Tinygrad Bump

This reverts commit 41424d267b.

cereal/custom.capnp

@@ -105,7 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
   isHDA2 @3 :Bool;
   openpilotLongitudinalControlDisabled @4 :Bool;
   safetyConfigs @5 :List(SafetyConfig);
-
+  canUseSASCM @6 :Bool;
 
   struct SafetyConfig {
     safetyParam @0 :UInt16;

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},
@@ -224,6 +227,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AdvancedLateralTune", PERSISTENT},
     {"AdvancedLongitudinalTune", PERSISTENT},
     {"AggressiveFollow", PERSISTENT},
+    {"AggressiveFollowHigh", PERSISTENT},
     {"AggressiveJerkAcceleration", PERSISTENT},
     {"AggressiveJerkDanger", PERSISTENT},
     {"AggressiveJerkDeceleration", PERSISTENT},
@@ -234,6 +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},
@@ -246,6 +251,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"BlacklistedModels", PERSISTENT},
     {"BlindSpotMetrics", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
+    {"BootLogo", PERSISTENT},
     {"BorderMetrics", PERSISTENT},
     {"CalibratedLateralAcceleration", PERSISTENT},
     {"CalibrationProgress", PERSISTENT},
@@ -271,6 +277,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
     {"CEStoppedLead", PERSISTENT},
     {"ClusterOffset", PERSISTENT},
+    {"BootLogoToDownload", CLEAR_ON_MANAGER_START},
     {"ColorToDownload", CLEAR_ON_MANAGER_START},
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
@@ -309,6 +316,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisengageVolume", PERSISTENT},
     {"DoToggleReset", PERSISTENT},
     {"DoToggleResetStock", PERSISTENT},
+    {"DownloadableBootLogos", PERSISTENT},
     {"DownloadableColors", PERSISTENT},
     {"DownloadableDistanceIcons", PERSISTENT},
     {"DownloadableIcons", PERSISTENT},
@@ -320,7 +328,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DynamicPathWidth", PERSISTENT},
     {"DynamicPedalsOnUI", PERSISTENT},
     {"EngageVolume", PERSISTENT},
-    {"ExperimentalGMTune", PERSISTENT},
+    {"EVTuning", PERSISTENT},
+    {"TruckTuning", PERSISTENT},
     {"Fahrenheit", PERSISTENT},
     {"FavoriteDestinations", PERSISTENT | DONT_LOG},
     {"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -348,6 +357,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GasRegenCmd", PERSISTENT},
     {"GMPedalLongitudinal", PERSISTENT},
     {"GoatScream", PERSISTENT},
+    {"GoatScreamCriticalAlerts", PERSISTENT},
     {"GreenLightAlert", PERSISTENT},
     {"HideAlerts", PERSISTENT},
     {"HideLeadMarker", PERSISTENT},
@@ -456,6 +466,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RandomThemes", PERSISTENT},
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
+    {"RelaxedFollowHigh", PERSISTENT},
     {"RelaxedJerkAcceleration", PERSISTENT},
     {"RelaxedJerkDanger", PERSISTENT},
     {"RelaxedJerkDeceleration", PERSISTENT},
@@ -466,6 +477,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", CLEAR_ON_MANAGER_START},
     {"RoadNameUI", PERSISTENT},
+    {"RedPanda", PERSISTENT},
+    {"RemapCancelToDistance", PERSISTENT},
+    {"RemoteStartBootsComma", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"ScreenBrightnessOnroad", PERSISTENT},
@@ -515,6 +529,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
     {"SpeedLimitSources", PERSISTENT},
     {"StandardFollow", PERSISTENT},
+    {"StandardFollowHigh", PERSISTENT},
     {"StandardJerkAcceleration", PERSISTENT},
     {"StandardJerkDanger", PERSISTENT},
     {"StandardJerkDeceleration", PERSISTENT},
@@ -531,6 +546,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SteerDelayStock", PERSISTENT},
     {"SteerFriction", PERSISTENT},
     {"SteerFrictionStock", PERSISTENT},
+    {"SteerOffset", PERSISTENT},
+    {"SteerOffsetStock", PERSISTENT},
     {"SteerLatAccel", PERSISTENT},
     {"SteerLatAccelStock", PERSISTENT},
     {"SteerKP", PERSISTENT},
@@ -545,6 +562,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StoppedTimer", PERSISTENT},
     {"TacoTune", PERSISTENT},
     {"TacoTuneHacks", PERSISTENT},
+    {"TrailerLoad", PERSISTENT},
     {"TestAlert", CLEAR_ON_MANAGER_START},
     {"TetheringEnabled", PERSISTENT},
     {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
@@ -584,6 +602,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
     {"StopDistance", PERSISTENT},
+    {"RecoveryPower", PERSISTENT},
     {"WheelToDownload", CLEAR_ON_MANAGER_START},
 };
 

frogpilot/assets/download_functions.py

@@ -29,13 +29,15 @@ def check_github_rate_limit():
     print(f"Error checking GitHub rate limit: {error}")
     return False
 
-def download_file(cancel_param, destination, progress_param, url, download_param, params_memory):
+def download_file(cancel_param, destination, progress_param, url, download_param, params_memory, allow_unknown_size=False, suppress_errors=False):
   try:
     destination.parent.mkdir(parents=True, exist_ok=True)
 
-    total_size = get_remote_file_size(url)
-    if total_size == 0:
+    total_size = get_remote_file_size(url, suppress_errors=suppress_errors or allow_unknown_size)
+    if total_size == 0 and not allow_unknown_size:
       if not url.endswith(".gif"):
+        if suppress_errors:
+          return
         handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param, params_memory)
       return
 
@@ -56,24 +58,30 @@ def download_file(cancel_param, destination, progress_param, url, download_param
             temp_file.write(chunk)
             downloaded_size += len(chunk)
 
-            progress = (downloaded_size / total_size) * 100
-            if progress != 100:
-              params_memory.put(progress_param, f"{progress:.0f}%")
-            else:
+            if total_size > 0:
+              progress = (downloaded_size / total_size) * 100
+              if progress != 100:
+                params_memory.put(progress_param, f"{progress:.0f}%")
+              else:
+                params_memory.put(progress_param, "Verifying authenticity...")
+            elif downloaded_size > 0:
               params_memory.put(progress_param, "Verifying authenticity...")
 
         temp_file_path.rename(destination)
 
   except Exception as error:
+    if suppress_errors:
+      return
     handle_request_error(error, destination, download_param, progress_param, params_memory)
 
-def get_remote_file_size(url):
+def get_remote_file_size(url, suppress_errors=False):
   try:
     response = requests.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
     response.raise_for_status()
     return int(response.headers.get("Content-Length", 0))
   except Exception as error:
-    handle_request_error(error, None, None, None, None)
+    if not suppress_errors:
+      handle_request_error(error, None, None, None, None)
     return 0
 
 def get_repository_url():
@@ -104,8 +112,17 @@ def handle_request_error(error, destination, download_param, progress_param, par
   error_message = error_map.get(type(error), "Unexpected error")
   handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)
 
-def verify_download(file_path, url):
-  remote_file_size = get_remote_file_size(url)
+def verify_download(file_path, url, allow_unknown_size=False):
+  remote_file_size = get_remote_file_size(url, suppress_errors=allow_unknown_size)
+
+  if remote_file_size == 0 and allow_unknown_size:
+    if not file_path.is_file():
+      print(f"File not found: {file_path}")
+      return False
+    if file_path.stat().st_size == 0:
+      print(f"File is empty: {file_path}")
+      return False
+    return True
 
   if remote_file_size == 0:
     print(f"Error fetching remote size for {file_path}")

frogpilot/assets/model_manager.py

@@ -13,7 +13,7 @@ from openpilot.frogpilot.assets.download_functions import GITLAB_URL, download_f
 from openpilot.frogpilot.common.frogpilot_utilities import delete_file
 from openpilot.frogpilot.common.frogpilot_variables import DEFAULT_MODEL, MODELS_PATH, params, params_default, params_memory
 
-VERSION = "v20"
+VERSION = "v21"
 
 CANCEL_DOWNLOAD_PARAM = "CancelModelDownload"
 DOWNLOAD_PROGRESS_PARAM = "ModelDownloadProgress"
@@ -107,7 +107,7 @@ class ModelManager:
       self.downloading_model = False
       return
 
-    if model_version in ("v8", "v9", "v10", "v11"):
+    if model_version in ("v8", "v9", "v10", "v11", "v12"):
       # Download all PKL and metadata files for multi-file tinygrad models (v8 and v9)
       filenames = [
           f"{model_to_download}_driving_policy_tinygrad.pkl",
@@ -115,6 +115,11 @@ class ModelManager:
           f"{model_to_download}_driving_policy_metadata.pkl",
           f"{model_to_download}_driving_vision_metadata.pkl",
       ]
+      if model_version == "v12":
+        filenames += [
+          f"{model_to_download}_driving_off_policy_tinygrad.pkl",
+          f"{model_to_download}_driving_off_policy_metadata.pkl",
+        ]
       for filename in filenames:
         model_path = MODELS_PATH / filename
         model_url = f"{repo_url}/Models/{filename}"
@@ -208,13 +213,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         if all((MODELS_PATH / f).is_file() for f in v8_v9_files):
           downloaded_models.add(model)
       elif model_version == "v7":
@@ -259,13 +269,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         for filename in v8_v9_files:
           path = MODELS_PATH / filename
           expected_size = model_sizes.get(filename.rsplit(".", 1)[0])
@@ -378,13 +393,18 @@ class ModelManager:
           handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
           return
 
-        if model_version in ("v8", "v9", "v10", "v11"):
+        if model_version in ("v8", "v9", "v10", "v11", "v12"):
           required_files = [
               f"{model}_driving_policy_tinygrad.pkl",
               f"{model}_driving_vision_tinygrad.pkl",
               f"{model}_driving_policy_metadata.pkl",
               f"{model}_driving_vision_metadata.pkl",
           ]
+          if model_version == "v12":
+            required_files += [
+              f"{model}_driving_off_policy_tinygrad.pkl",
+              f"{model}_driving_off_policy_metadata.pkl",
+            ]
           missing = [f for f in required_files if not (MODELS_PATH / f).is_file()]
           if missing:
             print(f"Tinygrad model {model} is missing files. Preparing to download...")

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_HYBRID_CC.json

@@ -0,0 +1 @@
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frogpilot/assets/nnff_models/CHEVROLET_VOLT_2019.json

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frogpilot/assets/nnff_models/CHEVROLET_VOLT_ASCM.json

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frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/theme_manager.py

@@ -37,6 +37,7 @@ HOLIDAY_SLUGS = {
 }
 
 THEME_COMPONENT_PARAMS = {
+  "boot_logos": "BootLogoToDownload",
   "colors": "ColorToDownload",
   "distance_icons": "DistanceIconToDownload",
   "icons": "IconToDownload",
@@ -93,8 +94,16 @@ class ThemeManager:
     steering_wheel_save_path.parent.mkdir(parents=True, exist_ok=True)
     shutil.copy2(steering_wheel_image_path, steering_wheel_save_path)
 
+    default_boot_logo_path = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    boot_logo_save_path = THEME_SAVE_PATH / "bootlogos/starpilot.png"
+    boot_logo_save_path.parent.mkdir(parents=True, exist_ok=True)
+    if not boot_logo_save_path.exists():
+      shutil.copy2(default_boot_logo_path, boot_logo_save_path)
+
   def download_theme(self, theme_component, theme_name, asset_param, frogpilot_toggles):
     self.downloading_theme = True
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    name_candidates = [theme_name]
 
     repo_url = get_repository_url()
     if not repo_url:
@@ -102,7 +111,12 @@ class ThemeManager:
       self.downloading_theme = False
       return
 
-    if theme_component == "distance_icons":
+    if theme_component == "boot_logos":
+      download_link = f"{repo_url}/Themes/bootlogo"
+      download_path = THEME_SAVE_PATH / "bootlogos" / theme_name
+      extensions = [".png", ".jpg", ".jpeg"]
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{repo_url}/Distance-Icons/{theme_name}"
       download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component
       extensions = [".zip"]
@@ -117,37 +131,40 @@ class ThemeManager:
 
     for extension in extensions:
       theme_path = download_path.with_suffix(extension)
-      theme_url = download_link + extension
+      theme_urls = [f"{download_link}/{candidate}{extension}" for candidate in name_candidates]
+      if theme_component != "boot_logos":
+        theme_urls = [download_link + extension]
 
-      delete_file(theme_path)
-
-      print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+      for theme_url in theme_urls:
         delete_file(theme_path)
-        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        self.downloading_theme = False
-        return
+        print(f"Downloading theme from GitHub: {theme_name}")
+        download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-      if verify_download(theme_path, theme_url):
-        print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
-        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+          delete_file(theme_path)
+          handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        if extension == ".zip":
-          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-          extract_zip(theme_path, download_path)
+          self.downloading_theme = False
+          return
 
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        params_memory.remove(asset_param)
+        if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+          print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
+          self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-        self.downloading_theme = False
+          if extension == ".zip":
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+            extract_zip(theme_path, download_path)
 
-        self.update_themes(frogpilot_toggles)
-        return
-      elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-        return
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+          params_memory.remove(asset_param)
+
+          self.downloading_theme = False
+
+          self.update_themes(frogpilot_toggles)
+          return
+        elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
+          return
 
     handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     self.downloading_theme = False
@@ -158,7 +175,7 @@ class ThemeManager:
 
     repo_encoded = quote_plus(RESOURCES_REPO)
 
-    assets = {"themes": {}, "wheels": []}
+    assets = {"boot_logos": [], "themes": {}, "wheels": []}
     try:
       def list_files(branch):
         if is_github:
@@ -234,6 +251,20 @@ class ThemeManager:
         theme_name, sub_path = item["path"].split("/", 1)
         theme_path = sub_path.lower()
 
+        if theme_name.lower() == "bootlogo":
+          if Path(sub_path).suffix.lower() not in (".png", ".jpg", ".jpeg"):
+            continue
+
+          assets["boot_logos"].append(sub_path)
+          logo_name = Path(sub_path).stem
+          local_files = list((THEME_SAVE_PATH / "bootlogos").glob(f"{logo_name}.*"))
+          if local_files and expected_size > 0:
+            local_size = self.theme_sizes.get("boot_logos", {}).get(logo_name)
+            if local_size != expected_size:
+              print(f"boot logo {logo_name} is outdated, redownloading...")
+              self.download_theme("boot_logos", logo_name, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+          continue
+
         for key in ("colors", "icons", "signals", "sounds"):
           if key in theme_path:
             assets["themes"].setdefault(theme_name, set()).add(key)
@@ -246,6 +277,7 @@ class ThemeManager:
                 self.download_theme(key, theme_name, THEME_COMPONENT_PARAMS[key], frogpilot_toggles)
             break
 
+      assets["boot_logos"].sort()
       assets["themes"] = {key: sorted(list(value)) for key, value in assets["themes"].items()}
       assets["wheels"].sort()
       return assets
@@ -265,7 +297,7 @@ class ThemeManager:
     parts = base.replace("_", "-").split("-")
     capitalized_parts = [part.capitalize() for part in parts if part]
 
-    if len(capitalized_parts) > 1 and component != "steering_wheels":
+    if len(capitalized_parts) > 1 and component not in {"boot_logos", "steering_wheels"}:
       display = f"{capitalized_parts[0]} ({' '.join(capitalized_parts[1:])})"
     else:
       display = " ".join(capitalized_parts)
@@ -321,37 +353,44 @@ class ThemeManager:
     }
 
   def handle_verification_failure(self, extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-    if theme_component == "distance_icons":
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    if theme_component == "boot_logos":
+      download_link = f"{GITLAB_URL}/Themes/bootlogo"
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{GITLAB_URL}/Distance-Icons/{theme_name}"
+      name_candidates = [theme_name]
     elif theme_component == "steering_wheels":
       download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}"
+      name_candidates = [theme_name]
     else:
       download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}"
+      name_candidates = [theme_name]
 
-    delete_file(theme_path)
+    for candidate in name_candidates:
+      delete_file(theme_path)
 
-    theme_url = download_link + extension
-    print(f"Downloading theme from GitLab: {theme_name}")
-    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
+      theme_url = f"{download_link}/{candidate}{extension}" if theme_component == "boot_logos" else download_link + extension
+      print(f"Downloading theme from GitLab: {theme_name}")
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-    if verify_download(theme_path, theme_url):
-      print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
-      self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+      if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+        print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
+        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-      if extension == ".zip":
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-        extract_zip(theme_path, download_path)
+        if extension == ".zip":
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          extract_zip(theme_path, download_path)
 
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-      params_memory.remove(asset_param)
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(asset_param)
 
-      self.downloading_theme = False
+        self.downloading_theme = False
 
-      self.update_themes(frogpilot_toggles)
-      return True
+        self.update_themes(frogpilot_toggles)
+        return True
 
-    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
-    self.downloading_theme = False
+    # Let the caller continue trying alternate extensions before surfacing failure.
     return False
 
   @staticmethod
@@ -415,6 +454,8 @@ class ThemeManager:
     return random.choice(candidates) if candidates else "stock"
 
   def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False, randomize_theme=False):
+    boot_logo = getattr(frogpilot_toggles, "boot_logo", "stock")
+
     if time_validated and frogpilot_toggles.holiday_themes:
       self.holiday_theme = self.update_holiday()
     else:
@@ -422,6 +463,7 @@ class ThemeManager:
 
     if self.holiday_theme != "stock":
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", self.holiday_theme),
         "distance_icons": ("distance_icons", self.holiday_theme),
         "icon_pack": ("icons", self.holiday_theme),
@@ -434,6 +476,7 @@ class ThemeManager:
       selected_theme = self.randomize_theme_asset(available_themes)
 
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", selected_theme.replace("-animated", "")),
         "distance_icons": ("distance_icons", self.randomize_distance_icons(available_themes, selected_theme.replace("-animated", ""))),
         "icon_pack": ("icons", selected_theme),
@@ -444,6 +487,7 @@ class ThemeManager:
 
     elif not frogpilot_toggles.random_themes:
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", frogpilot_toggles.color_scheme),
         "distance_icons": ("distance_icons", frogpilot_toggles.distance_icons),
         "icon_pack": ("icons", frogpilot_toggles.icon_pack),
@@ -458,7 +502,9 @@ class ThemeManager:
       for asset, (asset_type, current_value) in asset_mappings.items():
         print(f"Updating {asset}: {asset_type} with value {current_value}")
 
-        if asset_type == "wheel_image":
+        if asset_type == "boot_logo":
+          self.update_boot_logo(current_value)
+        elif asset_type == "wheel_image":
           self.update_wheel_image(current_value, boot_run=boot_run)
         else:
           self.update_theme_asset(asset_type, current_value, boot_run=boot_run)
@@ -499,9 +545,16 @@ class ThemeManager:
     save_location.symlink_to(asset_location, target_is_directory=True)
     print(f"Linked {save_location} to {asset_location}")
 
-  def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
+  def update_theme_params(self, downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
     def update_param(key, assets, subfolder):
-      if subfolder == "steering_wheels":
+      if subfolder == "boot_logos":
+        themes_path = THEME_SAVE_PATH / "bootlogos"
+        existing_assets = {item.stem.lower() for item in themes_path.glob("*") if item.is_file()}
+        pending_assets = [asset for asset in assets if asset.lower() not in existing_assets]
+        params.put(key, ",".join(sorted(set(pending_assets))))
+        print(f"{key} updated successfully")
+        return
+      elif subfolder == "steering_wheels":
         themes_path = THEME_SAVE_PATH / subfolder
         existing_assets = {self.format_name(item.name, "steering_wheels") for item in themes_path.glob("*") if item.is_file()}
       else:
@@ -511,6 +564,7 @@ class ThemeManager:
       params.put(key, ",".join(sorted(set(assets) - existing_assets)))
       print(f"{key} updated successfully")
 
+    update_param("DownloadableBootLogos", downloadable_boot_logos, "boot_logos")
     update_param("DownloadableColors", downloadable_colors, "colors")
     update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons")
     update_param("DownloadableIcons", downloadable_icons, "icons")
@@ -529,12 +583,20 @@ class ThemeManager:
         theme_name = self.format_name(theme_dir.name, "theme_packs")
         downloaded_themes[theme_name] = sorted(components)
 
+    (THEME_SAVE_PATH / "bootlogos").mkdir(parents=True, exist_ok=True)
+
+    downloaded_boot_logos = []
+    for boot_logo_file in (THEME_SAVE_PATH / "bootlogos").iterdir():
+      if boot_logo_file.is_file():
+        downloaded_boot_logos.append(self.format_name(boot_logo_file.name, "boot_logos"))
+
     downloaded_wheels = []
     for wheel_file in (THEME_SAVE_PATH / "steering_wheels").iterdir():
       if wheel_file.is_file():
         downloaded_wheels.append(self.format_name(wheel_file.name, "steering_wheels"))
 
     params.put("ThemesDownloaded", json.dumps({
+      "boot_logos": sorted(downloaded_boot_logos),
       "themes": {key: downloaded_themes[key] for key in sorted(downloaded_themes)},
       "steering_wheels": sorted(downloaded_wheels)
     }))
@@ -542,7 +604,9 @@ class ThemeManager:
     print("ThemesDownloaded updated successfully")
 
   def update_theme_size(self, theme_component, theme_name, file_size):
-    if theme_component == "steering_wheels":
+    if theme_component == "boot_logos":
+      key = "boot_logos"
+    elif theme_component == "steering_wheels":
       key = "wheels"
     else:
       key = "themes"
@@ -550,7 +614,7 @@ class ThemeManager:
     if key not in self.theme_sizes:
       self.theme_sizes[key] = {}
 
-    if key == "wheels":
+    if key in {"boot_logos", "wheels"}:
       self.theme_sizes[key][theme_name] = file_size
     else:
       if theme_name not in self.theme_sizes[key]:
@@ -572,6 +636,7 @@ class ThemeManager:
     if not assets:
       return
 
+    downloadable_boot_logos = []
     downloadable_colors = []
     downloadable_distance_icons = []
     downloadable_icons = []
@@ -593,8 +658,10 @@ class ThemeManager:
       if "sounds" in available_assets:
         downloadable_sounds.append(theme_name)
 
+    downloadable_boot_logos = [Path(boot_logo).stem for boot_logo in assets["boot_logos"]]
     downloadable_wheels = [self.format_name(wheel, "steering_wheels") for wheel in assets["wheels"]]
 
+    print(f"Downloadable Boot Logos: {downloadable_boot_logos}")
     print(f"Downloadable Colors: {downloadable_colors}")
     print(f"Downloadable Icons: {downloadable_icons}")
     print(f"Downloadable Signals: {downloadable_signals}")
@@ -605,7 +672,21 @@ class ThemeManager:
     if boot_run:
       self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles)
 
-    self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+    self.update_theme_params(downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+
+  @staticmethod
+  def update_boot_logo(image):
+    boot_logo_location = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    image_name = image.replace(" ", "_").lower()
+    source_file = next((file for file in (THEME_SAVE_PATH / "bootlogos").glob("*") if file.is_file() and file.stem.lower() == image_name), boot_logo_location)
+
+    # Avoid SameFileError when the selected/fallback source is already the active boot logo.
+    if source_file.resolve() == boot_logo_location.resolve():
+      print(f"Boot logo unchanged: {boot_logo_location}")
+      return
+
+    shutil.copy2(source_file, boot_logo_location)
+    print(f"Copied {source_file} to {boot_logo_location}")
 
   def update_wheel_image(self, image, boot_run=False, random_event=False):
     wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel"
@@ -641,6 +722,15 @@ class ThemeManager:
   def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles):
     downloaded_data = json.loads(params.get("ThemesDownloaded") or "{}")
 
+    boot_logos_path = THEME_SAVE_PATH / "bootlogos"
+    for display_name in downloaded_data.get("boot_logos", []):
+      file_stem = display_name.replace(" ", "_").lower()
+      matching_files = list(boot_logos_path.glob(f"{file_stem}.*"))
+      if not matching_files:
+        print(f"Missing boot logo '{display_name}'. Downloading...")
+        self.download_theme("boot_logos", file_stem, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+        self.update_active_theme(True, frogpilot_toggles)
+
     for display_name, components in downloaded_data.get("themes", {}).items():
       raw_name = display_name.lower().replace(" ", "_").replace("(", "").replace(")", "")
       theme_folder_name = raw_name.replace("_animated", "-animated")

frogpilot/common/frogpilot_utilities.py

@@ -2,6 +2,7 @@
 import json
 import math
 import numpy as np
+import os
 import requests
 import shutil
 import subprocess
@@ -22,7 +23,7 @@ from opendbc.can.parser import CANParser
 from openpilot.common.realtime import DT_DMON, DT_HW
 from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
 from openpilot.system.hardware import HARDWARE
-from panda import Panda
+from panda import Panda, FW_PATH
 
 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_cache, params_memory
 
@@ -151,11 +152,21 @@ def extract_zip(zip_file, extract_path):
   print(f"Extraction completed: {zip_file} has been removed")
 
 def flash_panda():
+  remote_start = params.get_bool("RemoteStartBootsComma")
   for serial in Panda.list():
     try:
       panda = Panda(serial)
+      flash_fn = None
+      if remote_start:
+        app_fn = panda.get_mcu_type().config.app_fn
+        remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+        candidate = os.path.join(FW_PATH, remote_fn)
+        if os.path.isfile(candidate):
+          flash_fn = candidate
+        else:
+          print(f"Remote-start panda firmware missing: {candidate}. Falling back to default firmware.")
       panda.reset(enter_bootstub=True)
-      panda.flash()
+      panda.flash(fn=flash_fn)
       panda.close()
     except Exception as exception:
       print(f"Error flashing Panda {serial}: {exception}")

frogpilot/common/frogpilot_variables.py

@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.gm.values import GMFlags
+from openpilot.selfdrive.car.gm.values import EV_CAR as GM_EV_CAR, GMFlags
+from openpilot.selfdrive.car.hyundai.values import EV_CAR as HYUNDAI_EV_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.mock.interface import CarInterface
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
@@ -32,6 +33,7 @@ params_memory = Params("/dev/shm/params")
 
 GearShifter = car.CarState.GearShifter
 SafetyModel = car.CarParams.SafetyModel
+TransmissionType = car.CarParams.TransmissionType
 
 CITY_SPEED_LIMIT = 25                     # 55mph is typically the minimum speed for highways
 CRUISING_SPEED = 5                        # Roughly the speed cars go when not touching the gas while in drive
@@ -94,6 +96,8 @@ EXCLUDED_KEYS = {
 }
 
 TINYGRAD_FILES = [
+  ("driving_off_policy_metadata.pkl", "off-policy metadata"),
+  ("driving_off_policy_tinygrad.pkl", "off-policy model"),
   ("driving_policy_metadata.pkl", "policy metadata"),
   ("driving_policy_tinygrad.pkl", "policy model"),
   ("driving_vision_metadata.pkl", "vision metadata"),
@@ -126,9 +130,12 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AdjacentPath", "0", 3, "0"),
   ("AdjacentPathMetrics", "0", 3, "0"),
   ("AdvancedCustomUI", "0", 2, "0"),
-  ("AdvancedLateralTune", "0", 2, "0"),
+  ("AdvancedLateralTune", "1", 2, "0"),
   ("AdvancedLongitudinalTune", "0", 3, "0"),
+  ("EVTuning", "", 3, "0"),
+  ("TruckTuning", "0", 3, "0"),
   ("AggressiveFollow", "1.25", 2, "1.25"),
+  ("AggressiveFollowHigh", "1.25", 2, "1.25"),
   ("AggressiveJerkAcceleration", "50", 3, "50"),
   ("AggressiveJerkDanger", "100", 3, "100"),
   ("AggressiveJerkDeceleration", "50", 3, "50"),
@@ -140,6 +147,7 @@ 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"),
@@ -153,7 +161,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("BlacklistedModels", "", 2, ""),
   ("BlindSpotMetrics", "1", 3, "0"),
   ("BlindSpotPath", "1", 1, "0"),
-  ("BorderMetrics", "0", 3, "0"),
+  ("BootLogo", "starpilot", 0, "stock"),
+  ("BorderMetrics", "1", 3, "0"),
   ("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
   ("CalibrationProgress", "0", 3, "0"),
   ("CameraView", "3", 2, "0"),
@@ -164,7 +173,7 @@ 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"),
@@ -192,7 +201,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("CustomUI", "1", 1, "0"),
   ("DecelerationProfile", "1", 2, "0"),
   ("DeveloperMetrics", "1", 3, "0"),
-  ("DeveloperSidebar", "1", 3, "0"),
+  ("DeveloperSidebar", "0", 3, "0"),
   ("DeveloperSidebarMetric1", "1", 3, "0"),
   ("DeveloperSidebarMetric2", "2", 3, "0"),
   ("DeveloperSidebarMetric3", "3", 3, "0"),
@@ -201,7 +210,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("DeveloperSidebarMetric6", "6", 3, "0"),
   ("DeveloperSidebarMetric7", "7", 3, "0"),
   ("DeveloperWidgets", "1", 3, "0"),
-  ("DeveloperUI", "0", 3, "0"),
+  ("DeveloperUI", "1", 3, "0"),
   ("DeviceManagement", "1", 1, "0"),
   ("DeviceShutdown", "9", 1, "33"),
   ("DisableOnroadUploads", "0", 2, "0"),
@@ -213,13 +222,12 @@ 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"),
   ("FavoriteDestinations", "", 0, ""),
   ("ForceAutoTune", "0", 2, "0"),
-  ("ForceAutoTuneOff", "0", 2, "0"),
+  ("ForceAutoTuneOff", "1", 2, "0"),
   ("ForceFingerprint", "0", 2, "0"),
   ("ForceMPHDashboard", "0", 2, "0"),
   ("ForceStops", "0", 2, "0"),
@@ -231,9 +239,13 @@ 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"),
@@ -270,6 +282,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("LongitudinalActuatorDelay", "", 3, ""),
   ("LongitudinalActuatorDelayStock", "", 3, ""),
   ("LongitudinalTune", "1", 0, "0"),
+  ("TrailerLoad", "0", 2, "0"),
   ("LongPitch", "1", 2, "0"),
   ("LoudBlindspotAlert", "0", 0, "0"),
   ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
@@ -329,13 +342,14 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("RecordFront", "0", 0, "0"),
   ("RefuseVolume", "101", 2, "101"),
   ("RelaxedFollow", "1.75", 2, "1.75"),
+  ("RelaxedFollowHigh", "1.75", 2, "1.75"),
   ("RelaxedJerkAcceleration", "50", 3, "50"),
   ("RelaxedJerkDanger", "100", 3, "100"),
   ("RelaxedJerkDeceleration", "50", 3, "50"),
   ("RelaxedJerkSpeed", "50", 3, "50"),
   ("RelaxedJerkSpeedDecrease", "50", 3, "50"),
   ("RelaxedPersonalityProfile", "1", 2, "0"),
-  ("ReverseCruise", "0", 1, "0"),
+  ("ReverseCruise", "1", 1, "0"),
   ("RoadEdgesWidth", "2", 2, "2"),
   ("RoadNameUI", "1", 2, "0"),
   ("RotatingWheel", "1", 1, "0"),
@@ -359,7 +373,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("ShownToggleDescriptions", "", 0, ""),
   ("ShowSLCOffset", "1", 0, "0"),
   ("ShowSpeedLimits", "1", 1, "0"),
-  ("ShowSteering", "0", 3, "0"),
+  ("ShowSteering", "1", 3, "0"),
   ("ShowStoppingPoint", "0", 2, "0"),
   ("ShowStoppingPointMetrics", "0", 2, "0"),
   ("ShowStorageLeft", "0", 3, "0"),
@@ -386,6 +400,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0, "Always keep hands on wheel and eyes on road"),
   ("StartupMessageTop", "Hop in and buckle up!", 0, "Be ready to take over at any time"),
   ("StandardFollow", "1.45", 2, "1.45"),
+  ("StandardFollowHigh", "1.45", 2, "1.45"),
   ("StandardJerkAcceleration", "50", 3, "50"),
   ("StandardJerkDanger", "100", 3, "100"),
   ("StandardJerkDeceleration", "50", 3, "50"),
@@ -400,6 +415,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("SteerDelayStock", "", 3, ""),
   ("SteerFriction", "", 3, ""),
   ("SteerFrictionStock", "", 3, ""),
+  ("SteerOffset", "", 3, ""),
+  ("SteerOffsetStock", "", 3, ""),
   ("SteerKP", "", 3, ""),
   ("SteerKPStock", "", 3, ""),
   ("SteerLatAccel", "", 3, ""),
@@ -422,8 +439,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("TrafficJerkSpeed", "50", 3, "50"),
   ("TrafficJerkSpeedDecrease", "50", 3, "50"),
   ("TrafficPersonalityProfile", "1", 2, "0"),
-  ("TuningLevel", "0", 0, "0"),
-  ("TuningLevelConfirmed", "0", 0, "0"),
+  ("TuningLevel", "3", 0, "0"),
+  ("TuningLevelConfirmed", "1", 0, "0"),
   ("TurnDesires", "0", 2, "0"),
   ("UnlimitedLength", "1", 2, "0"),
   ("UnlockDoors", "1", 0, "0"),
@@ -441,7 +458,8 @@ 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")
 ]
 
 misc_tuning_levels: list[tuple[str, str | bytes, int, str]] = [
@@ -559,8 +577,10 @@ 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)
     has_sng = CP.autoResumeSng
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
@@ -604,14 +624,37 @@ class FrogPilotVariables:
     toggle.steerActuatorDelay = np.clip(params.get_float("SteerDelay"), 0.01, 1.0) if advanced_lateral_tuning and tuning_level >= level["SteerDelay"] else steerActuatorDelay
     toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
     toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
+    toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
     toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
+    gm_ev_vehicle = toggle.car_make == "gm" and CP.carFingerprint in GM_EV_CAR
+    gm_ev_vehicle &= not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC"))
+    gm_ev_vehicle &= toggle.car_model != "CHEVROLET_MALIBU_HYBRID_CC"
+    ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
+    ev_vehicle |= CP.transmissionType == TransmissionType.direct
+
+    if params.get("EVTuning") == b"":
+      params.put_bool("EVTuning", ev_vehicle)
+
+    if params.get("TruckTuning") == b"":
+      params.put_bool("TruckTuning", False)
+
+    ev_tuning_param = params.get_bool("EVTuning")
+    truck_tuning_param = params.get_bool("TruckTuning")
+
+    # Enforce exclusivity between EV and Truck tuning.
+    if truck_tuning_param and ev_tuning_param:
+      ev_tuning_param = False
+      params.put_bool("EVTuning", False)
+
+    toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
+    toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
     toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
     toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
     toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -621,6 +664,8 @@ class FrogPilotVariables:
 
     toggle.stop_distance = params.get_float("StopDistance") if advanced_longitudinal_tuning and tuning_level >= level["StopDistance"] else 6.0
 
+    toggle.recovery_power = np.clip(params.get_float("RecoveryPower"), 0.5, 2.0) if advanced_longitudinal_tuning and tuning_level >= level["RecoveryPower"] else 1.0
+
     toggle.alert_volume_controller = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
     toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_controller and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
     toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_controller and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
@@ -640,7 +685,7 @@ 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"))
@@ -664,6 +709,7 @@ 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"))
@@ -676,28 +722,31 @@ class FrogPilotVariables:
     toggle.aggressive_jerk_danger = np.clip(params.get_int("AggressiveJerkDanger") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else default.get_int("AggressiveJerkDanger") / 100
     toggle.aggressive_jerk_speed = np.clip(params.get_int("AggressiveJerkSpeed") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else default.get_int("AggressiveJerkSpeed") / 100
     toggle.aggressive_jerk_speed_decrease = np.clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else default.get_int("AggressiveJerkSpeedDecrease") / 100
-    toggle.aggressive_follow = np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow")
+    toggle.aggressive_follow = [np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow"),
+                                np.clip(params.get_float("AggressiveFollowHigh"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollowHigh"] else default.get_float("AggressiveFollowHigh")]
     standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
     toggle.standard_jerk_acceleration = np.clip(params.get_int("StandardJerkAcceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else default.get_int("StandardJerkAcceleration") / 100
     toggle.standard_jerk_deceleration = np.clip(params.get_int("StandardJerkDeceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else default.get_int("StandardJerkDeceleration") / 100
     toggle.standard_jerk_danger = np.clip(params.get_int("StandardJerkDanger") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDanger"] else default.get_int("StandardJerkDanger") / 100
     toggle.standard_jerk_speed = np.clip(params.get_int("StandardJerkSpeed") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else default.get_int("StandardJerkSpeed") / 100
     toggle.standard_jerk_speed_decrease = np.clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else default.get_int("StandardJerkSpeedDecrease") / 100
-    toggle.standard_follow = np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow")
+    toggle.standard_follow = [np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow"),
+                              np.clip(params.get_float("StandardFollowHigh"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollowHigh"] else default.get_float("StandardFollowHigh")]
     relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
     toggle.relaxed_jerk_acceleration = np.clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else default.get_int("RelaxedJerkAcceleration") / 100
     toggle.relaxed_jerk_deceleration = np.clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else default.get_int("RelaxedJerkDeceleration") / 100
     toggle.relaxed_jerk_danger = np.clip(params.get_int("RelaxedJerkDanger") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else default.get_int("RelaxedJerkDanger") / 100
     toggle.relaxed_jerk_speed = np.clip(params.get_int("RelaxedJerkSpeed") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else default.get_int("RelaxedJerkSpeed") / 100
     toggle.relaxed_jerk_speed_decrease = np.clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else default.get_int("RelaxedJerkSpeedDecrease") / 100
-    toggle.relaxed_follow = np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow")
+    toggle.relaxed_follow = [np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow"),
+                             np.clip(params.get_float("RelaxedFollowHigh"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollowHigh"] else default.get_float("RelaxedFollowHigh")]
     traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
     toggle.traffic_mode_jerk_acceleration = [np.clip(params.get_int("TrafficJerkAcceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else default.get_int("TrafficJerkAcceleration") / 100, toggle.aggressive_jerk_acceleration]
     toggle.traffic_mode_jerk_deceleration = [np.clip(params.get_int("TrafficJerkDeceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else default.get_int("TrafficJerkDeceleration") / 100, toggle.aggressive_jerk_deceleration]
     toggle.traffic_mode_jerk_danger = [np.clip(params.get_int("TrafficJerkDanger") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else default.get_int("TrafficJerkDanger") / 100, toggle.aggressive_jerk_danger]
     toggle.traffic_mode_jerk_speed = [np.clip(params.get_int("TrafficJerkSpeed") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else default.get_int("TrafficJerkSpeed") / 100, toggle.aggressive_jerk_speed]
     toggle.traffic_mode_jerk_speed_decrease = [np.clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else default.get_int("TrafficJerkSpeedDecrease") / 100, toggle.aggressive_jerk_speed_decrease]
-    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow]
+    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow[0]]
 
     custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
     toggle.acceleration_path = toggle.openpilot_longitudinal and (custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) or toggle.debug_mode)
@@ -746,6 +795,7 @@ 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
@@ -777,10 +827,11 @@ 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
 
@@ -826,6 +877,7 @@ class FrogPilotVariables:
     toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
     toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
     toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
+    toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
     toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
 
     toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""
@@ -866,7 +918,7 @@ class FrogPilotVariables:
         toggle.model_version = DEFAULT_MODEL_VERSION
     toggle.classic_longitudinal = toggle.model_version in {"v1", "v2", "v3", "v4"}
     toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
-    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11"}
+    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12"}
     toggle.tomb_raider = toggle.model == "space-lab"
 
     toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI")
@@ -890,6 +942,7 @@ class FrogPilotVariables:
       toggle.old_long_api |= toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))
 
     personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
+    toggle.boot_logo = params.get("BootLogo", encoding="utf-8") or "starpilot"
     toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding="utf-8") if personalize_openpilot else "stock"
@@ -979,7 +1032,14 @@ class FrogPilotVariables:
     toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
     toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
 
-    toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
+    volt_models = {
+      "CHEVROLET_VOLT",
+      "CHEVROLET_VOLT_2019",
+      "CHEVROLET_VOLT_ASCM",
+      "CHEVROLET_VOLT_CAMERA",
+    }
+
+    toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
 
     toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
 

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

@@ -53,14 +53,41 @@ 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 =        [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-A_CRUISE_MAX_VALS_SPORT =      [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
+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]
+A_CRUISE_MAX_VALS_STANDARD_TRUCK =  [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
+A_CRUISE_MAX_VALS_SPORT_TRUCK =     [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
+A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
 
-def get_max_accel_eco(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
+def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
-def get_max_accel_sport(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
+def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
+
+def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
+  return get_max_accel(v_ego)
 
 def get_max_accel_low_speeds(max_accel, v_cruise):
   return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -68,7 +95,11 @@ def get_max_accel_low_speeds(max_accel, v_cruise):
 def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
   return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))
 
-def get_max_allowed_accel(v_ego):
+def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
   return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018
 
 class FrogPilotAcceleration:
@@ -81,26 +112,28 @@ class FrogPilotAcceleration:
   def update(self, v_ego, sm, frogpilot_toggles):
     eco_gear = sm["frogpilotCarState"].ecoGear
     sport_gear = sm["frogpilotCarState"].sportGear
+    ev_tuning = frogpilot_toggles.ev_tuning
+    truck_tuning = frogpilot_toggles.truck_tuning
 
     if sm["frogpilotCarState"].trafficModeEnabled:
-      self.max_accel = get_max_accel(v_ego)
+      self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
     elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
       if eco_gear:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       else:
         if frogpilot_toggles.acceleration_profile == 2:
-          self.max_accel = get_max_accel_sport(v_ego)
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
         else:
-          self.max_accel = get_max_allowed_accel(v_ego)
+          self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
     else:
       if frogpilot_toggles.acceleration_profile == 1:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 2:
-        self.max_accel = get_max_accel_sport(v_ego)
+        self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 3:
-        self.max_accel = get_max_allowed_accel(v_ego)
+        self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
       else:
-        self.max_accel = get_max_accel(v_ego)
+        self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
 
     if frogpilot_toggles.human_acceleration:
       self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)

frogpilot/controls/lib/frogpilot_following.py

@@ -1,11 +1,14 @@
 #!/usr/bin/env python3
 import numpy as np
 
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+PERSONALITY_BP = [45. * CV.MPH_TO_MS, 70. * CV.MPH_TO_MS]
+HIGHWAY_DISABLE_THROTTLE_MIN_SPEED = 45. * CV.MPH_TO_MS
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
@@ -48,12 +51,16 @@ class FrogPilotFollowing:
           frogpilot_toggles.custom_personalities, sm["controlsState"].personality
         )
 
-      self.t_follow = get_T_FOLLOW(
+      t_follow_param = get_T_FOLLOW(
         frogpilot_toggles.aggressive_follow,
         frogpilot_toggles.standard_follow,
         frogpilot_toggles.relaxed_follow,
         frogpilot_toggles.custom_personalities, sm["controlsState"].personality
       )
+      if isinstance(t_follow_param, list):
+        self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, t_follow_param))
+      else:
+        self.t_follow = float(t_follow_param)
     else:
       self.base_acceleration_jerk = 0
       self.base_danger_jerk = 0
@@ -67,9 +74,24 @@ 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)
+
+      # Highway-only coast suppression: keep low-speed lead departures responsive.
+      self.disable_throttle = (not self.following_lead and v_ego > HIGHWAY_DISABLE_THROTTLE_MIN_SPEED 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/controls/lib/frogpilot_tracking.py

@@ -51,7 +51,7 @@ class FrogPilotTracking:
     self.sound = FrogPilotAudibleAlert.none
     self.state = State.disabled
 
-    self.model_name = clean_model_name(dict(zip(frogpilot_toggles.available_models.split(","), frogpilot_toggles.available_model_names.split(",")))[frogpilot_toggles.model])
+    self.model_name = clean_model_name(frogpilot_toggles.model_name)
 
   def update(self, now, time_validated, sm, frogpilot_toggles):
     v_cruise = min(sm["controlsState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS

frogpilot/controls/lib/neural_network_feedforward.py

@@ -128,7 +128,7 @@ def get_nn_model_path(car, eps_firmware) -> str | None:
   def find_valid_model(*queries):
     for query in queries:
       path, score = best_model_path(query)
-      if path and candidate in path and score >= 0.9:
+      if path and score >= 0.9:
         return path
     return None
 

frogpilot/system/frogpilot_stats.py

@@ -20,6 +20,30 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
 
 BASE_URL = "https://nominatim.openstreetmap.org"
 MINIMUM_POPULATION = 100_000
+SEARCH_RADIUS_DEGREES = 1.45
+
+def get_population_value(population_str):
+  if population_str is None:
+    return None
+  try:
+    return int(str(population_str).replace(",", "").split(";")[0].strip())
+  except Exception:
+    return None
+
+def search_nearby_major_cities(lat, lon, session, state_name, country_name):
+  viewbox = f"{lon - SEARCH_RADIUS_DEGREES},{lat + SEARCH_RADIUS_DEGREES},{lon + SEARCH_RADIUS_DEGREES},{lat - SEARCH_RADIUS_DEGREES}"
+  cities = (session.get(f"{BASE_URL}/search", params={
+    "addressdetails": 1, "bounded": 1, "extratags": 1, "format": "jsonv2", "limit": 20, "q": "city", "viewbox": viewbox
+  }, timeout=10).json() or [])
+
+  qualifying = [c for c in cities if (get_population_value((c.get("extratags") or {}).get("population")) or 0) >= MINIMUM_POPULATION]
+  if not qualifying:
+    return None
+
+  nearest = min(qualifying, key=lambda c: (float(c["lat"]) - lat) ** 2 + (float(c["lon"]) - lon) ** 2)
+  addr = nearest.get("address") or {}
+  return float(nearest["lat"]), float(nearest["lon"]), addr.get("city") or addr.get("town") or nearest.get("display_name", "").split(",")[0], state_name, country_name
+
 
 def get_city_center(latitude, longitude):
   try:
@@ -44,14 +68,7 @@ def get_city_center(latitude, longitude):
 
         if data:
           tags = data[0]
-          population = (tags.get("extratags") or {}).get("population")
-
-          population_value = None
-          if population is not None:
-            try:
-              population_value = int(str(population).replace(",", "").split(";")[0].strip())
-            except Exception:
-              population_value = None
+          population_value = get_population_value((tags.get("extratags") or {}).get("population"))
 
           if population_value is not None and population_value >= MINIMUM_POPULATION:
             latitude_value = float(tags["lat"])
@@ -62,6 +79,10 @@ def get_city_center(latitude, longitude):
 
             return latitude_value, longitude_value, city_label, state_name, country_name
 
+      nearby_result = search_nearby_major_cities(latitude, longitude, session, state_name, country_name)
+      if nearby_result:
+        return nearby_result
+
       query = f"{state_name} state capital" if country_code == "us" else f"capital of {state_name}, {country_name}"
       response = session.get(f"{BASE_URL}/search", params={"addressdetails": 1, "extratags": 1, "format": "jsonv2", "limit": 5, "q": query}, timeout=10)
       response.raise_for_status()
@@ -99,14 +120,14 @@ def get_city_center(latitude, longitude):
 
 def update_branch_commits(now):
   points = []
-  for branch in ["FrogPilot", "FrogPilot-Staging", "FrogPilot-Testing"]:
-    try:
-      response = requests.get(f"https://api.github.com/repos/FrogAi/FrogPilot/commits/{branch}")
-      response.raise_for_status()
-      sha = response.json()["sha"]
-      points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
-    except Exception as e:
-      print(f"Failed to fetch commit for {branch}: {e}")
+  branch = get_build_metadata().channel  # Current running branch
+  try:
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
+    response.raise_for_status()
+    sha = response.json()["sha"]
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+  except Exception as e:
+    print(f"Failed to fetch commit for {branch}: {e}")
 
   return points
 
@@ -129,11 +150,9 @@ def send_stats():
     if frogpilot_toggles.car_make == "mock":
       return
 
-    bucket = os.environ.get("STATS_BUCKET", "")
-    org_ID = os.environ.get("STATS_ORG_ID", "")
-    token = os.environ.get("STATS_TOKEN", "")
-    url = os.environ.get("STATS_URL", "")
-
+    bucket = "StarPilot"
+    org_ID = "StarPilot"
+    url = "https://stats.firestar.link"
     frogpilot_stats = json.loads(params.get("FrogPilotStats") or "{}")
 
     location = json.loads(params.get("LastGPSPosition") or "{}")
@@ -161,14 +180,19 @@ def send_stats():
 
     user_point = (
       Point("user_stats")
+      .tag("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
+      .tag("car_model", frogpilot_toggles.car_model)
+      .tag("city", city)
+      .tag("country", country)
+      .tag("device", HARDWARE.get_device_type())
+      .tag("driving_model", clean_model_name(frogpilot_toggles.model_name))
+      .tag("state", state)
+      .tag("theme", selected_theme.title())
+      .tag("branch", build_metadata.channel)
+      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
+
       .field("blocked_user", frogpilot_toggles.block_user)
-      .field("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
-      .field("car_model", frogpilot_toggles.car_model)
-      .field("city", city)
-      .field("country", country)
       .field("current_months_kilometers", int(frogpilot_stats.get("CurrentMonthsKilometers", 0)))
-      .field("device", HARDWARE.get_device_type())
-      .field("driving_model", clean_model_name(frogpilot_toggles.model_name))
       .field("event", 1)
       .field("frogpilot_drives", int(frogpilot_stats.get("FrogPilotDrives", 0)))
       .field("frogpilot_hours", float(frogpilot_stats.get("FrogPilotSeconds", 0)) / (60 * 60))
@@ -178,13 +202,12 @@ def send_stats():
       .field("has_openpilot_longitudinal", frogpilot_toggles.openpilot_longitudinal)
       .field("has_pedal", frogpilot_toggles.has_pedal)
       .field("has_sdsu", frogpilot_toggles.has_sdsu)
+      .field("has_sascm", frogpilot_toggles.has_sascm)
       .field("has_zss", frogpilot_toggles.has_zss)
       .field("latitude", latitude)
       .field("longitude", longitude)
       .field("rainbow_path", frogpilot_toggles.rainbow_path)
       .field("random_events", frogpilot_toggles.random_events)
-      .field("state", state)
-      .field("theme", selected_theme.title())
       .field("total_aol_seconds", float(frogpilot_stats.get("AOLTime", 0)))
       .field("total_lateral_seconds", float(frogpilot_stats.get("LateralTime", 0)))
       .field("total_longitudinal_seconds", float(frogpilot_stats.get("LongitudinalTime", 0)))
@@ -193,15 +216,12 @@ def send_stats():
       .field("up_to_date", is_up_to_date(build_metadata))
       .field("using_stock_acc", not (frogpilot_toggles.has_cc_long or frogpilot_toggles.openpilot_longitudinal))
 
-      .tag("branch", build_metadata.channel)
-      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
-
       .time(now)
     )
 
     all_points = [user_point] + update_branch_commits(now)
 
-    client = InfluxDBClient(org=org_ID, token=token, url=url)
+    client = InfluxDBClient(org=org_ID, token=org_ID, url=url)
     client.write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=all_points)
     print("Successfully sent FrogPilot stats!")
   except Exception as exception:

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);
@@ -31,12 +30,17 @@
 }
 
 .diskUsage p,
-.firehoseStats p,
 .softwareGrid p {
   font-size: var(--font-size-sm);
   margin: 0;
 }
 
+.softwareGrid p {
+  min-width: 0;
+  overflow-wrap: anywhere;
+  word-break: break-word;
+}
+
 .drivingStat {
   display: grid;
   grid-template-columns: 1fr 1fr 1fr;
@@ -65,7 +69,6 @@
 
 .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

@@ -1,148 +1,152 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html } from "/assets/vendor/arrow-core.js";
 
-function DiskUsage(disk) {
-  const used = parseFloat(disk.usedPercentage) || 0;
-  const rightRadius = used >= 100 ? "0" : "var(--border-radius-md)";
+const HOME_STATE = {
+  status: "loading", // loading | ready | error
+  data: null,
+  unit: "miles",
+  error: "",
+  initialized: false,
+};
 
-  return html`
-    <div class="disk">
-      <p>${disk.used} used of ${disk.size}</p>
-      <div class="progress">
-        <div
-          class="bar"
-          style="
-            border-bottom-right-radius: ${rightRadius};
-            border-top-right-radius: ${rightRadius};
-            width: ${100 - used}%;
-          "
-        ></div>
+function withTimeout(promise, timeoutMs, label) {
+  return new Promise((resolve, reject) => {
+    const timerId = setTimeout(() => reject(new Error(`${label} timed out`)), timeoutMs);
+    promise.then((value) => {
+      clearTimeout(timerId);
+      resolve(value);
+    }).catch((err) => {
+      clearTimeout(timerId);
+      reject(err);
+    });
+  });
+}
+
+function formatInt(value) {
+  const n = Number(value || 0);
+  return Number.isFinite(n) ? n.toLocaleString("en-US", { maximumFractionDigits: 0 }) : "0";
+}
+
+function renderDiskUsageSection(state) {
+  const { data } = state;
+  const shell = document.getElementById("home_shell");
+  if (!shell) return;
+
+  if (state.status === "error") {
+    shell.innerHTML = `<p class="error">Failed to load data: ${state.error}</p>`;
+    return;
+  }
+
+  if (state.status !== "ready" || !data) {
+    shell.innerHTML = "<p>Loading...</p>";
+    return;
+  }
+
+  const driveStats = data.driveStats || {};
+  const softwareInfo = data.softwareInfo || {};
+  const diskUsage = Array.isArray(data.diskUsage) ? data.diskUsage : [];
+  const diskError = Array.isArray(data.diskError) ? data.diskError : [];
+
+  const statBlock = (title, stats = {}) => `
+    <div class="drivingStat">
+      <h2>${title}</h2>
+      <div><p>${formatInt(stats.drives)}</p><p>drives</p></div>
+      <div><p>${formatInt(stats.distance)}</p><p>${stats.unit || state.unit}</p></div>
+      <div><p>${formatInt(stats.hours)}</p><p>hours</p></div>
+    </div>
+  `;
+
+  const diskBlock = (disk = {}) => {
+    const usedPct = Number.parseFloat(disk.usedPercentage) || 0;
+    const rightRadius = usedPct >= 100 ? "0" : "var(--border-radius-md)";
+    return `
+      <div class="disk">
+        <p>${disk.used || "0 GB"} used of ${disk.size || "0 GB"}</p>
+        <div class="progress">
+          <div
+            class="bar"
+            style="
+              border-bottom-right-radius: ${rightRadius};
+              border-top-right-radius: ${rightRadius};
+              width: ${Math.max(0, 100 - usedPct)}%;
+            "
+          ></div>
+        </div>
+      </div>
+    `;
+  };
+
+  const softwareFields = [
+    ["Branch Name", softwareInfo.branchName],
+    ["Build", softwareInfo.buildEnvironment],
+    ["Commit Hash", softwareInfo.commitHash],
+    ["Fork Maintainer", softwareInfo.forkMaintainer],
+    ["Update Available", softwareInfo.updateAvailable],
+    ["Version Date", softwareInfo.versionDate],
+  ];
+
+  const softwareMarkup = softwareFields
+    .map(([label, value]) => `<p><strong>${label}:</strong> ${value ?? "Unknown"}</p>`)
+    .join("");
+
+  const diskMarkup = diskError.length
+    ? `<p>${diskError.join("<br>")}</p>`
+    : (diskUsage.length ? diskUsage.map(diskBlock).join("") : diskBlock({}));
+
+  shell.innerHTML = `
+    <div>
+      <h1>Galaxy</h1>
+
+      <div class="drivingStats">
+        ${statBlock("All Time", driveStats.all)}
+        ${statBlock("Past Week", driveStats.week)}
+        ${statBlock("FrogPilot", driveStats.frogpilot)}
+      </div>
+
+      <h2>Disk Usage</h2>
+      <div class="diskUsage">
+        ${diskMarkup}
+      </div>
+
+      <h2>Software Info</h2>
+      <div class="softwareInfo">
+        <div class="softwareGrid">${softwareMarkup}</div>
       </div>
     </div>
   `;
 }
 
-function DriveStat(title, stats = {}, defaultUnit) {
-  const format = (n) =>
-    n?.toLocaleString("en-US", {
-      minimumFractionDigits: 0,
-      maximumFractionDigits: 0,
-    }) ?? "0";
+async function initializeHome() {
+  try {
+    const [statsResponse, unitResponse] = await Promise.all([
+      withTimeout(fetch("/api/stats"), 5000, "stats request"),
+      withTimeout(fetch("/api/params?key=IsMetric"), 5000, "metric request"),
+    ]);
 
-  return html`
-    <div class="drivingStat">
-      <h2>${title}</h2>
-      <div><p>${format(stats.drives)}</p><p>drives</p></div>
-      <div><p>${format(stats.distance)}</p><p>${stats.unit ?? defaultUnit}</p></div>
-      <div><p>${format(stats.hours)}</p><p>hours</p></div>
-    </div>
-  `;
-}
+    if (!statsResponse.ok) throw new Error(`stats API error: ${statsResponse.status}`);
+    if (!unitResponse.ok) throw new Error(`params API error: ${unitResponse.status}`);
 
-function renderSoftwareInfo(info = {}) {
-  const fields = [
-    ["Branch Name", info.branchName],
-    ["Build", info.buildEnvironment],
-    ["Commit Hash", info.commitHash],
-    ["Fork Maintainer", info.forkMaintainer],
-    ["Update Available", info.updateAvailable],
-    ["Version Date", info.versionDate],
-  ];
+    const statsJson = await withTimeout(statsResponse.json(), 5000, "stats JSON parse");
+    const isMetricText = (await withTimeout(unitResponse.text(), 5000, "metric read")).trim();
 
-  return fields.map(
-    ([label, value]) =>
-      html`<p><strong>${label}:</strong> ${value ?? "Unknown"}</p>`
-  );
-}
-
-function renderDiskUsageSection({ diskError, diskUsage }) {
-  if (diskError) {
-    return html`<p>${diskError.join("<br>")}</p>`;
+    HOME_STATE.data = statsJson;
+    HOME_STATE.unit = isMetricText === "1" ? "kilometers" : "miles";
+    HOME_STATE.status = "ready";
+  } catch (err) {
+    HOME_STATE.status = "error";
+    HOME_STATE.error = err?.message || String(err);
   }
-  if (diskUsage?.length) {
-    return diskUsage.map(DiskUsage);
-  }
-  return DiskUsage({ size: "0 GB", used: "0 GB", usedPercentage: "0" });
+
+  renderDiskUsageSection(HOME_STATE);
 }
 
 export function Home() {
-  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"),
-      ]);
-
-      if (!statsResponse.ok) throw new Error(`API error: ${statsResponse.statusText}`);
-      if (!unitResponse.ok) throw new Error(`API error: ${unitResponse.statusText}`);
-
-      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;
+  setTimeout(() => {
+    renderDiskUsageSection(HOME_STATE);
+    if (!HOME_STATE.initialized) {
+      HOME_STATE.initialized = true;
+      initializeHome();
     }
-  }
+  }, 0);
 
-  initialize();
-
-  return html`
-    <div>
-      ${() => {
-        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.data) {
-          const { driveStats, firehoseStats, softwareInfo } = state.data;
-          return html`
-            <h1>The Pond</h1>
-
-            <div class="drivingStats">
-              ${DriveStat("All Time", driveStats?.all, state.unit)}
-              ${DriveStat("Past Week", driveStats?.week, state.unit)}
-              ${DriveStat("FrogPilot", driveStats?.frogpilot, state.unit)}
-            </div>
-
-            <h2>Disk Usage</h2>
-            <div class="diskUsage">
-              ${renderDiskUsageSection(state.data)}
-            </div>
-
-            <h2>Firehose Segments</h2>
-            <div class="firehoseStats">
-              <p>
-                <strong>${(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>`;
-      }}
-    </div>
-  `;
+  return html`<div id="home_shell"><p>Loading...</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/modal.js

@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core";
+import { html } from "/assets/vendor/arrow-core.js";
 
 export function Modal({
   title,

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

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import {
   addRouteToMap,
   formatMetersToHuman,
@@ -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/navigation/navigation_keys.js

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js";
 
 export function NavKeys() {

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 { html, reactive } from "/assets/vendor/arrow-core.js"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
 import { getOrdinalSuffix } from "/assets/components/navigation/navigation_utilities.js"
 import { Modal } from "/assets/components/modal.js";
 
@@ -12,8 +13,18 @@ const state = reactive({
   total: 0,
   showDeleteAllModal: false,
   isDeletingAll: false,
+  truncated: false,
 })
 
+const MAX_RENDERED_ROUTES = 250
+const ROUTE_FLUSH_INTERVAL_MS = 120
+
+let routesAbortController = null
+let routesRequestToken = 0
+let pendingRoutes = []
+let flushTimerId = null
+let seenRouteNames = new Set()
+
 function formatRouteDate(dateString) {
   const date = new Date(dateString)
   if (isNaN(date.getTime())) {
@@ -31,10 +42,73 @@ function formatRouteDate(dateString) {
   return `${month} ${day}${getOrdinalSuffix(day)}, ${year} - ${hour}:${minuteStr}${ampm}`
 }
 
+function resetRouteStreamState() {
+  pendingRoutes = []
+  if (flushTimerId !== null) {
+    clearTimeout(flushTimerId)
+    flushTimerId = null
+  }
+  seenRouteNames = new Set()
+}
+
+function flushPendingRoutes() {
+  if (pendingRoutes.length === 0) return
+
+  const availableSlots = Math.max(MAX_RENDERED_ROUTES - state.routes.length, 0)
+  if (availableSlots <= 0) {
+    pendingRoutes = []
+    state.truncated = true
+    return
+  }
+
+  const toAppend = pendingRoutes.slice(0, availableSlots)
+  pendingRoutes = []
+  if (toAppend.length > 0) {
+    state.routes = [...state.routes, ...toAppend]
+  }
+  if (state.routes.length >= MAX_RENDERED_ROUTES) {
+    state.truncated = true
+  }
+}
+
+function enqueueRoutes(rawRoutes) {
+  if (!Array.isArray(rawRoutes) || rawRoutes.length === 0) return
+
+  const nextRoutes = []
+  for (const route of rawRoutes) {
+    const name = String(route?.name || "")
+    if (!name || seenRouteNames.has(name)) continue
+    seenRouteNames.add(name)
+    nextRoutes.push({
+      ...route,
+      timestamp: formatRouteDate(route.timestamp),
+    })
+  }
+
+  if (nextRoutes.length === 0) return
+  pendingRoutes.push(...nextRoutes)
+
+  if (flushTimerId === null) {
+    flushTimerId = setTimeout(() => {
+      flushTimerId = null
+      flushPendingRoutes()
+    }, ROUTE_FLUSH_INTERVAL_MS)
+  }
+}
+
 async function fetchRoutes() {
+  const requestToken = ++routesRequestToken
+  if (routesAbortController) {
+    routesAbortController.abort()
+  }
+  const controller = new AbortController()
+  routesAbortController = controller
+
   try {
     const userTimezone = Intl.DateTimeFormat().resolvedOptions().timeZone;
-    const response = await fetch(`/api/routes?timezone=${encodeURIComponent(userTimezone)}`);
+    const response = await fetch(`/api/routes?timezone=${encodeURIComponent(userTimezone)}`, {
+      signal: controller.signal,
+    });
     if (!response.ok) throw new Error();
 
     const reader = response.body.getReader();
@@ -45,24 +119,24 @@ async function fetchRoutes() {
       const { value, done } = await reader.read();
       if (done) break;
 
+      if (requestToken !== routesRequestToken) return
+
       buffer += decoder.decode(value, { stream: true });
-      const lines = buffer.split("\n\n");
+      const lines = buffer.split(/\r?\n\r?\n/);
       buffer = lines.pop();
 
       for (const line of lines) {
-        if (line.startsWith("data: ")) {
+        if (line.startsWith("data:")) {
           try {
-            const data = JSON.parse(line.substring(6));
+            const payload = line.substring(5).trim()
+            if (!payload) continue
+            const data = JSON.parse(payload);
             if (data.progress !== undefined && data.total !== undefined) {
               state.progress = data.progress;
               state.total = data.total;
             }
             if (data.routes) {
-              const routes = data.routes.map(route => ({
-                ...route,
-                timestamp: formatRouteDate(route.timestamp),
-              }));
-              state.routes.push(...routes);
+              enqueueRoutes(data.routes)
             }
           } catch (e) {
             console.error("Failed to parse JSON:", e);
@@ -70,21 +144,35 @@ async function fetchRoutes() {
         }
       }
     }
-  } catch (_) {
-    state.error = "Couldn't load routes. Please try again later..."
+    flushPendingRoutes()
+  } catch (error) {
+    if (error?.name !== "AbortError") {
+      state.error = "Couldn't load routes. Please try again later..."
+    }
   } finally {
-    state.loading = false
+    if (requestToken === routesRequestToken) {
+      flushPendingRoutes()
+      state.loading = false
+      if (routesAbortController === controller) {
+        routesAbortController = null
+      }
+    }
   }
 }
 
-fetchRoutes()
-
 function refresh() {
   state.loading = true
+  state.error = null
   state.routes = []
+  state.progress = 0
+  state.total = 0
+  state.truncated = false
+  resetRouteStreamState()
   fetchRoutes()
 }
 
+refresh()
+
 let overlay = null
 
 function openDialog(htmlStr) {
@@ -124,27 +212,27 @@ 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 +405,16 @@ 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`
@@ -326,81 +424,41 @@ export function RouteRecordings() {
         <button
           class="show-preserved-button"
           @click="${() => (state.showPreservedOnly = !state.showPreservedOnly)}"
-          ?disabled="${state.loading && state.routes.length === 0}"
-        >
-          ${() => (state.showPreservedOnly ? "Show All" : "Show Only Preserved Routes")}
+          disabled="${() => (state.loading && state.routes.length === 0) || false}"
+        >          ${() => (state.showPreservedOnly ? "Show All" : "Show Only Preserved Routes")}
         </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 ${route.is_preserved ? "bi-heart-fill" : "bi-heart"}"></i>`}
@@ -410,42 +468,40 @@ export function RouteRecordings() {
                         src="${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>
           `;
-        }}
+    }}
+        ${() => state.truncated ? html`
+          <p class="screen-recordings-message">Showing first ${MAX_RENDERED_ROUTES} routes to keep the UI responsive.</p>
+        ` : ""}
         ${() => {
-          if (state.routes.length > 0) {
-            return html`
+      if (state.routes.length > 0) {
+        return html`
               <button
                 class="delete-all-button"
                 @click="${() => (state.showDeleteAllModal = true)}"
-                ?disabled="${state.isDeletingAll}"
-              >
-                ${() => (state.isDeletingAll ? "Deleting..." : "Delete All Routes")}
+                disabled="${() => state.isDeletingAll || false}"
+              >                ${() => (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 { html, reactive } from "/assets/vendor/arrow-core.js"
+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 { html, reactive } from "/assets/vendor/arrow-core.js"
+import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-1.3.1.js"
 import { hideSidebar } from "/assets/js/utils.js"
-import { 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"
@@ -11,27 +14,54 @@ 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
 
+function toRouterHref(href) {
+  try {
+    const url = new URL(href, window.location.origin)
+    return `${url.pathname}${url.search}${url.hash}`
+  } catch {
+    return href
+  }
+}
+
 function createRoute(id, path, component) {
   return {
     id,
     path,
-    loader: () => {},
+    loader: () => { },
     element: component,
   }
 }
 
+function SafeHome() {
+  return html`
+    <div>
+      <h1>Galaxy</h1>
+      <p>Safe mode is active while UI rendering is being repaired.</p>
+      <p>
+        <a href="/galaxy">Galaxy Pairing</a> |
+        <a href="/device_settings">Toggles</a> |
+        <a href="/manage_updates">Software</a>
+      </p>
+    </div>
+  `
+}
+
 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 +69,16 @@ 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({
@@ -51,6 +86,11 @@ function Root() {
     history: createBrowserHistory(),
   }).initialize()
 
+  window.__thePondNavigate = (href) => {
+    router.navigate(toRouterHref(href))
+    window.scrollTo(0, 0)
+  }
+
   routerState = reactive({
     activePath: "/",
     activePathFull: "/",
@@ -58,17 +98,21 @@ function Root() {
     navigation: { state: "loading" },
     errors: [],
     params: {},
+    activeMatch: null,
   })
 
   router.subscribe(({ initialized, navigation, matches, errors }) => {
-    const [match] = matches
+    const match = Array.isArray(matches) && matches.length > 0
+      ? matches[matches.length - 1]
+      : null
     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,
+      activeMatch: match,
     })
   })
 
@@ -76,17 +120,21 @@ 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 routeElement = routerState.activeMatch?.route?.element
+      if (typeof routeElement !== "function") {
+        console.warn("[router] no route element for path:", routerState.activePathFull)
+        return Home({ params: routerState.params })
+      }
+      return routeElement({ params: routerState.params })
+    }}
     </div>
   `
 }
@@ -97,7 +145,7 @@ export function Link(href, children, onClick, classes = "") {
     href="${() => href}"
     @click="${(e) => {
       e.preventDefault()
-      router.navigate(e.currentTarget.href)
+      router.navigate(toRouterHref(e.currentTarget.href))
       hideSidebar()
       onClick?.()
     }}"
@@ -105,8 +153,28 @@ export function Link(href, children, onClick, classes = "") {
 }
 
 export function Navigate(href) {
-  router.navigate(href)
+  router.navigate(toRouterHref(href))
   window.scrollTo(0, 0)
 }
 
-Root()(document.getElementById("app"))
+function mountRouterWhenReady() {
+  const mountNode = document.getElementById("app")
+  if (!mountNode) {
+    // Some embedded browsers execute module scripts before <body> is fully available.
+    setTimeout(mountRouterWhenReady, 0)
+    return
+  }
+
+  if (!window.__thePondRouterMounted) {
+    window.__thePondRouterMounted = true
+    Root()(mountNode)
+  } else {
+    console.warn("[router] duplicate mount prevented")
+  }
+}
+
+if (document.readyState === "loading") {
+  document.addEventListener("DOMContentLoaded", mountRouterWhenReady, { once: true })
+} else {
+  mountRouterWhenReady()
+}

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/settings.js

@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"
 import { upperFirst } from "/assets/js/utils.js"
 import { Navigate } from "/assets/components/router.js"
 

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

@@ -1,8 +1,7 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
-import { Link } from "/assets/components/router.js";
-import { upperFirst, hideSidebar } from "/assets/js/utils.js";
+import { html } from "/assets/vendor/arrow-core.js";
+import { hideSidebar, upperFirst } from "/assets/js/utils.js";
 
-const MenuItems = {
+const MENU_ITEMS = {
   home: [
     { name: "Home", link: "/", icon: "bi-house-fill" },
   ],
@@ -14,138 +13,126 @@ 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,
+function matchesPath(currentPath, link) {
+  if (link === "/") return currentPath === "/";
+  return currentPath === link || currentPath.startsWith(`${link}/`);
+}
 
-  activeRoute: ""
-});
+function buildSectionMarkup(section, links, currentPath) {
+  const linksMarkup = links.map((link) => {
+    const active = matchesPath(currentPath, link.link) ? "active" : "";
+    return `
+      <li class="${active}">
+        <a class="menu-item-link" href="${link.link}">
+          <i class="bi ${link.icon}"></i>
+          <span>${upperFirst(link.name)}</span>
+        </a>
+      </li>
+    `;
+  }).join("");
 
-export function Sidebar() {
-  const currentPath = window.location.pathname;
-  const activeItem = Object.values(MenuItems).flat().find(item => item.link === currentPath);
-  state.activeRoute = activeItem?.name ?? "";
+  return `
+    <div class="sidebar_widget">
+      <ul class="menu_section">
+        <li>
+          <span class="section-title">${upperFirst(section)}</span>
+          <ul id="${section}">
+            ${linksMarkup}
+          </ul>
+        </li>
+      </ul>
+    </div>
+  `;
+}
 
-  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);
-      }
-    })();
-  }
+function bindSidebarHandlers() {
+  const menuButton = document.getElementById("menu_button");
+  const underlay = document.getElementById("sidebarUnderlay");
 
-  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);
-      }
-    })();
-  }
+  if (!menuButton || !underlay) return;
 
-  function navigate(link) {
-    state.activeRoute = link.name;
-    window.scrollTo(0, 0);
-    hideSidebar();
-
-    document.querySelectorAll('.sidebar li').forEach(el => {
-      el.classList.remove('active');
+  if (!window.__thePondSidebarMenuBound) {
+    window.__thePondSidebarMenuBound = true;
+    menuButton.addEventListener("click", () => {
+      const sidebar = document.getElementById("sidebar");
+      const currentUnderlay = document.getElementById("sidebarUnderlay");
+      if (!sidebar || !currentUnderlay) return;
+      sidebar.classList.toggle("visible");
+      currentUnderlay.classList.toggle("hidden");
     });
-
-    const linkElement = document.querySelector(`.sidebar li a[href="${link.link}"]`);
-    if (linkElement) {
-      linkElement.parentElement.classList.add('active');
-    }
   }
 
-  return html`
+  underlay.onclick = hideSidebar;
+
+  document.querySelectorAll("#sidebar a.menu-item-link").forEach((anchor) => {
+    if (anchor.dataset.boundClick === "1") return;
+    anchor.dataset.boundClick = "1";
+    anchor.addEventListener("click", (event) => {
+      if (event.defaultPrevented) return;
+      if (event.button !== 0) return;
+      if (event.metaKey || event.ctrlKey || event.shiftKey || event.altKey) return;
+
+      event.preventDefault();
+      const href = anchor.getAttribute("href") || "/";
+      const navigate = window.__thePondNavigate;
+      if (typeof navigate === "function") {
+        navigate(href);
+      } else {
+        window.location.assign(href);
+      }
+      hideSidebar();
+      window.scrollTo(0, 0);
+    });
+  });
+}
+
+function renderSidebarIntoShell(currentPath) {
+  const shell = document.getElementById("sidebar_shell");
+  if (!shell) return;
+
+  const activePath = currentPath || window.location.pathname;
+  const sectionsMarkup = Object.entries(MENU_ITEMS)
+    .map(([section, links]) => buildSectionMarkup(section, links, activePath))
+    .join("");
+
+  shell.innerHTML = `
     <div id="sidebarUnderlay" class="hidden"></div>
     <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 />
-        ${() => Object.entries(MenuItems).map(([section, links]) => html`
-          <div class="sidebar_widget">
-            <ul class="menu_section">
-              <li>
-                <span class="section-title">${upperFirst(section)}</span>
-                <ul id="${section}">
-                  ${links.map(link => {
-                    if (link.name === "Lock/Unlock Doors" && !state.doorsVisible) {
-                      return "";
-                    }
-
-                    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`
-                      <div class="menu-item-link">
-                        <i class="bi ${link.icon}"></i>
-                        <span>${upperFirst(link.name)}</span>
-                      </div>
-                    `;
-
-                    return html`
-                      <li class="${classList}">
-                        ${Link(link.link, content, () => navigate(link))}
-                      </li>
-                    `;
-                  })}
-                </ul>
-              </li>
-            </ul>
-          </div>
-        `)}
+        ${sectionsMarkup}
       </div>
-    </div>`;
+    </div>
+  `;
+
+  bindSidebarHandlers();
 }
 
-function setupMenuButton() {
-  const button = document.getElementById("menu_button");
-  const sidebar = document.getElementById("sidebar");
-  const underlay = document.getElementById("sidebarUnderlay");
-
-  button.addEventListener("click", () => {
-    sidebar.classList.toggle("visible");
-    underlay.classList.toggle("hidden");
-  });
-
-  underlay.addEventListener("click", hideSidebar);
+export function Sidebar(currentPath) {
+  setTimeout(() => renderSidebarIntoShell(currentPath), 0);
+  return html`<div id="sidebar_shell"></div>`;
 }
-
-document.addEventListener("DOMContentLoaded", setupMenuButton, false);

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

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js";
 
 export function TailscaleControl() {
@@ -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 +1,498 @@
+/* ――― 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-step-value {
+  color: var(--text-muted);
+}
+
+.ds-manual-row {
+  align-items: center;
+  display: flex;
+  gap: 0.35rem;
+  margin-top: 0.15rem;
+  width: 100%;
+}
+
+.ds-manual-input {
+  background: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-family: var(--font-body);
+  font-size: var(--font-size-xs);
+  min-width: 0;
+  padding: 0.22rem 0.35rem;
+}
+
+.ds-manual-input:focus {
+  border-color: var(--main-fg);
+  outline: none;
+}
+
+.ds-apply-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);
+  padding: 0.2rem 0.45rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+  white-space: nowrap;
+}
+
+.ds-apply-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+.ds-apply-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+.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 +1,824 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+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 formatNumericForInput(value, precision) {
+  const n = Number(value)
+  if (!Number.isFinite(n)) return ""
+  return Number(n.toFixed(precision)).toString()
+}
+
+function formatStepValue(step, precision) {
+  const n = Number(step)
+  if (!Number.isFinite(n)) return "1"
+  return Number(n.toFixed(Math.max(0, precision))).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)
+}
+
+function applyManualNumericParam(param) {
+  if (isNumericUpdating(param.key)) return
+
+  const inputEl = document.getElementById(`ds-manual-${param.key}`)
+  if (!inputEl) return
+
+  const raw = String(inputEl.value ?? "").trim()
+  if (!raw) {
+    showParamSnackbar("Enter a value first.", "error")
+    return
+  }
+
+  const parsed = Number.parseFloat(raw)
+  if (!Number.isFinite(parsed)) {
+    showParamSnackbar("Enter a valid number.", "error")
+    return
+  }
+
+  const bounds = numericBounds(param)
+  const precision = stepPrecision(bounds.step, param.precision)
+  const snapped = snapNumericToBoundsAndStep(parsed, bounds, precision)
+  if (snapped === null) {
+    showParamSnackbar("Value is out of range.", "error")
+    return
+  }
+
+  inputEl.value = formatNumericForInput(snapped, precision)
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const epsilon = Math.pow(10, -(precision + 2))
+  if (Math.abs(snapped - current) <= epsilon) return
+
+  updateNumericParam(param, snapped)
+}
+
+async function resetNumericParam(param) {
+  const bounds = numericBounds(param)
+  let defaultValue = resolveDefaultNumericValue(param, bounds)
+  if (defaultValue === null) {
+    const loaded = await fetchDefaultValues()
+    if (!loaded) {
+      showParamSnackbar("Couldn't load defaults. Try refreshing the page.", "error")
+      return
+    }
+    defaultValue = resolveDefaultNumericValue(param, bounds)
+  }
+
+  if (defaultValue === null) {
+    showParamSnackbar("No default value available for this setting.", "error")
+    return
+  }
+  if (isNumericUpdating(param.key)) return
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const precision = stepPrecision(bounds.step, param.precision)
+  const epsilon = Math.pow(10, -(precision + 2))
+  if (Math.abs(defaultValue - current) <= epsilon) return
+
+  updateNumericParam(param, defaultValue, {
+    successMessage: `Parameter '${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">
+          ${(() => {
+        const bounds = numericBounds(p)
+        const currentNumeric = resolveCurrentNumericValue(p, bounds)
+        const precision = stepPrecision(bounds.step, p.precision)
+        const epsilon = Math.pow(10, -(precision + 2))
+        const updating = isNumericUpdating(p.key)
+        const canDecrease = !updating && currentNumeric > (Number(bounds.min) + epsilon)
+        const canIncrease = !updating && currentNumeric < (Number(bounds.max) - epsilon)
+        const defaultNumeric = resolveDefaultNumericValue(p, bounds)
+        const defaultLabel = defaultNumeric !== null
+          ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
+          : "N/A"
+        const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
+        const stepLabel = formatStepValue(bounds.step, precision)
+        return html`
+              <div class="ds-stepper">
+                <button
+                  class="ds-stepper-btn"
+                  disabled="${() => !canDecrease || false}"
+                  @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-step-value">Step: ${stepLabel} per click</span>
+                  <span class="ds-default-value">Default: ${defaultLabel}</span>
+                  <div class="ds-manual-row">
+                    <input
+                      type="number"
+                      class="ds-manual-input"
+                      id="ds-manual-${p.key}"
+                      min="${bounds.min}"
+                      max="${bounds.max}"
+                      step="${bounds.step}"
+                      ?disabled="${updating}"
+                      value="${() => formatNumericForInput(resolveCurrentNumericValue(p, numericBounds(p)), precision)}"
+                      @keydown="${(e) => {
+                        if (e.key !== "Enter") return
+                        e.preventDefault()
+                        applyManualNumericParam(p)
+                      }}" />
+                    <button
+                      class="ds-apply-btn"
+                      ?disabled="${updating}"
+                      @click="${() => applyManualNumericParam(p)}">Apply</button>
+                  </div>
+                  <button
+                    class="ds-reset-btn"
+                    disabled="${() => !canReset || false}"
+                    @click="${() => resetNumericParam(p)}">Reset to Default</button>
+                </div>
+                <button
+                  class="ds-stepper-btn"
+                  disabled="${() => !canIncrease || false}"
+                  @click="${() => 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/doors.js

@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"
 
 export function DoorControl () {
   async function lockDoors () {

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

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import { formatSecondsToHuman, parseErrorLogToDate } from "/assets/js/utils.js";
 import { Modal } from "/assets/components/modal.js";
 

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 "/assets/vendor/arrow-core.js"
+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 +1,182 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+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 || false}"
+            @click="${() => runAction("start")}">
+            Start / Arm
+          </button>
+          <button
+            class="longManeuverButton danger"
+            disabled="${() => state.busy || false}"
+            @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 +1,585 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js";
+
+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)}" selected="${() => safeText(model.value) === state.currentModel || false}">
+                  ${safeText(model.label, model.value)}
+                </option>              `)
+              : html`<option value="">No installed models</option>`;
+          })()}
+        </select>
+
+        <label class="mm-filter-label" for="mm-sort-mode-select">Sort</label>
+        <select class="mm-select" id="mm-sort-mode-select">
+          <option value="alphabetical" selected="${() => state.sortMode === "alphabetical" || false}">Alphabetical</option>
+          <option value="release_date" selected="${() => state.sortMode === "release_date" || false}">Release Date</option>
+        </select>
+
+        <div class="mm-filter-break"></div>
+
+        <label class="mm-filter-label" for="mm-community-filter-select">Community Favorite</label>
+        <select class="mm-select" id="mm-community-filter-select">
+          <option value="all" selected="${() => state.communityFavoriteFilter === "all" || false}">All</option>
+          <option value="yes" selected="${() => state.communityFavoriteFilter === "yes" || false}">Yes</option>
+          <option value="no" selected="${() => state.communityFavoriteFilter === "no"}">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 "/assets/vendor/arrow-core.js"
+
+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/speed_limits.js

@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"
 
 export function SpeedLimits() {
   function handleDownload() {

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 "/assets/vendor/arrow-core.js"
+
+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 || false}"
+              @change="${(event) => {
+                selectSlot(String(event.target.value || ""))
+              }}">
+              ${() => getSelectableSlots().length
+                ? getSelectableSlots().map((slot) => html`<option value="${slotId(slot)}" selected="${() => slotId(slot) === state.selectedSlot || false}">${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="${() => state.busy || false}"
+                  @click="${() => 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

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import { Modal } from "/assets/components/modal.js";
 
 const defaultColors = {
@@ -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 { html, reactive } from "/assets/vendor/arrow-core.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 { html, reactive } from "/assets/vendor/arrow-core.js"
 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 +1,206 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+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 || false}" @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 || false}"
+                  @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

@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js"
 
 const state = reactive({
@@ -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 "/assets/vendor/arrow-core.js"
+
+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 || false}"
+              disabled="${() => !!state.status?.isOnroad || state.toggleBusy || !!state.status?.running || false}"
+              @change="${(event) => setAutomaticUpdates(!!event.target.checked)}"
+            />
+          </label>
+
+          <label class="updateToggleRow updateAdvancedToggle">
+            <span>Show advanced options</span>
+            <input
+              type="checkbox"
+              class="ds-toggle"
+              checked="${() => state.showAdvancedOptions || false}"
+              @change="${(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 || false}"
+                  @change="${(event) => {
+                    state.selectedBranch = String(event.target.value || "")
+                    state.hasManualBranchSelection = true
+                  }}">
+                  ${() => state.branches.length
+                    ? state.branches.map((branch) => html`<option value="${branch}" selected="${() => branch === state.selectedBranch || false}">${branch}${branch === state.status?.branch ? " (current)" : ""}</option>`)
+                    : html`<option value="">No branches found</option>`
+                  }
+                </select>
+                <button
+                  class="updateButton"
+                  disabled="${() => state.branchesBusy || !!state.status?.running || false}"
+                  @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) || false}"
+                @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 "/assets/vendor/arrow-core.js"
+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 +1,79 @@
 <!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">
+    import("/assets/components/router.js").catch((err) => {
+      console.error("[the_pond] bootstrap failed", err);
+      const target = document.getElementById("app") || document.body;
+      const pre = document.createElement("pre");
+      pre.style.whiteSpace = "pre-wrap";
+      pre.style.color = "#ff8080";
+      pre.style.background = "#200";
+      pre.style.padding = "12px";
+      pre.style.margin = "12px";
+      pre.textContent = `[the_pond] failed to load router:\n${err?.stack || err}`;
+      target.appendChild(pre);
+    });
+  </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/SConscript

@@ -32,7 +32,10 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_policy']:
+model_metadata_names = ['driving_vision', 'driving_policy']
+if File("models/driving_off_policy.onnx").exists():
+  model_metadata_names.append('driving_off_policy')
+for model_name in model_metadata_names:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#frogpilot/tinygrad_modeld").File("get_model_metadata.py").abspath)]
   cmd = f'python3 {Dir("#frogpilot/tinygrad_modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -48,7 +51,10 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+model_compile_names = ['driving_vision', 'driving_policy', 'dmonitoring_model']
+if File("models/driving_off_policy.onnx").exists():
+  model_compile_names.append('driving_off_policy')
+for model_name in model_compile_names:
   flags = {
     'larch64': 'DEV=QCOM',
     'Darwin': 'DEV=CPU IMAGE=0',

frogpilot/tinygrad_modeld/fill_model_msg.py

@@ -11,16 +11,15 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 # Return curvature for lateral action. If the model outputs desired_curvature and we're not in mlsim mode,
 # use it directly; otherwise derive from the plan using yaw and yaw-rate.
-def get_curvature_from_output(output: dict, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
+def get_curvature_from_output(output: dict, plan: np.ndarray, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
   if not mlsim:
     desired = output.get('desired_curvature')
     if desired is not None:
       return float(desired[0, 0])
 
-  plan_out = output['plan'][0]
   # Use yaw (index 2) and yaw_rate (index 2)
-  theta = plan_out[:, Plan.T_FROM_CURRENT_EULER][:, 2]
-  theta_dot = plan_out[:, Plan.ORIENTATION_RATE][:, 2]
+  theta = plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]
+  theta_dot = plan[:, Plan.ORIENTATION_RATE][:, 2]
   return float(get_curvature_from_plan(theta, theta_dot, ModelConstants.T_IDXS, v_ego, lat_action_t))
 
 

frogpilot/tinygrad_modeld/parse_model_outputs.py

@@ -97,12 +97,16 @@ class Parser:
         self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                        out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
-      if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-      else:
-        self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+      plan_mhp = outs['plan'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
+      plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     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

@@ -35,14 +35,16 @@ PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool, frogpilot_toggles) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + frogpilot_toggles.recovery_power*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
                                                                  plan[:,Plan.ACCELERATION][:,0],
                                                                  ModelConstants.T_IDXS,
@@ -56,7 +58,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
       else:
         desired_curvature = prev_action.desiredCurvature
     else:
-      desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, mlsim=mlsim)
+      desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, mlsim=mlsim)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
@@ -81,6 +83,34 @@ class ModelState:
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
+  def _build_policy_inputs(self, input_shapes: dict[str, tuple[int, ...]]) -> tuple[dict[str, np.ndarray], str | None]:
+    numpy_inputs: dict[str, np.ndarray] = {}
+
+    # Always-supported inputs (if model expects them)
+    desire_key_init = next((k for k in input_shapes if k.startswith('desire')), None)
+    if desire_key_init:
+      numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    if 'traffic_convention' in input_shapes:
+      numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
+    if 'features_buffer' in input_shapes:
+      numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+
+    # Optional inputs for non-v11 (and some v10/v9 variants)
+    # Lateral control params
+    if 'lateral_control_params' in input_shapes:
+      numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+
+    # Previous desired curvature: handle both singular and plural key names across model versions
+    prev_desired_curv_key = None
+    if 'prev_desired_curv' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curv'
+      numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    elif 'prev_desired_curvs' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curvs'
+      numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+
+    return numpy_inputs, prev_desired_curv_key
+
   def __init__(self, context: CLContext):
     # Dynamically build paths based on current model ID
     params = Params()
@@ -99,13 +129,17 @@ class ModelState:
         models_dir = Path(__file__).parent / "models"
         VISION_PKL_PATH = models_dir / "driving_vision_tinygrad.pkl"
         POLICY_PKL_PATH = models_dir / "driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = models_dir / "driving_off_policy_tinygrad.pkl"
         VISION_METADATA_PATH = models_dir / "driving_vision_metadata.pkl"
         POLICY_METADATA_PATH = models_dir / "driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = models_dir / "driving_off_policy_metadata.pkl"
     else:
         VISION_PKL_PATH = model_dir / f"{model_id}_driving_vision_tinygrad.pkl"
         POLICY_PKL_PATH = model_dir / f"{model_id}_driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = model_dir / f"{model_id}_driving_off_policy_tinygrad.pkl"
         VISION_METADATA_PATH = model_dir / f"{model_id}_driving_vision_metadata.pkl"
         POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_off_policy_metadata.pkl"
 
     # If ModelVersion is not set or not available, try to determine it from available model data
     if not model_version:
@@ -156,8 +190,10 @@ 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"))
+    self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12"))
 
     self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -168,33 +204,50 @@ class ModelState:
 
 
     # policy inputs (built dynamically to support all generations)
-    self.numpy_inputs = {}
+    self.numpy_inputs, self.prev_desired_curv_key = self._build_policy_inputs(self.policy_input_shapes)
 
-    # Always-supported inputs (if model expects them)
-    desire_key_init = next((k for k in self.policy_input_shapes if k.startswith('desire')), None)
-    if desire_key_init:
-      self.numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    if 'traffic_convention' in self.policy_input_shapes:
-      self.numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
-    if 'features_buffer' in self.policy_input_shapes:
-      self.numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    # Off-policy model (optional)
+    self.off_policy_enabled = False
+    self.off_policy_input_shapes: dict[str, tuple[int, ...]] = {}
+    self.off_policy_output_slices: dict[str, slice] = {}
+    self.off_policy_numpy_inputs: dict[str, np.ndarray] = {}
+    self.off_policy_prev_desired_curv_key: str | None = None
+    self.off_policy_desire_key: str | None = None
+    self.off_policy_inputs: dict[str, Tensor] | None = None
+    self.off_policy_output: np.ndarray | None = None
 
-    # Optional inputs for non-v11 (and some v10/v9 variants)
-    # Lateral control params
-    if 'lateral_control_params' in self.policy_input_shapes:
-      self.numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+    off_policy_metadata = None
+    if self.policy_generation == "v12" or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
+      try:
+        with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+          off_policy_metadata = pickle.load(f)
+      except FileNotFoundError:
+        cloudlog.error(f"Missing metadata {OFF_POLICY_METADATA_PATH}, downloading...")
+        from openpilot.frogpilot.assets.model_manager import ModelManager
+        ModelManager().download_model(model_id)
+        try:
+          with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+            off_policy_metadata = pickle.load(f)
+        except FileNotFoundError:
+          cloudlog.warning(f"Off-policy metadata still missing: {OFF_POLICY_METADATA_PATH}")
 
-    # Previous desired curvature: handle both singular and plural key names across model versions
-    self.prev_desired_curv_key = None
-    if 'prev_desired_curv' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curv'
-      self.numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-    elif 'prev_desired_curvs' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curvs'
-      self.numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    if off_policy_metadata is not None:
+      self.off_policy_input_shapes = off_policy_metadata['input_shapes']
+      self.off_policy_output_slices = off_policy_metadata['output_slices']
+      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
+      self.off_policy_numpy_inputs, self.off_policy_prev_desired_curv_key = self._build_policy_inputs(self.off_policy_input_shapes)
+      self.off_policy_desire_key = next((k for k in self.off_policy_numpy_inputs if k.startswith('desire')), None)
+      self.off_policy_inputs = {k: Tensor(v, device='NPY').realize() for k, v in self.off_policy_numpy_inputs.items()}
+      self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
+      try:
+        with open(OFF_POLICY_PKL_PATH, "rb") as f:
+          self.off_policy_run = pickle.load(f)
+        self.off_policy_enabled = True
+      except FileNotFoundError:
+        cloudlog.warning(f"Missing off-policy model {OFF_POLICY_PKL_PATH}, skipping off-policy")
 
-    # Optional temporal buffer for previous desired curvature (allocate only if the policy expects it)
-    if getattr(self, 'prev_desired_curv_key', None) is not None:
+    # Optional temporal buffer for previous desired curvature (allocate only if any model expects it)
+    if self.prev_desired_curv_key is not None or self.off_policy_prev_desired_curv_key is not None:
       self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
 
@@ -204,6 +257,7 @@ class ModelState:
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
+    self.off_policy_parser = Parser(ignore_missing=True)
 
     with open(VISION_PKL_PATH, "rb") as f:
       self.vision_run = pickle.load(f)
@@ -229,10 +283,18 @@ class ModelState:
     self.full_desire[0,:-1] = self.full_desire[0,1:]
     self.full_desire[0,-1] = new_desire
     self.numpy_inputs[self.desire_key][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+    if self.off_policy_enabled and self.off_policy_desire_key is not None:
+      self.off_policy_numpy_inputs[self.off_policy_desire_key][:] = self.numpy_inputs[self.desire_key]
+
+    if 'traffic_convention' in self.numpy_inputs:
+      self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    if self.off_policy_enabled and 'traffic_convention' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     if 'lateral_control_params' in self.numpy_inputs:
       self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    if self.off_policy_enabled and 'lateral_control_params' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
     if prepare_only:
       return None
@@ -254,7 +316,10 @@ class ModelState:
 
     self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
     self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if 'features_buffer' in self.numpy_inputs:
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if self.off_policy_enabled and 'features_buffer' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -265,15 +330,30 @@ 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 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]
+
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    if self.off_policy_enabled:
+      self.off_policy_output = self.off_policy_run(**self.off_policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+      off_policy_outputs_dict = self.off_policy_parser.parse_policy_outputs(
+        self.slice_outputs(self.off_policy_output, self.off_policy_output_slices)
+      )
+      combined_outputs_dict.update(off_policy_outputs_dict)
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+      raw_pred = [self.vision_output.copy(), self.policy_output.copy()]
+      if self.off_policy_enabled and self.off_policy_output is not None:
+        raw_pred.append(self.off_policy_output.copy())
+      combined_outputs_dict['raw_pred'] = np.concatenate(raw_pred)
 
     return combined_outputs_dict
 
@@ -442,7 +522,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9, frogpilot_toggles)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -481,4 +561,4 @@ if __name__ == "__main__":
     cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
-    raise
+    raise

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/frogpilot_settings.cc

@@ -269,10 +269,14 @@ void FrogPilotSettingsWindow::updateVariables() {
     hasPedal = CP.getEnableGasInterceptor();
     hasRadar = !CP.getRadarUnavailable();
     hasSDSU = frogpilot_toggles.value("has_sdsu").toBool();
+    hasSASCM = frogpilot_toggles.value("has_sascm").toBool();
     hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
     hasZSS = frogpilot_toggles.value("has_zss").toBool();
     isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
-    isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
+    isBolt = carFingerprint == "CHEVROLET_BOLT_ACC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2019_2021" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2017";
     isGM = carMake == "gm";
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
@@ -280,10 +284,12 @@ void FrogPilotSettingsWindow::updateVariables() {
     isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
     isToyota = carMake == "toyota";
     isTSK = CP.getSecOcRequired();
-    isVolt = carFingerprint == "CHEVROLET_VOLT";
+    isVolt = carFingerprint.find("CHEVROLET_VOLT") == 0;
+    if (isVolt) hasSNG = false;
     longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
     startAccel = CP.getStartAccel();
     steerActuatorDelay = CP.getSteerActuatorDelay();
+    steerOffset = 0.0f;
     steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
     steerRatio = CP.getSteerRatio();
     stopAccel = CP.getStopAccel();
@@ -295,6 +301,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     float currentDelayStock = params.getFloat("SteerDelayStock");
     float currentFrictionStock = params.getFloat("SteerFrictionStock");
+    float currentSteerOffsetStock = params.getFloat("SteerOffsetStock");
     float currentKPStock = params.getFloat("SteerKPStock");
     float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
     float currentLongDelayStock = params.getFloat("LongitudinalActuatorDelayStock");
@@ -319,6 +326,13 @@ void FrogPilotSettingsWindow::updateVariables() {
       params.putFloat("SteerFrictionStock", friction);
     }
 
+    if (currentSteerOffsetStock != steerOffset) {
+      if (params.getFloat("SteerOffset") == currentSteerOffsetStock) {
+        params.putFloat("SteerOffset", steerOffset);
+      }
+      params.putFloat("SteerOffsetStock", steerOffset);
+    }
+
     if (currentKPStock != steerKp && steerKp != 0) {
       if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) {
         params.putFloat("SteerKP", steerKp);
@@ -391,6 +405,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     canUsePedal = FPCP.getCanUsePedal();
     canUseSDSU = FPCP.getCanUseSDSU();
+    canUseSASCM = FPCP.getCanUseSASCM();
     openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
   }
 

frogpilot/ui/qt/offroad/frogpilot_settings.h

@@ -13,6 +13,7 @@ public:
 
   bool canUsePedal = false;
   bool canUseSDSU = false;
+  bool canUseSASCM = false;
   bool forceOpenDescriptions = false;
   bool hasAutoTune = true;
   bool hasBSM = true;
@@ -24,6 +25,7 @@ public:
   bool hasPedal = false;
   bool hasRadar = true;
   bool hasSDSU = false;
+  bool hasSASCM = false;
   bool hasSNG = false;
   bool hasZSS = false;
   bool isAngleCar = false;
@@ -45,6 +47,7 @@ public:
   float longitudinalActuatorDelay;
   float startAccel;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
   float stopAccel;

frogpilot/ui/qt/offroad/lateral_settings.cc

@@ -41,6 +41,7 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
     {"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
     {"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
+    {"SteerOffset", parent->steerOffset != 0 ? QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)) : tr("Steer Offset"), tr("<b>Offsets steering torque to help compensate for alignment or tire issues.</b> More negative pulls the car right; more positive pulls it left. Most users should not need to touch this."), ""},
     {"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
     {"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
     {"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
@@ -87,15 +88,18 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     } else if (param == "SteerFriction") {
       std::vector<QString> steerFrictionButton{"Reset"};
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
+    } else if (param == "SteerOffset") {
+      std::vector<QString> steerOffsetButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, -0.2, 0.2, QString(), std::map<float, QString>(), 0.005, false, {}, steerOffsetButton, false, false);
     } else if (param == "SteerKP") {
       std::vector<QString> steerKPButton{"Reset"};
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
     } else if (param == "SteerLatAccel") {
       std::vector<QString> steerLatAccelButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
     } else if (param == "SteerRatio") {
       std::vector<QString> steerRatioButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
 
     } else if (param == "AlwaysOnLateral") {
       FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -216,6 +220,14 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     }
   });
 
+  steerOffsetToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerOffset"]);
+  QObject::connect(steerOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Offset</b> to its default value?"), this)) {
+      params.putFloat("SteerOffset", parent->steerOffset);
+      steerOffsetToggle->refresh();
+    }
+  });
+
   steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
   QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
@@ -255,12 +267,13 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
 
   steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
   steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
+  steerOffsetToggle->setTitle(QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)));
   steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
   steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
   steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
-  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
+  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
   steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
-  steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
+  steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
 
   updateToggles();
 }
@@ -340,7 +353,6 @@ void FrogPilotLateralPanel::updateToggles() {
     }
   }
 
-  bool forcingAutoTune = !parent->hasAutoTune && params.getBool("ForceAutoTune");
   bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
   bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
   bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
@@ -401,7 +413,13 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerFriction") {
       setVisible &= parent->friction != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= !usingNNFF;
+    }
+
+    else if (key == "SteerOffset") {
+      setVisible &= parent->isGM;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
@@ -413,14 +431,14 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerLatAccel") {
       setVisible &= parent->latAccelFactor != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
 
     else if (key == "SteerRatio") {
       setVisible &= parent->steerRatio != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
     }
 
     toggle->setVisible(setVisible);

frogpilot/ui/qt/offroad/lateral_settings.h

@@ -31,6 +31,7 @@ private:
   float friction;
   float latAccelFactor;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
 
@@ -38,7 +39,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
+  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerOffset", "SteerLatAccel", "SteerKP", "SteerRatio"};
   QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"};
   QSet<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
   QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
@@ -48,6 +49,7 @@ private:
 
   FrogPilotParamValueButtonControl *steerDelayToggle;
   FrogPilotParamValueButtonControl *steerFrictionToggle;
+  FrogPilotParamValueButtonControl *steerOffsetToggle;
   FrogPilotParamValueButtonControl *steerLatAccelToggle;
   FrogPilotParamValueButtonControl *steerKPToggle;
   FrogPilotParamValueButtonControl *steerRatioToggle;

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -40,19 +40,19 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLongitudinalTuneKeys = {"LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
-  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
+  QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
+  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TrailerLoad", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
-  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
+  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
   QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};
   QSet<QString> speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower", "SLCMapboxFiller"};
   QSet<QString> speedLimitControllerVisualKeys = {"ShowSLCOffset", "SpeedLimitSources"};
-  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
+  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardFollowHigh", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
   QSet<QString> trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"};
 
   QSet<QString> parentKeys;

frogpilot/ui/qt/offroad/model_settings.cc

@@ -30,12 +30,14 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     {"DeleteModel", tr("Delete Driving Models"), tr("Delete driving models from the device."), ""},
     {"DownloadModel", tr("Download Driving Models"), tr("Download driving models to the device."), ""},
     {"ModelRandomizer", tr("Model Randomizer"), tr("Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs."), ""},
+    {"RecoveryPower", tr("Recovery Power"), tr("Adjust the strength of planplus lane recovery corrections (0.5 to 2.0)."), ""},
     {"StopDistance", tr("Stop Distance"), tr("Adjust the model's stopping distance in meters (minimum 4 for safety). Most users prefer 6."), ""},
     {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Add or remove models from the <b>Model Randomizer</b>'s blacklist list."), ""},
     {"ManageScores", tr("Manage Model Ratings"), tr("Reset or view the saved ratings for the driving models."), ""},
     {"SelectModel", tr("Select Driving Model"), tr("Select the active driving model."), ""},
   };
 
+  FrogPilotParamValueButtonControl *recoveryPowerToggle = nullptr;
   FrogPilotParamValueButtonControl *stopDistanceToggle = nullptr;
 
   for (const auto &[param, title, desc, icon] : modelToggles) {
@@ -431,6 +433,10 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
       });
       modelToggle = selectModelButton;
 
+    } else if (param == "RecoveryPower") {
+      std::vector<QString> recoveryPowerButton{"Reset"};
+      modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.5, 2.0, QString(), std::map<float, QString>(), 0.1, false, {}, recoveryPowerButton, false, false);
+      recoveryPowerToggle = static_cast<FrogPilotParamValueButtonControl*>(modelToggle);
     } else if (param == "StopDistance") {
       std::vector<QString> stopDistanceButton{"Reset"};
       modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 4.0, 10.0, QString(), std::map<float, QString>(), 0.1, false, {}, stopDistanceButton, false, false);
@@ -463,6 +469,16 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     }
   });
 
+  if (recoveryPowerToggle) {
+    QObject::connect(recoveryPowerToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, recoveryPowerToggle]() {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Recovery Power</b> to the default of 1.0?"), tr("Reset"), this)) {
+        params.putFloat("RecoveryPower", 1.0);
+        recoveryPowerToggle->refresh();
+        updateFrogPilotToggles();
+      }
+    });
+  }
+
   if (stopDistanceToggle) {
     QObject::connect(stopDistanceToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, stopDistanceToggle]() {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Stop Distance</b> to the default of 6 meters?"), tr("Reset"), this)) {
@@ -487,6 +503,8 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
   bool has_policy_tg = false;
   bool has_vision_meta = false;
   bool has_vision_tg = false;
+  bool has_off_policy_meta = false;
+  bool has_off_policy_tg = false;
   bool foundAny = false;
 
   for (const QString &file : modelDir.entryList(QDir::Files)) {
@@ -505,6 +523,10 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
         has_policy_meta = true;
       } else if (base.contains("_driving_policy_tinygrad")) {
         has_policy_tg = true;
+      } else if (base.contains("_driving_off_policy_metadata")) {
+        has_off_policy_meta = true;
+      } else if (base.contains("_driving_off_policy_tinygrad")) {
+        has_off_policy_tg = true;
       } else if (base.contains("_driving_vision_metadata")) {
         has_vision_meta = true;
       } else if (base.contains("_driving_vision_tinygrad")) {
@@ -518,6 +540,9 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
   }
 
   if (has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg) {
+    if (has_off_policy_meta || has_off_policy_tg) {
+      return has_off_policy_meta && has_off_policy_tg;
+    }
     return true;
   }
 
@@ -740,6 +765,8 @@ void FrogPilotModelPanel::updateToggles() {
       setVisible &= params.getBool("ModelRandomizer");
     } else if (key == "SelectModel") {
       setVisible &= !params.getBool("ModelRandomizer");
+    } else if (key == "RecoveryPower") {
+      setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     } else if (key == "StopDistance") {
       setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     }

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."), ""},