaloffset = interp(car_velocity, [0.0, 1.0, 3.0, 6.0, 15.0, 30.0], [0.085, 0.11, 0.17, 0.23, 0.235, 0.23])
 
-    # Compute raw pedal gas
-    raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+    accel_term_scale = (1.0 / max(gain, 1e-3)) if press_regen_paddle else 1.0
+    # De-sensitize small commands asymmetrically: keep decel smoother while preserving accel pickup.
+    if accel >= 0.0:
+      small_cmd_scale = interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.58, 0.68, 0.82, 0.93, 1.0])
+    else:
+      small_cmd_scale = interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
+    accel_cmd = accel * small_cmd_scale
+    if (not press_regen_paddle) and accel < -2.0:
+      accel_cmd *= interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
+    raw_pedal_gas = clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0)
 
-    # --- Immediate application of raw pedal gas, no blending ---
-    pedal_gas = raw_pedal_gas
-    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttle
-    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
-    pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
+    # Safety cap with continuous low-speed transition (removes the near-step around ~4.5 m/s).
+    pedal_gas_max = interp(car_velocity, [0.0, 1.0, 2.5, 4.5, 6.0, 8.0, 12.0], [0.20, 0.235, 0.29, 0.365, 0.52, 0.78, 1.0])
+    target_pedal_gas = clip(raw_pedal_gas, 0.0, pedal_gas_max)
+
+    # Blend and rate-limit command changes for smoother transients while preserving clip bounds.
+    if not self.pedal_active_last or switched_state:
+      pedal_gas = target_pedal_gas
+      self.pedal_active_last = True
+    else:
+      urgency = clip(abs(accel) / 2.0, 0.0, 1.0)
+      rate_up = interp(car_velocity, [0.0, 3.0, 8.0, 20.0], [0.007, 0.012, 0.022, 0.036]) + 0.011 * urgency
+      if accel > 1.2:
+        # Recover high-command launch response without changing low-command smoothness.
+        rate_up += interp(car_velocity, [0.0, 4.0, 12.0, 25.0], [0.006, 0.005, 0.003, 0.002])
+      rate_down = interp(car_velocity, [0.0, 3.0, 8.0, 20.0], [0.008, 0.014, 0.026, 0.045]) + 0.015 * urgency
+      pedal_gas = clip(target_pedal_gas, self.pedal_steady - rate_down, self.pedal_steady + rate_up)
+
+    self.pedal_steady = pedal_gas
     return pedal_gas, press_regen_paddle
 
+  def _update_malibu_button_slot(self, cs):
+    button_ts = cs.steering_button_ts_nanos
+    if button_ts != 0 and button_ts != self.malibu_last_button_ts_nanos:
+      self.malibu_last_button_ts_nanos = button_ts
+      return True
+    return False
+
+  def _sync_malibu_phase_from_oem(self, cs):
+    phase_map = gmcan.malibu_phase_map_for_acc(cs.cruise_buttons)
+    if phase_map and cs.steering_button_checksum in phase_map:
+      phase = phase_map[cs.steering_button_checksum]
+      self.malibu_cancel_phase = phase
+      self.malibu_button_phase = phase
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
     self.CS = CS
@@ -153,6 +245,12 @@ class CarController(CarControllerBase):
     actuators = CC.actuators
     accel = brake_accel = actuators.accel
     press_regen_paddle = False
+
+    # Longitudinal maneuvers can force paddle behavior for A/B testing.
+    if self.frame % 25 == 0:
+      mode = self.params_.get("LongitudinalManeuverPaddleMode", encoding="utf-8")
+      mode = (mode or "auto").strip().lower()
+      self.maneuver_paddle_mode = mode if mode in ("auto", "off", "force") else "auto"
     kaofui_cars = SDGM_CAR | ASCM_INT | {
       CAR.CHEVROLET_VOLT,
       CAR.CHEVROLET_VOLT_2019,
@@ -173,14 +271,18 @@ class CarController(CarControllerBase):
     # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
     if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
         and self.CP.openpilotLongitudinalControl and CC.longActive):
-      # Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2
-      # Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption
-      planner_press_threshold = -0.7
-      planner_release_threshold = -0.3
-      if accel <= planner_press_threshold:
-        self.planner_regen_hold = True
-      elif accel >= planner_release_threshold:
+      if self.maneuver_paddle_mode == "off":
         self.planner_regen_hold = False
+      elif self.maneuver_paddle_mode == "force":
+        self.planner_regen_hold = accel < -0.02
+      else:
+        # Pre-arm paddle on strong commanded decel with speed-aware hysteresis.
+        planner_press_threshold = interp(CS.out.vEgo, [0.0, 4.0, 12.0, 25.0], [-0.95, -0.82, -0.70, -0.62])
+        planner_release_threshold = interp(CS.out.vEgo, [0.0, 4.0, 12.0, 25.0], [-0.14, -0.22, -0.30, -0.36])
+        if accel <= planner_press_threshold:
+          self.planner_regen_hold = True
+        elif accel >= planner_release_threshold:
+          self.planner_regen_hold = False
     else:
       self.planner_regen_hold = False
 
@@ -192,129 +294,38 @@ class CarController(CarControllerBase):
 
     # Send CAN commands.
     can_sends = []
-    paddle_sends = []
 
+    malibu_oem_button_slot = False
     if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-      phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
-      if phase_map and CS.steering_button_checksum in phase_map:
-        phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-        self.malibu_cancel_phase = phase
-        self.malibu_button_phase = phase
+      malibu_oem_button_slot = self._update_malibu_button_slot(CS)
+      if malibu_oem_button_slot:
+        self._sync_malibu_phase_from_oem(CS)
 
     raw_regen_active = (
       self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
       self.CP.openpilotLongitudinalControl and
       CC.longActive and
       self.CP.enableGasInterceptor and
-      (self.regen_paddle_timer >= 10 or self.planner_regen_hold)  # hysteresis or planner hint
+      self.regen_paddle_pressed
     )
-    regen_active = raw_regen_active
+    use_panda_paddle_sched = (
+      self.CP.enableGasInterceptor and
+      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
+      self.CP.openpilotLongitudinalControl and
+      bool(self.CP.flags & GMFlags.PEDAL_LONG.value)
+    )
+    if use_panda_paddle_sched:
+      if CC.enabled:
+        self.paddle_handoff_frames = 2
+      paddle_sched_feed_active = CC.enabled or (self.paddle_handoff_frames > 0)
+      if not CC.enabled and self.paddle_handoff_frames > 0:
+        self.paddle_handoff_frames -= 1
+    else:
+      self.paddle_handoff_frames = 0
+      paddle_sched_feed_active = False
 
-    # === Spoof scheduling: midpoint + overflow (~target Hz) ===
-    # Rising-edge reset on regen start
-    if raw_regen_active and not self.last_regen_active:
-      self.prev_steer_ts_ns = self.last_steer_ts_ns
-      self.last_spoof_ts_ns = 0
-      self.spoof_accum = 0.0
-      self.spoof_mid_sent = False
-      self.spoof_over_sent = False
-
-    if raw_regen_active:
-      # Interval between last two bus-0 steer sends
-      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
-
-      # Adaptive two‑sided gap sized to the current steer interval, but capped to a target so the window stays wide enough
-      gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
-                max(PADDLE_STEER_GAP_MIN_NS,
-                    min(PADDLE_STEER_GAP_MAX_NS,
-                        min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
-
-      # New steer interval? clear per-interval flags and add credits to reach target Hz
-      if interval_ns != self.last_interval_ns:
-        self.spoof_mid_sent = False
-        self.spoof_over_sent = False
-        self.last_interval_ns = interval_ns
-        # Add credits once per new steer interval to reach the desired paddle rate
-        if interval_ns > 0:
-          steer_hz = 1e9 / float(interval_ns)
-          extra_needed = max(0.0, (PADDLE_TARGET_HZ / steer_hz) - 1.0)  # e.g., 42/33 − 1 ≈ 0.2727
-          self.spoof_accum += extra_needed
-
-      # Midpoint spoof: one per interval
-      if not self.spoof_mid_sent and interval_ns > 0:
-        midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
-        # Compute spacing to last and next steer (two-sided guard)
-        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
-        delta_after_ns = now_nanos - self.last_steer_ts_ns
-        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
-        if (CS.out.vEgo > 2.68
-            and now_nanos >= (midpoint_ns - PADDLE_SLOT_EARLY_NS)
-            and delta_after_ns >= gap_ns
-            and delta_before_ns >= gap_ns):
-          # Non-blocking 1 ms spacing for paddle frames
-          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
-            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
-            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
-            self.last_paddle_ts_ns = now_nanos
-          self.last_spoof_ts_ns = now_nanos
-          self.spoof_mid_sent = True
-
-      # Overflow spoof: insert extra when accumulator allows
-      if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0:
-        slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
-        # Two-sided spacing relative to steer
-        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
-        delta_after_ns = now_nanos - self.last_steer_ts_ns
-        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
-        if (CS.out.vEgo > 2.68
-            and now_nanos >= (slot2_ns - PADDLE_SLOT_EARLY_NS)
-            and delta_after_ns >= gap_ns
-            and delta_before_ns >= gap_ns):
-          # Non-blocking 1 ms spacing for paddle frames
-          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
-            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
-            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
-            self.last_paddle_ts_ns = now_nanos
-          self.last_spoof_ts_ns = now_nanos
-          self.spoof_over_sent = True
-          self.spoof_accum -= OVERFLOW_THRESH
-    # === End Spoof scheduling ===
-
-    # === Off-pulse scheduling on regen release ===
-    if not raw_regen_active and self.last_regen_active:
-      # schedule two off-slots at 1/3 and 2/3 of the last steer interval
-      if self.prev_steer_ts_ns and self.last_steer_ts_ns:
-        intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
-        self.off_schedule_ns = [
-          self.prev_steer_ts_ns + intv // 3,
-          self.prev_steer_ts_ns + (2 * intv) // 3
-        ]
-        self.off_sent = [False, False]
-
-    if hasattr(self, "off_schedule_ns"):
-      for i, t_ns in enumerate(self.off_schedule_ns):
-        if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS):
-          # Two-sided spacing to steer before sending
-          interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
-          gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
-                    max(PADDLE_STEER_GAP_MIN_NS,
-                        min(PADDLE_STEER_GAP_MAX_NS,
-                            min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
-          next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
-          delta_after_ns = now_nanos - self.last_steer_ts_ns
-          delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
-          if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns):
-            # Non-blocking 1 ms spacing for paddle frames
-            if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
-              paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False, self.CP))
-              paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
-              self.last_paddle_ts_ns = now_nanos
-            self.off_sent[i] = True
-      # clean up once both off pulses are sent
-      if hasattr(self, "off_sent") and all(self.off_sent):
-        del self.off_schedule_ns
-        del self.off_sent
-    # === End off-pulse scheduling ===
+    # Preserve existing on-send gate: only send "pressed" while above low-speed threshold.
+    paddle_spoof_pressed = raw_regen_active and (CS.out.vEgo > 2.68)
 
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -347,28 +358,29 @@ class CarController(CarControllerBase):
       if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
         apply_steer = 0
 
-      # shift previous steer timestamp
-      self.prev_steer_ts_ns = self.last_steer_ts_ns
       self.last_steer_ts_ns = now_nanos
       self.last_steer_frame = self.frame
       self.apply_steer_last = apply_steer
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
-    # Update regen_active state and last_regen_paddle_pressed for next loop
-    self.last_regen_active = regen_active
-    self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold
+    spoof_ecm_cruise_cars = {
+      CAR.CHEVROLET_BOLT_CC_2017,
+      CAR.CHEVROLET_BOLT_CC_2019_2021,
+      CAR.CHEVROLET_BOLT_CC_2022_2023,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    non_acc_pedal_long = (self.CP.flags & GMFlags.PEDAL_LONG.value) and self.CP.carFingerprint in spoof_ecm_cruise_cars and self.CP.enableGasInterceptor
+    if non_acc_pedal_long and self.frame % 4 == 0:
+      spoof_enabled = True
+      spoof_set_speed_kph = hud_v_cruise * CV.MS_TO_KPH
+      can_sends.append(gmcan.create_ecm_cruise_control_command(
+        self.packer_pt, CanBus.POWERTRAIN, spoof_enabled, spoof_set_speed_kph))
 
-    if paddle_sends:
-      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
-      flush_gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
-                      max(PADDLE_STEER_GAP_MIN_NS,
-                          min(PADDLE_STEER_GAP_MAX_NS,
-                              min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
-      if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
-        can_sends.extend(paddle_sends)
+    malibu_cancel_requested = False
 
     if self.CP.openpilotLongitudinalControl:
+
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
@@ -419,13 +431,18 @@ class CarController(CarControllerBase):
 
             gas_max = self.params.MAX_GAS
             accel_max = self.params.ACCEL_MAX
-            
+            if testing_ground.use_1:
+              accel_max = min(accel_max, interp(CS.out.vEgo, [0.0, 4.0, 12.0], [1.25, 1.6, self.params.ACCEL_MAX]))
+
             accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
             torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
-            
+
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
             BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
+            if testing_ground.use_1:
+              brake_switch_bias = int(round(interp(CS.out.vEgo, [0.0, 6.0, 15.0, 30.0], [60.0, 120.0, 180.0, 220.0])))
+              BRAKE_SWITCH = min(self.params.ZERO_GAS, BRAKE_SWITCH + brake_switch_bias)
             brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
             self.apply_gas = int(round(apply_gas_torque))
             self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
@@ -448,6 +465,10 @@ class CarController(CarControllerBase):
 
         idx = (self.frame // 4) % 4
 
+        if paddle_sched_feed_active:
+          can_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, paddle_spoof_pressed, self.CP))
+          can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, paddle_spoof_pressed))
+
         if self.CP.flags & GMFlags.CC_LONG.value:
           if CC.longActive and CS.out.cruiseState.enabled and CS.out.vEgo > self.CP.minEnableSpeed:
             # Using extend instead of append since the message is only sent intermittently
@@ -467,7 +488,7 @@ class CarController(CarControllerBase):
           friction_brake_bus = CanBus.CHASSIS
           # GM Camera exceptions
           # TODO: can we always check the longControlState?
-          if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
+          if self.CP.networkLocation == NetworkLocation.fwdCamera:
             at_full_stop = at_full_stop and stopping
             friction_brake_bus = CanBus.POWERTRAIN
             if self.CP.carFingerprint in SDGM_CAR:
@@ -488,10 +509,11 @@ class CarController(CarControllerBase):
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                                idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
-          # Send dashboard UI commands (ACC status)
+        is_bolt_acc_pedal = self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+        if self.CP.carFingerprint not in CC_ONLY_CAR or is_bolt_acc_pedal:
           send_fcw = hud_alert == VisualAlert.fcw
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
+          can_sends.append(gmcan.create_acc_dashboard_command(
+            self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g
@@ -501,7 +523,10 @@ class CarController(CarControllerBase):
       if not self.CP.radarUnavailable:
         send_adas = True
         if self.CP.carFingerprint in kaofui_cars:
-          send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
+          if self.CP.carFingerprint in ASCM_INT:
+            send_adas = True
+          else:
+            send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
 
         if send_adas:
           tt = self.frame * DT_CTRL
@@ -532,17 +557,16 @@ class CarController(CarControllerBase):
       stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
       if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
         stock_cc_active = CS.out.cruiseState.enabled
+      pedal_cancel = self.CP.flags & GMFlags.PEDAL_LONG.value
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+        pedal_cancel = pedal_cancel and CC.longActive
+
       if (
-          (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
+          pedal_cancel
           or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
       ) and stock_cc_active:
         if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-          # Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
-          if self.malibu_cancel_frame % 3 == 0:
-            can_sends.append(gmcan.create_buttons_malibu_cancel(
-              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
-            self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
-          self.malibu_cancel_frame += 1
+          malibu_cancel_requested = True
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
             self.last_button_frame = self.frame
@@ -555,20 +579,24 @@ class CarController(CarControllerBase):
       self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
 
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
+          malibu_cancel_requested = True
+      elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-            if self.malibu_cancel_frame % 3 == 0:
-              can_sends.append(gmcan.create_buttons_malibu_cancel(
-                CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
-              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
-            self.malibu_cancel_frame += 1
-          elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
+          if self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
           else:
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
+    if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      # Malibu has no reliable rolling counter in 0x1E1; lock cancel send to each observed OEM 0x1E1 slot.
+      if malibu_cancel_requested and malibu_oem_button_slot:
+        can_sends.append(gmcan.create_buttons_malibu_cancel(
+          CanBus.POWERTRAIN, (self.malibu_cancel_phase + 1) % 4, CS.steering_button_prefix))
+        self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:

selfdrive/car/gm/carstate.py

@@ -28,12 +28,15 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
     self.steering_button_checksum = 0
     self.steering_button_prefix = 0x01
+    self.steering_button_ts_nanos = 0
 
     self.prev_distance_button = 0
     self.distance_button = 0
 
     self.single_pedal_mode = False
     self.pedal_steady = 0.
+    self.ecm_cruise_control_ts_nanos = 0
+    self.accelerator_pedal2_ts_nanos = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     ret = car.CarState.new_message()
@@ -54,6 +57,7 @@ class CarState(CarStateBase):
       self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
       self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+      self.steering_button_ts_nanos = pt_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
       acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
       acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
       self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
@@ -61,6 +65,7 @@ class CarState(CarStateBase):
       self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+      self.steering_button_ts_nanos = cam_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -89,6 +94,7 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.vEgoCluster = ret.vEgo * frogpilot_toggles.cluster_offset
     # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
     ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
@@ -97,7 +103,9 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+    no_accel_pos = bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
+
+    if no_accel_pos:
       if self.CP.carFingerprint in kaofui_state_cars:
         ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
       else:
@@ -107,20 +115,17 @@ class CarState(CarStateBase):
         ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
       else:
         ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
-      # Blazer can miss light taps on analog threshold; include digital brake switch.
-      ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
-    elif self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
-      # Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
+
+    if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
       ret.brakePressed = ret.brake >= 8
-    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
       # that the brake is being intermittently pressed without user interaction.
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
+      analog_thresh = 0.10 if no_accel_pos else 8
       ret.brakePressed = ret.brake >= analog_thresh
 
     # Regen braking is braking
@@ -194,6 +199,8 @@ class CarState(CarStateBase):
       if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
+      self.ecm_cruise_control_ts_nanos = pt_cp.ts_nanos["ECMCruiseControl"]["CruiseActive"]
+      self.accelerator_pedal2_ts_nanos = pt_cp.ts_nanos["AcceleratorPedal2"]["CruiseState"]
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
       if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
@@ -207,6 +214,9 @@ class CarState(CarStateBase):
           ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
         except:
           ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+    else:
+      self.ecm_cruise_control_ts_nanos = 0
+      self.accelerator_pedal2_ts_nanos = 0
 
     if self.CP.enableBsm:
       if not sdgm_non_volt:

selfdrive/car/gm/fingerprints.py

@@ -111,7 +111,7 @@ FINGERPRINTS = {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
   }],
   CAR.CHEVROLET_BOLT_CC_2019_2021: [
-  # Chevy Bolt EV 2019-2021
+  # Chevy Bolt EV 2018-2021
   # Bolt Premier no ACC 2018 + Pedal
   {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8

selfdrive/car/gm/gmcan.py

@@ -7,10 +7,10 @@ from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
 MALIBU_BUTTON_TABLE = {
-  0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
+  0: [0x10FF, 0x15EE, 0x1ADD, 0x1FCC],
   1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
   4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
-  5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
+  5: [0x60AF, 0x659E, 0x6A8D, 0x6F7C],
 }
 
 MALIBU_BUTTON_MAP = {
@@ -78,10 +78,10 @@ def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
   data = bytearray(7)
   data[3] = prefix & 0xFF
   data[4] = 0x00
-  cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
-  idx = ((phase + 2) % 4) * 2
-  data[5] = cancel_bytes[idx]
-  data[6] = cancel_bytes[idx + 1]
+  cancel_seq = MALIBU_BUTTON_TABLE[5]
+  val = cancel_seq[phase % len(cancel_seq)]
+  data[5] = (val >> 8) & 0xFF
+  data[6] = val & 0xFF
   return make_can_msg(0x1e1, bytes(data), bus)
 
 
@@ -185,6 +185,23 @@ def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_con
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
 
+def create_ecm_cruise_control_command(packer, bus, enabled, target_speed_kph):
+  dat = bytearray(8)
+  dat[0] = 0x01
+  # Match observed stock shape on non-ACC CC paths: byte4 is usually 0x00
+  # (with occasional 0x80 from stock state transitions). Keep this spoofed
+  # path at 0x00 to avoid plausibility mismatch on non-speed bits.
+  dat[4] = 0x00
+
+  set_speed_raw = 0
+  if enabled:
+    set_speed_raw = int(round(max(0., target_speed_kph) / 0.0625))
+    set_speed_raw = max(0, min(set_speed_raw, 0x0FFF))
+
+  dat[2] = (set_speed_raw >> 8) & 0xFF
+  dat[3] = set_speed_raw & 0xFF
+  return make_can_msg(0x3D1, bytes(dat), bus)
+
 
 def create_adas_time_status(bus, tt, idx):
   dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,

selfdrive/car/gm/interface.py

@@ -2,12 +2,13 @@
 from cereal import car, custom
 from math import fabs, exp
 import numpy as np
-from panda import Panda
+from panda import ALTERNATIVE_EXPERIENCE, Panda
 
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, set_red_panda_canbus
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, CC_REGEN_PADDLE_CAR, set_red_panda_canbus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -39,6 +40,21 @@ VOLT_LIKE_CARS = {
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
+BOLT_PEDAL_LONG_CARS = {
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+
+# Cancel-to-personality mapping target: gen1 Bolt pedal-long paths only.
+BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+}
+CANCEL_REMAP_DISTANCE_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS
+
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.CHEVROLET_BOLT_ACC_2022_2023: {
     "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
@@ -57,8 +73,8 @@ NON_LINEAR_TORQUE_PARAMS = {
     "right": [2.0, 1.0, 0.205, 0.0],
   },
   CAR.CHEVROLET_BOLT_CC_2017: {
-    "left": [2.15, 1.0, 0.21, 0.0],
-    "right": [2.15, 1.0, 0.21, 0.0],
+    "left": [2.15, 1.00, 0.129, 0.0],
+    "right": [2.15, 1.00, 0.145, 0.0],
   },
   CAR.GMC_ACADIA: {
     "left": [4.78003305, 1.0, 0.3122, 0.05591772],
@@ -78,6 +94,18 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    if CP.enableGasInterceptor and bool(CP.flags & GMFlags.PEDAL_LONG.value):
+      if CP.carFingerprint in BOLT_PEDAL_LONG_CARS:
+        accel_min = interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
+                           [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95])
+        accel_max = interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],
+                           [0.54, 0.74, 1.03, 1.46, CarControllerParams.ACCEL_MAX])
+      else:
+        accel_min = interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
+                           [-0.95, -1.3, -1.85, -2.3, -2.6, -2.8])
+        accel_max = interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],
+                           [0.60, 0.85, 1.15, 1.60, CarControllerParams.ACCEL_MAX])
+      return accel_min, accel_max
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@@ -250,9 +278,9 @@ class CarInterface(CarInterfaceBase):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
       gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
-      # Use C9 brake bit on Blazer and SDGM variants that lack 0xBE (ECMAcceleratorPos),
-      # so panda brake_pressed source matches carstate on light taps.
-      if candidate == CAR.CHEVROLET_BLAZER or ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
+      # Use C9 brake bit on SDGM variants that lack 0xBE (ECMAcceleratorPos),
+      # so panda brake_pressed source matches carstate.
+      if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
         ret.flags |= GMFlags.FORCE_BRAKE_C9.value
 
@@ -273,8 +301,9 @@ class CarInterface(CarInterfaceBase):
       if is_bolt_2022_2023_pedal:
         ret.experimentalLongitudinalAvailable = False
         ret.pcmCruise = False
-    elif candidate in ASCM_INT and has_sascm(fingerprint):
-      ret.experimentalLongitudinalAvailable = True
+    elif candidate in ASCM_INT:
+      # kaofui parity: ASCM_INT cars require SASCM for experimental long
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
       ret.pcmCruise = True
@@ -381,7 +410,20 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.torque.kd = 0.93
       ret.lateralTuning.torque.kfDEPRECATED = 0.02
 
+      if candidate in (CAR.CHEVROLET_BOLT_CC_2019_2021,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+                       CAR.CHEVROLET_BOLT_CC_2022_2023):
+        # Apply 2019+/2022 generation-specific FF and Ki/Kd tweaks.
+        ret.lateralTuning.torque.ki *= 1.07
+        ret.lateralTuning.torque.kd *= 0.93
+        ret.lateralTuning.torque.kfDEPRECATED *= 0.75
+
       if candidate == CAR.CHEVROLET_BOLT_CC_2017:
+        ret.lateralTuning.torque.kp *= 1.0
+        ret.lateralTuning.torque.ki *= 0.9
+        ret.lateralTuning.torque.kd *= 0.9
+        ret.lateralTuning.torque.kfDEPRECATED = 0.026
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
 
       if ret.enableGasInterceptor:
@@ -398,8 +440,6 @@ class CarInterface(CarInterfaceBase):
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
-      if ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
@@ -470,18 +510,27 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= GMFlags.PEDAL_LONG.value
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
+        if candidate == CAR.CHEVROLET_MALIBU_CC:
+          ret.longitudinalTuning.kpBP = [0.0, 5.0, 35.0]
+          ret.longitudinalTuning.kpV = [0.06, 0.05, 0.04]
           ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-          ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+          ret.longitudinalTuning.kiV = [0.0, 0.30, 0.45]
           ret.longitudinalTuning.kfDEPRECATED = 0.15
           ret.stoppingDecelRate = 0.8
           ret.minEnableSpeed = -1
           ret.pcmCruise = False
           ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
         else:
-          ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
-          ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
-          ret.longitudinalTuning.kfDEPRECATED = 0.25
+          ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
+          ret.longitudinalTuning.kpV = [0.09, 0.08, 0.06, 0.045]
+          ret.longitudinalTuning.kiBP = [0.0, 3.0, 6.0, 35.0]
+          ret.longitudinalTuning.kiV = [0.09, 0.13, 0.19, 0.28]
+          if candidate in BOLT_PEDAL_LONG_CARS:
+            ret.longitudinalTuning.kpV = [0.095, 0.085, 0.065, 0.050]
+            ret.longitudinalTuning.kiV = [0.07, 0.10, 0.15, 0.24]
+            ret.longitudinalTuning.kfDEPRECATED = 0.20
+          else:
+            ret.longitudinalTuning.kfDEPRECATED = 0.25
           ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
         gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
@@ -492,9 +541,15 @@ class CarInterface(CarInterfaceBase):
     if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       ret.flags |= GMFlags.PEDAL_LONG.value
       gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
-      ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-      ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
-      ret.longitudinalTuning.kfDEPRECATED = 0.15
+      # Keep Malibu Hybrid pedal on the same longitudinal tune as Bolt pedal cars.
+      ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.095, 0.085, 0.065, 0.050]
+      # Reuse Bolt pedal cancel-allow safety path so 0x1E1 cancel isn't blocked
+      # when stock cruise state differs from pedal-long control state.
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
+      ret.longitudinalTuning.kiBP = [0.0, 3.0, 6.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.07, 0.10, 0.15, 0.24]
+      ret.longitudinalTuning.kfDEPRECATED = 0.20
       ret.stoppingDecelRate = 0.8
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
@@ -528,30 +583,113 @@ class CarInterface(CarInterfaceBase):
       gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
 
     # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint.get(CanBus.CAMERA, {}) and not candidate in (SDGM_CAR | ASCM_INT):
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint.get(CanBus.CAMERA, {}) and candidate not in SDGM_CAR:
       ret.flags |= GMFlags.NO_CAMERA.value
       gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
     if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
+    use_panda_3d1_sched = (
+      ret.openpilotLongitudinalControl and
+      ret.enableGasInterceptor and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value) and
+      candidate in CC_ONLY_CAR and
+      candidate != CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+    )
+    if use_panda_3d1_sched:
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PANDA_3D1_SCHED
+
+    use_panda_paddle_sched = (
+      ret.openpilotLongitudinalControl and
+      ret.enableGasInterceptor and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value) and
+      candidate in CC_REGEN_PADDLE_CAR
+    )
+    if use_panda_paddle_sched:
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PANDA_PADDLE_SCHED
+
+    remap_cancel_to_distance = (
+      getattr(frogpilot_toggles, "remap_cancel_to_distance", False) and
+      ret.openpilotLongitudinalControl and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value) and
+      candidate in CANCEL_REMAP_DISTANCE_CARS
+    )
+    malibu_cancel_passthrough = (
+      candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC and
+      ret.openpilotLongitudinalControl and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value)
+    )
+    if remap_cancel_to_distance or malibu_cancel_passthrough:
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
+
     return ret
 
   # returns a car.CarState
   def _update(self, c, frogpilot_toggles):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback, frogpilot_toggles)
 
+    remap_cancel_to_distance = bool(self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE)
+    malibu_cancel_passthrough = (
+      remap_cancel_to_distance and
+      self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and
+      self.CP.openpilotLongitudinalControl
+    )
+    bolt_cancel_personality = (
+      remap_cancel_to_distance and
+      self.CP.carFingerprint in BOLT_GEN1_CANCEL_PERSONALITY_CARS and
+      self.CP.openpilotLongitudinalControl and
+      bool(self.CP.flags & GMFlags.PEDAL_LONG.value)
+    )
+
     # Don't add event if transitioning from INIT, unless it's to an actual button
+    cruise_button_map = BUTTONS_DICT
+    if malibu_cancel_passthrough:
+      # Keep pedal-long cancel presses from creating a buttonCancel disengage event.
+      cruise_button_map = {k: v for k, v in BUTTONS_DICT.items() if k != CruiseButtons.CANCEL}
+    elif bolt_cancel_personality:
+      # Keep pedal-long cancel presses from creating a buttonCancel disengage event.
+      cruise_button_map = {k: v for k, v in BUTTONS_DICT.items() if k != CruiseButtons.CANCEL}
+
+    cruise_events = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, cruise_button_map,
+                                         unpressed_btn=CruiseButtons.UNPRESS)
+    cancel_gap_events = []
+    if bolt_cancel_personality and self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+      # Gen1 Bolt pedal-long: treat CANCEL edges as a distance-style button for personality cycling.
+      if self.CS.prev_cruise_buttons == CruiseButtons.CANCEL:
+        cancel_gap_events.append(car.CarState.ButtonEvent(pressed=False, type=ButtonType.gapAdjustCruise))
+      if self.CS.cruise_buttons == CruiseButtons.CANCEL:
+        cancel_gap_events.append(car.CarState.ButtonEvent(pressed=True, type=ButtonType.gapAdjustCruise))
+
+    # Malibu pedal-long cancel can alias wheel-button bits on 0x1E1; ignore those side effects.
+    suppress_malibu_side_buttons = malibu_cancel_passthrough and (
+      self.CS.cruise_buttons in (CruiseButtons.CANCEL, CruiseButtons.MAIN) or
+      self.CS.prev_cruise_buttons in (CruiseButtons.CANCEL, CruiseButtons.MAIN)
+    )
+    suppress_bolt_cancel_lkas = bolt_cancel_personality and (
+      self.CS.cruise_buttons == CruiseButtons.CANCEL or
+      self.CS.prev_cruise_buttons == CruiseButtons.CANCEL
+    )
+    distance_events = [] if suppress_malibu_side_buttons else create_button_events(
+      self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}
+    )
+    lkas_events = [] if (suppress_malibu_side_buttons or suppress_bolt_cancel_lkas) else create_button_events(
+      self.CS.lkas_enabled,
+      self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}
+    )
+
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       ret.buttonEvents = [
-        *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                              unpressed_btn=CruiseButtons.UNPRESS),
-        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise}),
-        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled,
-                              {1: FrogPilotButtonType.lkas}),
+        *cruise_events,
+        *cancel_gap_events,
+        *distance_events,
+        *lkas_events,
       ]
 
+    if bolt_cancel_personality and self.CS.cruise_buttons == CruiseButtons.CANCEL:
+      # Feed long-press logic (traffic mode, etc.) as if distance button is being held.
+      fp_ret.distancePressed = True
+
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
                                                          GearShifter.eco, GearShifter.manumatic],

selfdrive/car/gm/values.py

@@ -273,7 +273,7 @@ class CAR(Platforms):
     CHEVROLET_VOLT.specs,
   )
   CHEVROLET_BOLT_CC_2019_2021 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2019-2021 - No-ACC")],
+    [GMCarDocs("Chevrolet Bolt EV 2018-2021 - No-ACC")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
@@ -285,13 +285,12 @@ class CAR(Platforms):
   CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
     [
       GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
-      GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
     ],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
     [GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
-    CHEVROLET_BOLT_ACC_2022_2023.specs,
+    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],

selfdrive/car/interfaces.py

@@ -37,12 +37,12 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.12
+FRICTION_THRESHOLD = 0.16
 
 def get_friction_threshold(v_ego):
   # Interpolate friction threshold
   from openpilot.common.numpy_fast import interp
-  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27])
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
@@ -348,7 +348,8 @@ class CarInterfaceBase(ABC):
 
     # FrogPilot variables
     fp_ret.alwaysOnLateralAllowed = self.always_on_lateral_allowed
-    fp_ret.distancePressed = bool(self.CS.distance_button)
+    # Preserve any car-interface override (e.g. remapped buttons) and include native distance state.
+    fp_ret.distancePressed = bool(fp_ret.distancePressed or self.CS.distance_button)
     fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco
     fp_ret.sportGear |= ret.gearShifter == GearShifter.sport
 

selfdrive/car/torque_data/override.toml

@@ -44,7 +44,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
 "CADILLAC_XT6" = [1.33, 1.9, 0.16]
-"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
+"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
+"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.21]
+"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
 "CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
 "CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]

selfdrive/car/torque_data/substitute.toml

@@ -64,10 +64,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
 "GMC_ACADIA_ASCM" = "GMC_ACADIA"
 "CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
-"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
-"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
 "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"

selfdrive/controls/controlsd.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import math
 import time
@@ -8,6 +9,7 @@ from typing import SupportsFloat
 import cereal.messaging as messaging
 
 from cereal import car, custom, log
+from panda import ALTERNATIVE_EXPERIENCE
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 
@@ -19,7 +21,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
-from openpilot.selfdrive.car.gm.values import CC_ONLY_CAR, GMFlags
+from openpilot.selfdrive.car.gm.values import CAR, CC_ONLY_CAR, GMFlags
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -63,6 +65,10 @@ CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError,
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
+BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+}
 
 
 class Controls:
@@ -199,6 +205,12 @@ class Controls:
 
     self.event_names_to_clear = set()
 
+    self.long_maneuver_popup_show = False
+    self.long_maneuver_popup_text1 = ""
+    self.long_maneuver_popup_text2 = ""
+    self.long_maneuver_popup_size = "small"
+    self.long_maneuver_popup_status = "normal"
+
     self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value)
 
     self.frogpilot_AM = AlertManager()
@@ -766,10 +778,19 @@ class Controls:
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       distance_pressed = params_memory.get_bool("OnroadDistanceButtonPressed")
+      bolt_cancel_personality = (
+        self.CP.carName == "gm" and
+        bool(self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE) and
+        bool(self.CP.flags & GMFlags.PEDAL_LONG.value) and
+        self.CP.carFingerprint in BOLT_GEN1_CANCEL_PERSONALITY_CARS
+      )
 
       if self.frogpilot_toggles.personality_profile_via_distance:
         distance_pressed |= any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents)
         distance_pressed &= not (self.sm['frogpilotCarState'].distanceLongPressed or self.sm['frogpilotCarState'].distanceVeryLongPressed)
+      elif bolt_cancel_personality:
+        distance_pressed |= any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents)
+        distance_pressed &= not (self.sm['frogpilotCarState'].distanceLongPressed or self.sm['frogpilotCarState'].distanceVeryLongPressed)
       if self.frogpilot_toggles.personality_profile_via_distance_long:
         distance_pressed |= self.sm['frogpilotCarState'].distanceLongPressed
       if self.frogpilot_toggles.personality_profile_via_distance_very_long:
@@ -910,6 +931,8 @@ class Controls:
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
+    # Publish planner intent explicitly so tools can compare "model wants" vs measured accel.
+    controlsState.aTarget = float(self.sm['longitudinalPlan'].aTarget)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
@@ -968,6 +991,8 @@ class Controls:
       frogpilotControlsState.alertBlinkingRate = current_frogpilot_alert.alert_rate
       frogpilotControlsState.alertType = current_frogpilot_alert.alert_type
       frogpilotControlsState.alertSound = current_frogpilot_alert.audible_alert
+    else:
+      self.apply_long_maneuver_popup(frogpilotControlsState)
 
     self.pm.send('frogpilotControlsState', frogpilot_dat)
 
@@ -999,12 +1024,73 @@ class Controls:
     except (ValueError, TypeError):
       return log.LongitudinalPersonality.standard
 
+  def update_long_maneuver_popup_state(self):
+    raw_status = self.params.get("LongitudinalManeuverStatus", encoding="utf-8") or ""
+    status = {}
+    if raw_status:
+      try:
+        parsed = json.loads(raw_status)
+        if isinstance(parsed, dict):
+          status = parsed
+      except Exception:
+        status = {}
+
+    ui_text_1 = str(status.get("uiText1") or "").strip()
+    ui_text_2 = str(status.get("uiText2") or "").strip()
+    ui_size = str(status.get("uiSize") or "small").strip().lower()
+    ui_status = str(status.get("uiStatus") or "normal").strip().lower()
+    mode_enabled = self.params.get_bool("LongitudinalManeuverMode")
+    state = str(status.get("state") or "").strip().lower()
+
+    updated_at = 0.0
+    try:
+      updated_at = float(status.get("updatedAtSec") or 0.0)
+    except Exception:
+      updated_at = 0.0
+    status_age = max(0.0, time.time() - updated_at) if updated_at > 0.0 else 9999.0
+
+    is_recent_finished = state == "finished" and status_age <= 20.0
+    ui_show = bool(status.get("uiShow", False))
+    show_popup = bool((mode_enabled and ui_show and (ui_text_1 or ui_text_2)) or (is_recent_finished and (ui_text_1 or ui_text_2)))
+
+    self.long_maneuver_popup_show = show_popup
+    self.long_maneuver_popup_text1 = ui_text_1 or "Long Maneuvers"
+    self.long_maneuver_popup_text2 = ui_text_2
+    self.long_maneuver_popup_size = ui_size if ui_size in ("small", "mid", "full") else "small"
+    self.long_maneuver_popup_status = ui_status if ui_status in ("normal", "userprompt", "critical", "frogpilot") else "normal"
+
+  def apply_long_maneuver_popup(self, frogpilotControlsState):
+    if not self.long_maneuver_popup_show:
+      return False
+
+    size_map = {
+      "small": custom.FrogPilotControlsState.AlertSize.small,
+      "mid": custom.FrogPilotControlsState.AlertSize.mid,
+      "full": custom.FrogPilotControlsState.AlertSize.full,
+    }
+    status_map = {
+      "normal": custom.FrogPilotControlsState.AlertStatus.normal,
+      "userprompt": custom.FrogPilotControlsState.AlertStatus.userPrompt,
+      "critical": custom.FrogPilotControlsState.AlertStatus.critical,
+      "frogpilot": custom.FrogPilotControlsState.AlertStatus.frogpilot,
+    }
+
+    frogpilotControlsState.alertText1 = self.long_maneuver_popup_text1
+    frogpilotControlsState.alertText2 = self.long_maneuver_popup_text2
+    frogpilotControlsState.alertSize = size_map.get(self.long_maneuver_popup_size, custom.FrogPilotControlsState.AlertSize.small)
+    frogpilotControlsState.alertStatus = status_map.get(self.long_maneuver_popup_status, custom.FrogPilotControlsState.AlertStatus.normal)
+    frogpilotControlsState.alertBlinkingRate = 0.
+    frogpilotControlsState.alertType = "longitudinalManeuverStatus"
+    frogpilotControlsState.alertSound = car.CarControl.HUDControl.AudibleAlert.none
+    return True
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       if not (self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode):
         self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
+      self.update_long_maneuver_popup_state()
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)

selfdrive/controls/lib/drive_helpers.py

@@ -50,6 +50,17 @@ class VCruiseHelper:
     self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
+  def _get_short_press_delta(self, is_metric, frogpilot_toggles):
+    base_delta = 1. if is_metric else IMPERIAL_INCREMENT
+    return base_delta * frogpilot_toggles.cruise_increase
+
+  def _normalize_initialized_v_cruise(self, v_cruise_kph, is_metric, frogpilot_toggles):
+    if frogpilot_toggles.cruise_increase % 5 != 0:
+      return v_cruise_kph
+
+    v_cruise_delta = self._get_short_press_delta(is_metric, frogpilot_toggles)
+    return round(round(v_cruise_kph / v_cruise_delta) * v_cruise_delta, 1)
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -147,17 +158,16 @@ class VCruiseHelper:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
-
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL
+    engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
       if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit:
-        self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
+        self.v_cruise_kph = self._normalize_initialized_v_cruise(desired_speed_limit * CV.MS_TO_KPH, frogpilot_toggles.is_metric, frogpilot_toggles)
       else:
-        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -39,15 +39,22 @@ LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
 VERSION = 2
 DEBUG_TORQUE_TUNE = False
 FF_SCALE_BLEND_LAT_ACCEL = 0.05
-DEADZONE_BOOST_LAT_ACCEL = 0.08
+DEADZONE_BOOST_LAT_ACCEL = 0.15
 UNWIND_D_DES_THRESHOLD = -1.0
 UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
 
-BOLT_CARS = (
+BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
   GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+)
+BOLT_2019_2021_CARS = (
   GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
 )
+BOLT_2017_CARS = (
+  GM_CAR.CHEVROLET_BOLT_CC_2017,
+)
+BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2019_2021_CARS + BOLT_2017_CARS
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -71,16 +78,21 @@ class LatControlTorque(LatControl):
     self.prev_desired_lateral_accel = 0.0
 
     self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
+    self.is_bolt_2019_2021 = CP.carFingerprint in BOLT_2019_2021_CARS
+    self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
+    # Keep Bolt-specific FF controls isolated by generation.
+    self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
+    self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
     self.torque_ff_scale_pos = 1.0
     self.torque_ff_scale_neg = 1.0
-    self.torque_deadzone_boost_neg = 0.0
+    self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
     self.torque_ki_mult = 1.0
     if self.is_bolt:
       self.torque_ff_scale_pos = float(self.torque_params.kp)
       self.torque_ff_scale_neg = float(self.torque_params.ki)
       self.torque_ki_mult = float(self.torque_params.kd)
-      self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
-      if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+      if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
         self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
@@ -143,17 +155,16 @@ class LatControlTorque(LatControl):
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
       ff_scale = 1.0
-      if self.is_bolt:
+      if self.use_bolt_ff_scaling:
         ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
                              [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
         ff *= ff_scale
       ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
       deadzone_boost_active = False
-      if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
-        if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
-          boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
-          ff -= self.torque_deadzone_boost_neg * boost_scale
-          deadzone_boost_active = True
+      if self.torque_deadzone_boost > 0.0 and abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
+        boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
+        ff += np.sign(gravity_adjusted_future_lateral_accel) * self.torque_deadzone_boost * boost_scale
+        deadzone_boost_active = True
 
       if CS.vEgo < self.low_speed_reset_threshold:
         self.pid.reset()

selfdrive/controls/lib/longcontrol.py

@@ -5,7 +5,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_dead
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.gm.values import CarControllerParams
+from openpilot.selfdrive.car.gm.values import CarControllerParams, GMFlags
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
@@ -102,8 +102,9 @@ class LongControl:
     self.v_pid = 0.0
     self._mode_setup()
     self.last_output_accel = 0.0
-
-
+    self.last_a_target = 0.0
+    self.integrator_hold_frames = 0
+    self.is_gm_pedal_long = bool(CP.carName == "gm" and CP.enableGasInterceptor and (CP.flags & GMFlags.PEDAL_LONG.value))
 
   def update_mpc_mode(self, experimental_mode):
     new_mode = 'blended' if experimental_mode else 'acc'
@@ -134,6 +135,31 @@ class LongControl:
 
   def reset(self):
     self.pid.reset()
+    self.last_a_target = 0.0
+    self.integrator_hold_frames = 0
+
+  def _get_pedal_long_freeze(self, a_target, error, v_ego, accel_limits):
+    if not self.is_gm_pedal_long:
+      self.last_a_target = a_target
+      self.integrator_hold_frames = 0
+      return False
+
+    handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.35, 0.45, 0.55, 0.70])
+    if abs(a_target - self.last_a_target) > handoff_threshold:
+      hold_frames = int(round(interp(v_ego, [0.0, 4.0, 12.0, 25.0], [25.0, 20.0, 14.0, 10.0])))
+      self.integrator_hold_frames = max(self.integrator_hold_frames, hold_frames)
+    self.last_a_target = a_target
+
+    if self.integrator_hold_frames > 0:
+      self.integrator_hold_frames -= 1
+
+    sat_buffer = 0.03
+    at_neg_sat = self.last_output_accel <= (accel_limits[0] + sat_buffer)
+    at_pos_sat = self.last_output_accel >= (accel_limits[1] - sat_buffer)
+    sat_pushing_lower = at_neg_sat and error < -0.05
+    sat_pushing_upper = at_pos_sat and error > 0.05
+
+    return self.integrator_hold_frames > 0 or sat_pushing_lower or sat_pushing_upper
 
   def update(self, active, CS, a_target, should_stop, accel_limits, frogpilot_toggles):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
@@ -162,7 +188,9 @@ class LongControl:
       error = a_target - CS.aEgo
       self.update_mpc_mode(self.experimental_mode)
       feedforward = a_target * self.feedforward_gain
-      raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward)
+      freeze_integrator = self._get_pedal_long_freeze(a_target, error, CS.vEgo, accel_limits)
+      raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward,
+                                         freeze_integrator=freeze_integrator)
 
 
       if self.transitioning and self.prev_mode == 'acc' and self.current_mode == 'blended':
@@ -179,26 +207,6 @@ class LongControl:
       else:
         output_accel = raw_output_accel
 
-    if self.long_control_state == LongCtrlState.pid:
-      # Smooth acceleration and deceleration with urgency-based rate limiting
-      base_rate = 1.0
-      
-      if output_accel < self.last_output_accel:  # Deceleration requested
-          decel_needed = self.last_output_accel - output_accel
-          # Use a safe default for ACCEL_MIN if not available, to prevent division by zero
-          max_decel = abs(CarControllerParams.ACCEL_MIN) if CarControllerParams.ACCEL_MIN != 0 else 4.0
-          urgency = min(1.0, decel_needed / max_decel)
-          
-          # Adjust rate based on urgency (1.0 m/s^3 for low urgency, up to 4.0 m/s^3 for high urgency)
-          max_rate = 1.0 + 3.0 * urgency
-      else:
-          max_rate = base_rate  # Acceleration is always smooth
-      
-      max_accel_change = max_rate * DT_CTRL
-      output_accel = clip(output_accel,
-                          self.last_output_accel - max_accel_change,
-                          self.last_output_accel + max_accel_change)
-
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel
 
@@ -206,6 +214,8 @@ class LongControl:
     """Reset PID controller and change setpoint"""
     self.pid.reset()
     self.v_pid = v_pid
+    self.last_a_target = 0.0
+    self.integrator_hold_frames = 0
 
   def update_old_long(self, active, CS, long_plan, accel_limits, t_since_plan, frogpilot_toggles):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
@@ -255,10 +265,9 @@ class LongControl:
       # TODO too complex, needs to be simplified and tested on toyotas
       prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
       deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
-      freeze_integrator = prevent_overshoot
-
       error = self.v_pid - CS.vEgo
       error_deadzone = apply_deadzone(error, deadzone)
+      freeze_integrator = prevent_overshoot or self._get_pedal_long_freeze(a_target, error_deadzone, CS.vEgo, accel_limits)
       feedforward = a_target * self.feedforward_gain
       output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
                                      feedforward=feedforward,

selfdrive/controls/lib/longitudinal_planner.py

@@ -21,7 +21,7 @@ A_CRUISE_MIN = -1.0
 A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
 A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.5
+ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Uncertainty-based filter disable thresholds
@@ -120,13 +120,7 @@ class LongitudinalPlanner:
     self.prev_lead_dist = None
     self.last_big_brake_t = 0.0
     self.stable_lead = False
-    # Temporary accel nudge window
-    self.accel_nudge_until = 0.0
-
-    # Hysteresis gate + dwell for accel re-engage and smoothed lead distance
-    self.accel_gate = False
-    self._t_arm = 0.0
-    self._t_disarm = 0.0
+    # Smoothed lead distance
     self.lead_dist_f = None
 
     # Uncertainty slope tracking
@@ -339,38 +333,6 @@ class LongitudinalPlanner:
       except Exception:
         pass
 
-    # now_t defined earlier
-    over = uncertainty > 1.0
-
-    # Asymmetric accel release with hysteresis + dwell to prevent on/off pulsing
-    rise_dwell_s, fall_dwell_s = 0.6, 0.4
-    good = (
-      (self.a_desired > 0.0) and
-      self.stable_lead and
-      (uncertainty <= 0.425) and
-      (desire_entropy < 0.41)
-    )
-
-    # dwell timers for robust gating
-    if good and not self.accel_gate:
-      if now_t - self._t_arm >= rise_dwell_s:
-        self.accel_gate = True
-    else:
-      self._t_arm = now_t
-
-    if (not good) and self.accel_gate:
-      if now_t - self._t_disarm >= fall_dwell_s:
-        self.accel_gate = False
-    else:
-      self._t_disarm = now_t
-
-    if self.accel_gate:
-      # Ensure some positive headroom for MPC to exit coasting
-      accel_limits_turns[1] = max(accel_limits_turns[1], 0.2)
-      # Short self-canceling nudge to unstick (applied post-MPC)
-      if now_t > self.accel_nudge_until:
-        self.accel_nudge_until = now_t + 0.45
-
     self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk,
                          sm['frogpilotPlan'].dangerJerk,
                          sm['frogpilotPlan'].speedJerk,
@@ -379,7 +341,6 @@ class LongitudinalPlanner:
                          v_ego=v_ego,
                          lead_dist=self.lead_dist_f if self.lead_dist_f is not None else lead_dist,
                          uncertainty=uncertainty,
-                         accel_reengage=self.accel_gate,
                          panic_bypass=panic_bypass)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
@@ -426,10 +387,6 @@ class LongitudinalPlanner:
         pre_brake = min(pre_brake, 0.06)
         self.a_desired = float(self.a_desired - pre_brake)
 
-    # Apply tiny feed-forward nudge when released and safe
-    if now_t < self.accel_nudge_until and self.a_desired > -0.1:
-      self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
-
     # Small deadzone around zero accel to kill micro-dithers
     if -0.05 < self.a_desired < 0.05:
       self.a_desired = 0.0

selfdrive/locationd/lagd.py

@@ -33,6 +33,7 @@ MAX_LAT_ACCEL_DIFF = 0.6
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+DEFAULT_STEER_DELAY_OFFSET = 0.19
 
 
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
@@ -165,7 +166,8 @@ class LateralLagEstimator:
     self.window_sec = window_sec
     self.okay_window_sec = okay_window_sec
     self.min_recovery_buffer_sec = min_recovery_buffer_sec
-    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.lagd_disabled = CP.carName == "gm"
+    self.initial_lag = CP.steerActuatorDelay + DEFAULT_STEER_DELAY_OFFSET
     self.block_size = block_size
     self.block_count = block_count
     self.min_valid_block_count = min_valid_block_count
@@ -209,7 +211,9 @@ class LateralLagEstimator:
     liveDelay = msg.liveDelay
 
     valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
-    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+    if self.lagd_disabled:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+    elif self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
       if valid_std > MAX_LAG_STD:
         liveDelay.status = log.LiveDelayData.Status.invalid
       else:
@@ -219,21 +223,26 @@ class LateralLagEstimator:
 
     if frogpilot_toggles.use_custom_steerActuatorDelay:
       liveDelay.lateralDelay = frogpilot_toggles.steerActuatorDelay
+    elif self.lagd_disabled:
+      liveDelay.lateralDelay = self.initial_lag
     elif liveDelay.status == log.LiveDelayData.Status.estimated:
       liveDelay.lateralDelay = valid_mean_lag
     else:
       liveDelay.lateralDelay = self.initial_lag
 
-    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
+    if self.lagd_disabled:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+      liveDelay.lateralDelayEstimateStd = 0.0
+    elif not np.isnan(current_mean_lag) and not np.isnan(current_std):
       liveDelay.lateralDelayEstimate = current_mean_lag
       liveDelay.lateralDelayEstimateStd = current_std
     else:
       liveDelay.lateralDelayEstimate = self.initial_lag
       liveDelay.lateralDelayEstimateStd = 0.0
 
-    liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.validBlocks = 0 if self.lagd_disabled else self.block_avg.valid_blocks
     if debug:
-      liveDelay.points = self.block_avg.values.flatten().tolist()
+      liveDelay.points = [] if self.lagd_disabled else self.block_avg.values.flatten().tolist()
 
     return msg
 
@@ -291,7 +300,7 @@ class LateralLagEstimator:
     self.points.update(self.t, la_desired, la_actual_pose, okay)
 
   def update_estimate(self):
-    if not self.points_enough():
+    if self.lagd_disabled or not self.points_enough():
       return
 
     times, desired, actual, okay = self.points.get()
@@ -372,7 +381,7 @@ def main():
     CP = msg
 
   lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
-  if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
+  if not lag_learner.lagd_disabled and (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)