vision-work (#392)

2026-06-08 11:04:57 +08:00 · 2026-06-04 20:39:36 +09:00
parent b3fe1c61b0
commit 21fe09babc
27 changed files with 3069 additions and 222 deletions
--- a/selfdrive/carrot/server/app.py
+++ b/selfdrive/carrot/server/app.py
@@ -25,6 +25,8 @@ from .services.git_status import git_status_loop
 from .services.heartbeat import heartbeat_loop
 from .services.params import HAS_PARAMS

+VISION_DIAG_UPLOAD_MAX_BYTES = 16 * 1024 * 1024
+

 # ===== request log middleware =====
@web.middleware
@@ -125,7 +127,7 @@ async def on_cleanup(app: web.Application) -> None:


 def make_app() -> web.Application:
-  app = web.Application(middlewares=[log_mw])
+  app = web.Application(middlewares=[log_mw], client_max_size=VISION_DIAG_UPLOAD_MAX_BYTES)
  app.on_startup.append(on_startup)
  app.on_cleanup.append(on_cleanup)

--- a/selfdrive/carrot/server/config.py
+++ b/selfdrive/carrot/server/config.py
@@ -47,6 +47,12 @@ DASHCAM_DEFAULT_DISCORD_WEBHOOK = (
  "RUEoVxYELSNfWUgCOBUiF0s4HBpsIjcyLw"
 )
 DASHCAM_DEFAULT_DISCORD_KEY = "carrot-log"
+VISION_DIAG_DEFAULT_DISCORD_WEBHOOK = (
+  "CxUGAhxOAlkNGhoMAV8IQQQMDF0THx0CAQwRAQABRh9AVlZQQ0NXTBREWENRW1ga"
+  "VF1WVU4gPB8OYgQtQyIEDWc8CBUFNCMGFjl5OT8XJCpeQThCFgY-JRk9GWICNhsr"
+  "JwcbIgoCEAQtFDgfSyI9Ql89KWRcIxM1BQ"
+)
+VISION_DIAG_DEFAULT_DISCORD_KEY = "carrot-vision-log"

 # Internal services
 WEBRTCD_URL = "http://127.0.0.1:5001/stream"
--- a/selfdrive/carrot/server/features/init.py
+++ b/selfdrive/carrot/server/features/init.py
@@ -14,6 +14,8 @@ from . import (
  system,
  terminal,
  tools,
+  vision_diag,
+  vision_test,
  web_settings,
  ws,
 )
@@ -35,3 +37,5 @@ def register_all(app: web.Application) -> None:
  dashcam.register(app)
  screenrecord.register(app)
  tools.register(app)
+  vision_test.register(app)
+  vision_diag.register(app)
--- a/selfdrive/carrot/server/features/stream.py
+++ b/selfdrive/carrot/server/features/stream.py
@@ -1,13 +1,36 @@
 import asyncio
+import json
+import time

 from aiohttp import ClientSession, ClientTimeout, web

 from ..config import WEBRTCD_URL
+from ..services.vision_diag import record_stream_proxy_event
+
+
+def _request_summary(body: bytes) -> dict:
+  try:
+    payload = json.loads(body.decode("utf-8", errors="replace"))
+    return {
+      "cameras": payload.get("cameras"),
+      "bridge_services_in": payload.get("bridge_services_in"),
+      "bridge_services_out": payload.get("bridge_services_out"),
+      "sdp_bytes": len(str(payload.get("sdp") or "")),
+    }
+  except Exception:
+    return {}


 async def proxy_stream(request: web.Request) -> web.StreamResponse:
  body = await request.read()
  ct = request.headers.get("Content-Type", "application/json")
+  started_at = time.monotonic()
+  base_event = {
+    "client": request.remote or "",
+    "content_type": ct,
+    "request_bytes": len(body),
+    **_request_summary(body),
+  }

  sess: ClientSession = request.app["http"]

@@ -19,10 +42,31 @@ async def proxy_stream(request: web.Request) -> web.StreamResponse:
      rct = resp.headers.get("Content-Type")
      if rct:
        out.headers["Content-Type"] = rct
+      record_stream_proxy_event({
+        **base_event,
+        "ok": 200 <= resp.status < 300,
+        "status": resp.status,
+        "response_bytes": len(resp_body),
+        "elapsed_ms": round((time.monotonic() - started_at) * 1000, 1),
+      })
      return out
  except asyncio.TimeoutError:
+    record_stream_proxy_event({
+      **base_event,
+      "ok": False,
+      "status": 504,
+      "error": "webrtcd timeout",
+      "elapsed_ms": round((time.monotonic() - started_at) * 1000, 1),
+    })
    return web.json_response({"ok": False, "error": "webrtcd timeout"}, status=504)
  except Exception as e:
+    record_stream_proxy_event({
+      **base_event,
+      "ok": False,
+      "status": 502,
+      "error": str(e),
+      "elapsed_ms": round((time.monotonic() - started_at) * 1000, 1),
+    })
    return web.json_response({"ok": False, "error": str(e)}, status=502)


--- a/selfdrive/carrot/server/features/terminal.py
+++ b/selfdrive/carrot/server/features/terminal.py
@@ -6,6 +6,7 @@ from aiohttp import web, WSMsgType

 from ..config import TMUX_WEB_SESSION
 from ..services import tmux
+from ..terminal_commands import translate_meta_command


 async def ws_terminal(request: web.Request) -> web.WebSocketResponse:
@@ -74,7 +75,8 @@ async def ws_terminal(request: web.Request) -> web.WebSocketResponse:
        typ = data.get("type")
        try:
          if typ == "input":
-            await asyncio.to_thread(tmux.send_line, session, str(data.get("data") or ""))
+            line = str(data.get("data") or "")
+            await asyncio.to_thread(tmux.send_line, session, translate_meta_command(line) or line)
            await push_screen(force=True, delay=0.03)
          elif typ == "control":
            action = (data.get("action") or "").strip()
--- a/selfdrive/carrot/server/features/vision_diag.py
+++ b/selfdrive/carrot/server/features/vision_diag.py
@@ -0,0 +1,36 @@
+import asyncio
+
+from aiohttp import web
+
+from ..services.vision_diag import get_server_diagnostic_snapshot, upload_diagnostic_bundle_to_discord
+
+
+async def api_vision_diag_server_snapshot(_request: web.Request) -> web.Response:
+  snapshot = await asyncio.to_thread(get_server_diagnostic_snapshot)
+  return web.json_response({"ok": True, "snapshot": snapshot})
+
+
+async def api_vision_diag_upload_discord(request: web.Request) -> web.Response:
+  try:
+    body = await request.json()
+  except web.HTTPRequestEntityTooLarge:
+    return web.json_response({"ok": False, "error": "diagnostic upload too large"}, status=413)
+  except Exception as exc:
+    return web.json_response({"ok": False, "error": f"invalid diagnostic upload json: {exc}"}, status=400)
+  bundle_text = str(body.get("bundle") or body.get("text") or "")
+  if not bundle_text.strip():
+    return web.json_response({"ok": False, "error": "missing diagnostic bundle"}, status=400)
+  result = await upload_diagnostic_bundle_to_discord(
+    bundle_text=bundle_text,
+    filename=body.get("filename"),
+    console_text=str(body.get("console") or ""),
+    console_filename=body.get("consoleFilename") or body.get("console_filename"),
+    source=str(body.get("source") or "web"),
+  )
+  status = 200 if result.get("ok") or result.get("skipped") else 502
+  return web.json_response({"ok": bool(result.get("ok")), "discord": result}, status=status)
+
+
+def register(app: web.Application) -> None:
+  app.router.add_get("/api/vision_diag/server_snapshot", api_vision_diag_server_snapshot)
+  app.router.add_post("/api/vision_diag/upload_discord", api_vision_diag_upload_discord)
--- a/selfdrive/carrot/server/features/vision_test.py
+++ b/selfdrive/carrot/server/features/vision_test.py
@@ -0,0 +1,14 @@
+import asyncio
+
+from aiohttp import web
+
+from ..services.vision_test import get_status
+
+
+async def api_vision_test_status(_request: web.Request) -> web.Response:
+  status = await asyncio.to_thread(get_status)
+  return web.json_response({"ok": True, **status})
+
+
+def register(app: web.Application) -> None:
+  app.router.add_get("/api/vision_test/status", api_vision_test_status)
--- a/selfdrive/carrot/server/services/vision_diag.py
+++ b/selfdrive/carrot/server/services/vision_diag.py
@@ -0,0 +1,548 @@
+from __future__ import annotations
+
+import asyncio
+import base64
+import json
+import os
+import platform
+import socket
+import subprocess
+import threading
+import time
+from collections import deque
+from pathlib import Path
+from typing import Any
+
+from aiohttp import ClientSession, ClientTimeout, FormData
+
+from ..config import VISION_DIAG_DEFAULT_DISCORD_KEY, VISION_DIAG_DEFAULT_DISCORD_WEBHOOK
+from .params import HAS_PARAMS, Params
+from .vision_test import LOG_PATH as VISION_TEST_LOG_PATH
+from .vision_test import get_status as get_vision_test_status
+
+try:
+  from openpilot.system.hardware import HARDWARE
+except Exception:
+  HARDWARE = None
+
+
+STREAM_PROXY_HISTORY_LIMIT = 120
+TEXT_LINE_LIMIT = 800
+JOURNAL_LINE_LIMIT = 240
+PROC_NET_LINE_LIMIT = 320
+VISION_TEST_LOG_LINE_LIMIT = 240
+DISCORD_FILE_MAX_BYTES = 8 * 1024 * 1024
+
+_STREAM_PROXY_HISTORY: deque[dict[str, Any]] = deque(maxlen=STREAM_PROXY_HISTORY_LIMIT)
+_STREAM_PROXY_HISTORY_LOCK = threading.Lock()
+_PROCESS_MATCHES = {
+  "camerad": "system/camerad/camerad",
+  "stream_encoderd": "system/loggerd/encoderd\x00--stream",
+  "encoderd": "system/loggerd/encoderd",
+  "webrtcd": "system.webrtc.webrtcd",
+  "carrot_web": "selfdrive.carrot.server",
+}
+_JOURNAL_TERMS = (
+  "camerad",
+  "camera",
+  "encoderd",
+  "loggerd",
+  "webrtcd",
+  "visionipc",
+  "v4l_encoder",
+  "spectra.cc",
+  "h264",
+  "multi-slice",
+  "checked_ioctl",
+  "carrot",
+)
+
+
+def _trim_text(value: Any, limit: int = TEXT_LINE_LIMIT) -> str:
+  text = str(value or "").replace("\x00", " ")
+  return text if len(text) <= limit else f"{text[:limit]}..."
+
+
+def _decode_obfuscated(value: str, key: str) -> str:
+  try:
+    token = str(value or "").strip()
+    key_bytes = str(key or "").encode("utf-8")
+    if not token or not key_bytes:
+      return ""
+    raw = base64.urlsafe_b64decode(token + "=" * (-len(token) % 4))
+    decoded = bytes(raw[i] ^ key_bytes[i % len(key_bytes)] for i in range(len(raw)))
+    return decoded.decode("utf-8", errors="ignore").strip()
+  except Exception:
+    return ""
+
+
+def _param_text(params: Any, key: str, default: str = "") -> str:
+  try:
+    if not params:
+      return default
+    value = params.get(key)
+    if isinstance(value, bytes):
+      value = value.decode("utf-8", errors="replace")
+    value = str(value or "").strip()
+    return value or default
+  except Exception:
+    return default
+
+
+def _repo_dir() -> str:
+  return os.environ.get("CARROT_REPO_DIR", "/data/openpilot")
+
+
+def _git_text(args: list[str], default: str = "unknown") -> str:
+  try:
+    result = subprocess.run(
+      ["git", *args],
+      cwd=_repo_dir(),
+      capture_output=True,
+      text=True,
+      timeout=4,
+    )
+    if result.returncode == 0:
+      value = (result.stdout or "").strip()
+      return value or default
+  except Exception:
+    pass
+  return default
+
+
+def _device_serial(params: Any) -> str:
+  for key in ("HardwareSerial", "DeviceSerial", "Serial", "CarrotSerial"):
+    value = _param_text(params, key, "")
+    if value:
+      return value
+  for key in ("CARROT_DEVICE_SERIAL", "DEVICE_SERIAL", "SERIAL"):
+    value = os.environ.get(key, "").strip()
+    if value:
+      return value
+  try:
+    getter = getattr(HARDWARE, "get_serial", None) if HARDWARE is not None else None
+    if callable(getter):
+      value = str(getter() or "").strip()
+      if value:
+        return value
+  except Exception:
+    pass
+  return "unknown"
+
+
+def _diagnostic_metadata(params: Any | None = None) -> dict[str, str]:
+  return {
+    "carName": _param_text(params, "CarName", "none"),
+    "dongleId": _param_text(params, "DongleId", "unknown"),
+    "serial": _device_serial(params),
+    "branch": _git_text(["branch", "--show-current"]),
+    "commit": _git_text(["rev-parse", "--short", "HEAD"]),
+    "commitDate": _git_text(["show", "-s", "--date=format:%Y-%m-%d %H:%M:%S", "--format=%cd", "HEAD"]),
+  }
+
+
+def vision_diag_discord_webhook_url(params: Any | None = None) -> str:
+  for key in ("CARROT_VISION_DIAG_DISCORD_WEBHOOK_URL", "CARROT_DISCORD_WEBHOOK_URL", "DISCORD_WEBHOOK_URL"):
+    value = os.environ.get(key, "").strip()
+    if value:
+      return value
+  for key in (
+    "CarrotVisionDiagDiscordWebhookUrl",
+    "CarrotVisionDiagDiscordWebhookURL",
+    "CarrotDiscordWebhookUrl",
+    "CarrotDiscordWebhookURL",
+    "DiscordWebhookUrl",
+    "DiscordWebhookURL",
+  ):
+    value = _param_text(params, key, "")
+    if value:
+      return value
+  if os.environ.get("CARROT_VISION_DIAG_DISCORD_WEBHOOK_DISABLE", "").strip().lower() in {"1", "true", "yes", "on"}:
+    return ""
+  return _decode_obfuscated(VISION_DIAG_DEFAULT_DISCORD_WEBHOOK, VISION_DIAG_DEFAULT_DISCORD_KEY)
+
+
+def record_stream_proxy_event(event: dict[str, Any]) -> None:
+  entry = {
+    "ts": time.time(),
+    **event,
+  }
+  with _STREAM_PROXY_HISTORY_LOCK:
+    _STREAM_PROXY_HISTORY.append(entry)
+
+
+def get_stream_proxy_history() -> list[dict[str, Any]]:
+  with _STREAM_PROXY_HISTORY_LOCK:
+    return list(_STREAM_PROXY_HISTORY)
+
+
+def _read_text(path: Path, limit: int = 256_000) -> str:
+  try:
+    return path.read_text(encoding="utf-8", errors="replace")[:limit]
+  except Exception:
+    return ""
+
+
+def _tail_file(path: Path, lines: int) -> list[str]:
+  text = _read_text(path)
+  return [_trim_text(line) for line in text.splitlines()[-lines:]]
+
+
+def _run(args: list[str], timeout: float = 3.0) -> dict[str, Any]:
+  try:
+    proc = subprocess.run(
+      args,
+      check=False,
+      capture_output=True,
+      encoding="utf-8",
+      errors="replace",
+      timeout=timeout,
+    )
+    return {
+      "argv": args,
+      "returncode": proc.returncode,
+      "stdout": _trim_text(proc.stdout, 96_000),
+      "stderr": _trim_text(proc.stderr, 24_000),
+    }
+  except Exception as exc:
+    return {
+      "argv": args,
+      "error": _trim_text(exc),
+    }
+
+
+def _pid_cmdline(pid: int) -> str:
+  try:
+    return Path(f"/proc/{pid}/cmdline").read_bytes().decode(errors="replace")
+  except Exception:
+    return ""
+
+
+def _find_processes() -> dict[str, list[dict[str, Any]]]:
+  result: dict[str, list[dict[str, Any]]] = {name: [] for name in _PROCESS_MATCHES}
+  proc_root = Path("/proc")
+  if not proc_root.exists():
+    return result
+
+  for proc_path in proc_root.glob("[0-9]*"):
+    try:
+      pid = int(proc_path.name)
+    except ValueError:
+      continue
+    raw_cmdline = _pid_cmdline(pid)
+    if not raw_cmdline:
+      continue
+    for name, match in _PROCESS_MATCHES.items():
+      if match in raw_cmdline:
+        result[name].append(_process_snapshot(pid, raw_cmdline))
+  return result
+
+
+def _process_snapshot(pid: int, raw_cmdline: str) -> dict[str, Any]:
+  status: dict[str, str] = {}
+  for line in _read_text(Path(f"/proc/{pid}/status"), limit=32_000).splitlines():
+    if ":" not in line:
+      continue
+    key, value = line.split(":", 1)
+    if key in {"Name", "State", "Pid", "PPid", "Tgid", "Threads", "VmRSS", "VmSize"}:
+      status[key] = value.strip()
+
+  stat = _read_text(Path(f"/proc/{pid}/stat"), limit=8_000).split()
+  fd_count = None
+  try:
+    fd_count = sum(1 for _ in Path(f"/proc/{pid}/fd").iterdir())
+  except Exception:
+    pass
+  return {
+    "pid": pid,
+    "cmdline": _trim_text(raw_cmdline.replace("\x00", " ").strip()),
+    "status": status,
+    "cpu_user_ticks": stat[13] if len(stat) > 14 else None,
+    "cpu_system_ticks": stat[14] if len(stat) > 15 else None,
+    "fd_count": fd_count,
+  }
+
+
+def _params_snapshot() -> dict[str, Any]:
+  if not HAS_PARAMS:
+    return {"available": False}
+  params = Params()
+  result: dict[str, Any] = {"available": True}
+  for name in ("IsOffroad", "IsTakingSnapshot", "CarParamsPersistent"):
+    try:
+      if name == "CarParamsPersistent":
+        raw = params.get(name)
+        result[name] = {"present": bool(raw), "bytes": len(raw or b"")}
+      else:
+        result[name] = params.get_bool(name)
+    except Exception as exc:
+      result[name] = {"error": _trim_text(exc)}
+  return result
+
+
+def _vipc_snapshot() -> dict[str, Any]:
+  try:
+    from msgq.visionipc import VisionIpcClient
+    streams = sorted(int(stream) for stream in VisionIpcClient.available_streams("camerad", block=False))
+    return {"available": True, "camerad_streams": streams}
+  except Exception as exc:
+    return {"available": False, "error": _trim_text(exc)}
+
+
+def _port_open(port: int) -> bool:
+  try:
+    with socket.create_connection(("127.0.0.1", port), timeout=0.25):
+      return True
+  except OSError:
+    return False
+
+
+def _proc_net_snapshot() -> dict[str, list[str]]:
+  result: dict[str, list[str]] = {}
+  for name in ("tcp", "tcp6", "udp", "udp6"):
+    lines = _read_text(Path(f"/proc/net/{name}"), limit=256_000).splitlines()
+    result[name] = [_trim_text(line) for line in lines[:PROC_NET_LINE_LIMIT]]
+  return result
+
+
+def _journal_snapshot() -> dict[str, Any]:
+  raw = _run(["journalctl", "-b", "--no-pager", "-n", "900", "-o", "short-iso"], timeout=4.0)
+  lines = str(raw.get("stdout") or "").splitlines()
+  filtered = [
+    _trim_text(line)
+    for line in lines
+    if any(term in line.lower() for term in _JOURNAL_TERMS)
+  ]
+  return {
+    "command": raw.get("argv"),
+    "returncode": raw.get("returncode"),
+    "error": raw.get("error", ""),
+    "lines": filtered[-JOURNAL_LINE_LIMIT:],
+  }
+
+
+def _upload_filename(filename: str | None = None) -> str:
+  name = str(filename or "").strip().replace("\\", "_").replace("/", "_")
+  if name and name.endswith(".txt"):
+    return name[:180]
+  stamp = time.strftime("%Y-%m-%dT%H-%M-%SZ", time.gmtime())
+  return f"carrot_vision_diag_{stamp}.txt"
+
+
+def _limit_upload_text(text: str) -> str:
+  raw = text.encode("utf-8", errors="replace")
+  if len(raw) <= DISCORD_FILE_MAX_BYTES:
+    return text
+  keep_each = max(256_000, (DISCORD_FILE_MAX_BYTES // 2) - 128_000)
+  head = raw[:keep_each].decode("utf-8", errors="replace")
+  tail = raw[-keep_each:].decode("utf-8", errors="replace")
+  return "\n".join([
+    head,
+    "",
+    f"# ===== DISCORD UPLOAD TRUNCATED original_bytes={len(raw)} limit={DISCORD_FILE_MAX_BYTES} =====",
+    "",
+    tail,
+  ])
+
+
+def _console_upload_filename(filename: str | None, diag_filename: str) -> str:
+  name = str(filename or "").strip().replace("\\", "_").replace("/", "_")
+  if name and name.endswith(".txt"):
+    return name[:180]
+  if diag_filename.endswith(".txt"):
+    return f"{diag_filename[:-4]}_console.txt"
+  return f"{diag_filename}_console.txt"
+
+
+def _discord_upload_content(
+  snapshot: dict[str, Any],
+  meta: dict[str, str],
+  filename: str,
+  text_bytes: int,
+  console_filename: str = "",
+  console_bytes: int = 0,
+) -> str:
+  status = snapshot.get("vision_test", {}).get("status", {}) if isinstance(snapshot, dict) else {}
+  ports = snapshot.get("ports", {}) if isinstance(snapshot, dict) else {}
+  vipc = snapshot.get("vipc", {}) if isinstance(snapshot, dict) else {}
+  stream_history = snapshot.get("stream_proxy_history", []) if isinstance(snapshot, dict) else []
+  commit = str(meta.get("commit") or "").strip()
+  commit_date = meta.get("commitDate") or "unknown"
+  commit_text = (
+    f"[{commit}](https://github.com/ajouatom/openpilot/commit/{commit})"
+    if commit and commit != "unknown"
+    else "unknown"
+  )
+  uploaded_at = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
+  car_name = meta.get("carName") or "none"
+  dongle_id = meta.get("dongleId") or "unknown"
+  upload_path = f"vision_diag/{car_name} {dongle_id}/".strip()
+  lines = [
+    "# Carrot Vision Diagnostic",
+    "### Upload",
+    f"- Time: {uploaded_at}",
+    f"- Path: {upload_path}",
+    "### Device",
+    f"- Car name: {car_name}",
+    f"- DongleId: {dongle_id}",
+    f"- Serial: {meta.get('serial') or 'unknown'}",
+    f"- Branch: {meta.get('branch') or 'unknown'}",
+    f"- Commit: {commit_text} ({commit_date})",
+    "### Result",
+    f"- Vision test: {status.get('status') or 'unknown'}",
+    f"- VIPC streams: {','.join(map(str, vipc.get('camerad_streams') or [])) or 'none'}",
+    f"- WebRTC port 5001: {'open' if ports.get('webrtcd_5001_open') else 'closed'}",
+    f"- Stream requests: {len(stream_history) if isinstance(stream_history, list) else 0}",
+    f"- File: {filename} ({text_bytes} bytes)",
+  ]
+  if console_filename:
+    lines.append(f"- Console: {console_filename} ({console_bytes} bytes)")
+  return "\n".join(lines)[:1900]
+
+
+async def upload_diagnostic_bundle_to_discord(
+  *,
+  bundle_text: str,
+  filename: str | None = None,
+  console_text: str = "",
+  console_filename: str | None = None,
+  source: str = "web",
+) -> dict[str, Any]:
+  params = Params() if HAS_PARAMS else None
+  url = vision_diag_discord_webhook_url(params)
+  if not url:
+    return {"configured": False, "ok": False, "skipped": True}
+  if not url.startswith(("http://", "https://")):
+    return {"configured": True, "ok": False, "error": "invalid webhook url"}
+
+  snapshot = await asyncio.to_thread(get_server_diagnostic_snapshot)
+  meta = _diagnostic_metadata(params)
+  upload_snapshot_title = "COMMA SERVER SNAPSHOT AT DISCORD UPLOAD"
+  upload_text = _limit_upload_text("\n".join([
+    str(bundle_text or ""),
+    "",
+    f"# ===== {upload_snapshot_title} =====",
+    json.dumps(snapshot, ensure_ascii=False, indent=2),
+    f"# ===== END {upload_snapshot_title} =====",
+  ]))
+  upload_name = _upload_filename(filename)
+  upload_bytes = upload_text.encode("utf-8", errors="replace")
+  console_upload_name = ""
+  console_upload_bytes = b""
+  if str(console_text or "").strip():
+    console_upload_name = _console_upload_filename(console_filename, upload_name)
+    console_upload_text = _limit_upload_text(str(console_text or ""))
+    console_upload_bytes = console_upload_text.encode("utf-8", errors="replace")
+  payload = {
+    "username": "Carrot Vision",
+    "content": _discord_upload_content(
+      snapshot,
+      meta,
+      upload_name,
+      len(upload_bytes),
+      console_upload_name,
+      len(console_upload_bytes),
+    ),
+    "allowed_mentions": {"parse": []},
+    "flags": 4,
+  }
+
+  form = FormData()
+  form.add_field("payload_json", json.dumps(payload, ensure_ascii=False), content_type="application/json")
+  form.add_field("files[0]", upload_bytes, filename=upload_name, content_type="text/plain; charset=utf-8")
+  if console_upload_bytes:
+    form.add_field("files[1]", console_upload_bytes, filename=console_upload_name, content_type="text/plain; charset=utf-8")
+
+  try:
+    timeout = ClientTimeout(total=20)
+    async with ClientSession(timeout=timeout) as session:
+      async with session.post(url, data=form) as resp:
+        text = await resp.text()
+        if 200 <= resp.status < 300:
+          return {
+            "configured": True,
+            "ok": True,
+            "status": resp.status,
+            "filename": upload_name,
+            "bytes": len(upload_bytes),
+            "console_filename": console_upload_name or None,
+            "console_bytes": len(console_upload_bytes) if console_upload_bytes else 0,
+            "source": source,
+          }
+        return {
+          "configured": True,
+          "ok": False,
+          "status": resp.status,
+          "filename": upload_name,
+          "bytes": len(upload_bytes),
+          "console_filename": console_upload_name or None,
+          "console_bytes": len(console_upload_bytes) if console_upload_bytes else 0,
+          "error": text[:1000],
+        }
+  except Exception as exc:
+    return {
+      "configured": True,
+      "ok": False,
+      "filename": upload_name,
+      "bytes": len(upload_bytes),
+      "console_filename": console_upload_name or None,
+      "console_bytes": len(console_upload_bytes) if console_upload_bytes else 0,
+      "error": str(exc),
+    }
+
+
+def _socket_snapshot(processes: dict[str, list[dict[str, Any]]]) -> dict[str, Any]:
+  relevant_pids = {
+    str(proc["pid"])
+    for entries in processes.values()
+    for proc in entries
+    if proc.get("pid")
+  }
+  raw = _run(["ss", "-tunap"], timeout=3.0)
+  lines = str(raw.get("stdout") or "").splitlines()
+  filtered = [
+    _trim_text(line)
+    for line in lines
+    if ":5001" in line or any(f"pid={pid}," in line for pid in relevant_pids)
+  ]
+  return {
+    "command": raw.get("argv"),
+    "returncode": raw.get("returncode"),
+    "error": raw.get("error", ""),
+    "lines": filtered[-PROC_NET_LINE_LIMIT:],
+  }
+
+
+def get_server_diagnostic_snapshot() -> dict[str, Any]:
+  processes = _find_processes()
+  try:
+    vision_test_status: dict[str, Any] = get_vision_test_status()
+  except Exception as exc:
+    vision_test_status = {"error": _trim_text(exc)}
+
+  return {
+    "captured_at": time.time(),
+    "captured_at_iso": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+    "system": {
+      "hostname": platform.node(),
+      "platform": platform.platform(),
+      "python": platform.python_version(),
+      "uptime_seconds": _trim_text(_read_text(Path("/proc/uptime"), limit=128)),
+      "loadavg": _trim_text(_read_text(Path("/proc/loadavg"), limit=128)),
+    },
+    "params": _params_snapshot(),
+    "vipc": _vipc_snapshot(),
+    "ports": {
+      "webrtcd_5001_open": _port_open(5001),
+    },
+    "processes": processes,
+    "stream_proxy_history": get_stream_proxy_history(),
+    "vision_test": {
+      "status": vision_test_status,
+      "log_path": str(VISION_TEST_LOG_PATH),
+      "log_tail": _tail_file(VISION_TEST_LOG_PATH, VISION_TEST_LOG_LINE_LIMIT),
+    },
+    "sockets": _socket_snapshot(processes),
+    "proc_net": _proc_net_snapshot(),
+    "journal_tail": _journal_snapshot(),
+  }
--- a/selfdrive/carrot/server/services/vision_test.py
+++ b/selfdrive/carrot/server/services/vision_test.py
@@ -0,0 +1,412 @@
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import signal
+import socket
+import subprocess
+import sys
+import time
+from pathlib import Path
+from typing import Any
+
+
+REPO_ROOT = Path("/data/openpilot")
+STATE_PATH = Path("/tmp/carrot-vision-test-state.json")
+LOG_PATH = Path("/tmp/carrot-vision-test.log")
+TIMEOUT_SECONDS = 10 * 60
+RUNNER_MODULE = "selfdrive.carrot.server.services.vision_test"
+
+_PROCESS_SPECS = {
+  "camerad": {
+    "cmd": [str(REPO_ROOT / "system/camerad/camerad")],
+    "cwd": str(REPO_ROOT),
+    "match": "system/camerad/camerad",
+  },
+  "stream_encoderd": {
+    "cmd": [str(REPO_ROOT / "system/loggerd/encoderd"), "--stream"],
+    "cwd": str(REPO_ROOT),
+    "match": "system/loggerd/encoderd\x00--stream",
+  },
+  "webrtcd": {
+    "cmd": [sys.executable, "-m", "system.webrtc.webrtcd"],
+    "cwd": str(REPO_ROOT),
+    "match": "system.webrtc.webrtcd",
+  },
+}
+
+
+def _params():
+  from openpilot.common.params import Params
+  return Params()
+
+
+def _set_snapshot_active(active: bool) -> None:
+  params = _params()
+  params.put_bool("IsTakingSnapshot", active)
+  try:
+    from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+    set_offroad_alert("Offroad_IsTakingSnapshot", active)
+  except Exception:
+    pass
+
+
+def _write_state(state: dict[str, Any]) -> None:
+  state["updated_at"] = time.time()
+  temp_path = STATE_PATH.with_suffix(".tmp")
+  temp_path.write_text(json.dumps(state, sort_keys=True), encoding="utf-8")
+  temp_path.replace(STATE_PATH)
+
+
+def _read_state() -> dict[str, Any]:
+  try:
+    raw = json.loads(STATE_PATH.read_text(encoding="utf-8"))
+    return raw if isinstance(raw, dict) else {}
+  except Exception:
+    return {}
+
+
+def _pid_cmdline(pid: int) -> str:
+  try:
+    return Path(f"/proc/{int(pid)}/cmdline").read_bytes().decode(errors="replace")
+  except Exception:
+    return ""
+
+
+def _pid_alive(pid: int, match: str = "") -> bool:
+  if pid <= 0:
+    return False
+  try:
+    os.kill(pid, 0)
+  except OSError:
+    return False
+  return not match or match in _pid_cmdline(pid)
+
+
+def _find_matching_pids(match: str) -> list[int]:
+  matches = []
+  for proc_path in Path("/proc").glob("[0-9]*"):
+    try:
+      pid = int(proc_path.name)
+    except ValueError:
+      continue
+    if match in _pid_cmdline(pid):
+      matches.append(pid)
+  return sorted(matches)
+
+
+def _tail_log(lines: int) -> list[str]:
+  try:
+    return LOG_PATH.read_text(encoding="utf-8", errors="replace").splitlines()[-lines:]
+  except Exception:
+    return []
+
+
+def _vipc_streams() -> list[int]:
+  try:
+    from msgq.visionipc import VisionIpcClient
+    return sorted(int(stream) for stream in VisionIpcClient.available_streams("camerad", block=False))
+  except Exception:
+    return []
+
+
+def _port_open(port: int) -> bool:
+  try:
+    with socket.create_connection(("127.0.0.1", port), timeout=0.2):
+      return True
+  except OSError:
+    return False
+
+
+def _children_status(state: dict[str, Any]) -> dict[str, dict[str, Any]]:
+  children = state.get("children") if isinstance(state.get("children"), dict) else {}
+  result = {}
+  for name, spec in _PROCESS_SPECS.items():
+    pid = int(children.get(name) or 0)
+    result[name] = {"pid": pid, "alive": _pid_alive(pid, str(spec["match"]))}
+  return result
+
+
+def get_status() -> dict[str, Any]:
+  state = _read_state()
+  runner_pid = int(state.get("runner_pid") or 0)
+  status = str(state.get("status") or "stopped")
+  runner_alive = _pid_alive(runner_pid, RUNNER_MODULE)
+  return {
+    **state,
+    "status": status if runner_alive or status == "error" else "stopped",
+    "runner_pid": runner_pid,
+    "runner_alive": runner_alive,
+    "children": _children_status(state),
+    "vipc_streams": _vipc_streams(),
+    "webrtcd_port_open": _port_open(5001),
+    "log_path": str(LOG_PATH),
+  }
+
+
+def _format_duration(seconds: float) -> str:
+  seconds = max(0, int(seconds))
+  return f"{seconds // 3600:02d}:{(seconds % 3600) // 60:02d}:{seconds % 60:02d}"
+
+
+def print_status() -> int:
+  status = get_status()
+  started_at = float(status.get("started_at") or 0)
+  elapsed = _format_duration(time.time() - started_at) if started_at else "00:00:00"
+  print(f"[vision_test] {status['status']} elapsed={elapsed}")
+  print(f"  runner           pid={status['runner_pid'] or '-'} alive={str(status['runner_alive']).lower()}")
+  for name, child in status["children"].items():
+    print(f"  {name:<16} pid={child['pid'] or '-'} alive={str(child['alive']).lower()}")
+  streams = ", ".join(str(stream) for stream in status["vipc_streams"]) or "-"
+  print(f"  VIPC streams     {streams}")
+  print(f"  webrtcd port     5001 open={str(status['webrtcd_port_open']).lower()}")
+  print(f"  log              {status['log_path']}")
+  error = str(status.get("error") or "").strip()
+  if error:
+    print(f"  error            {error}")
+  return 0 if status["runner_alive"] else 1
+
+
+def _terminate_pid(pid: int, match: str, timeout: float = 3.0) -> None:
+  if not _pid_alive(pid, match):
+    return
+  try:
+    os.kill(pid, signal.SIGTERM)
+  except OSError:
+    return
+
+  deadline = time.monotonic() + timeout
+  while time.monotonic() < deadline:
+    if not _pid_alive(pid, match):
+      return
+    time.sleep(0.1)
+
+  if _pid_alive(pid, match):
+    try:
+      os.kill(pid, signal.SIGKILL)
+    except OSError:
+      pass
+
+
+def _cleanup_owned_processes(state: dict[str, Any]) -> None:
+  children = state.get("children") if isinstance(state.get("children"), dict) else {}
+  for name in reversed(tuple(_PROCESS_SPECS)):
+    spec = _PROCESS_SPECS[name]
+    _terminate_pid(int(children.get(name) or 0), str(spec["match"]))
+
+
+def start_test() -> int:
+  status = get_status()
+  if status["runner_alive"]:
+    print("[vision_test] already running")
+    return print_status()
+
+  if not _params().get_bool("IsOffroad"):
+    print("[vision_test] refused: device is not offroad", file=sys.stderr)
+    return 1
+
+  for name, spec in _PROCESS_SPECS.items():
+    pids = _find_matching_pids(str(spec["match"]))
+    if pids:
+      print(f"[vision_test] refused: {name} already running pid={','.join(map(str, pids))}", file=sys.stderr)
+      return 1
+
+  LOG_PATH.write_text("", encoding="utf-8")
+  with LOG_PATH.open("a", encoding="utf-8") as log:
+    proc = subprocess.Popen(
+      [sys.executable, "-m", RUNNER_MODULE, "_run"],
+      cwd=str(REPO_ROOT),
+      stdin=subprocess.DEVNULL,
+      stdout=log,
+      stderr=subprocess.STDOUT,
+      start_new_session=True,
+    )
+
+  print(f"[vision_test] starting runner pid={proc.pid}")
+  deadline = time.monotonic() + 12.0
+  while time.monotonic() < deadline:
+    time.sleep(0.25)
+    status = get_status()
+    if status.get("status") == "running":
+      print("[vision_test] ready")
+      return print_status()
+    if status.get("status") == "error":
+      print(f"[vision_test] failed: {status.get('error') or 'unknown error'}", file=sys.stderr)
+      return 1
+    if proc.poll() is not None:
+      print("[vision_test] runner exited during startup", file=sys.stderr)
+      return 1
+
+  print("[vision_test] startup is still in progress; run :vision_test status", file=sys.stderr)
+  return 1
+
+
+def stop_test() -> int:
+  state = _read_state()
+  runner_pid = int(state.get("runner_pid") or 0)
+  if _pid_alive(runner_pid, RUNNER_MODULE):
+    print(f"[vision_test] stopping runner pid={runner_pid}")
+    _terminate_pid(runner_pid, RUNNER_MODULE, timeout=15.0)
+  elif state:
+    print("[vision_test] runner is not active; cleaning stale state")
+    _cleanup_owned_processes(state)
+    _set_snapshot_active(False)
+  else:
+    print("[vision_test] runner is not active")
+
+  state = _read_state()
+  if state:
+    state.update({"status": "stopped", "children": {}, "error": ""})
+    _write_state(state)
+  print("[vision_test] stopped")
+  return 0
+
+
+def print_logs(lines: int) -> int:
+  print(f"[vision_test] log={LOG_PATH}")
+  for line in _tail_log(lines):
+    print(line)
+  return 0
+
+
+def _wait_for_vipc(timeout: float) -> list[int]:
+  deadline = time.monotonic() + timeout
+  while time.monotonic() < deadline:
+    streams = _vipc_streams()
+    if streams:
+      return streams
+    time.sleep(0.25)
+  return []
+
+
+def _wait_for_port(port: int, timeout: float) -> bool:
+  deadline = time.monotonic() + timeout
+  while time.monotonic() < deadline:
+    if _port_open(port):
+      return True
+    time.sleep(0.25)
+  return False
+
+
+def _run_test() -> int:
+  stopped = False
+  children: dict[str, subprocess.Popen] = {}
+  state: dict[str, Any] = {
+    "status": "starting",
+    "runner_pid": os.getpid(),
+    "started_at": time.time(),
+    "children": {},
+    "error": "",
+  }
+
+  def request_stop(_signum=None, _frame=None) -> None:
+    nonlocal stopped
+    stopped = True
+
+  signal.signal(signal.SIGTERM, request_stop)
+  signal.signal(signal.SIGINT, request_stop)
+
+  def log(message: str) -> None:
+    print(f"[vision_test] {message}", flush=True)
+
+  def start_child(name: str) -> None:
+    spec = _PROCESS_SPECS[name]
+    proc = subprocess.Popen(
+      list(spec["cmd"]),
+      cwd=str(spec["cwd"]),
+      stdin=subprocess.DEVNULL,
+      stdout=sys.stdout,
+      stderr=subprocess.STDOUT,
+    )
+    children[name] = proc
+    state["children"][name] = proc.pid
+    _write_state(state)
+    log(f"{name} started pid={proc.pid}")
+
+  _write_state(state)
+  try:
+    if not _params().get_bool("IsOffroad"):
+      raise RuntimeError("device is not offroad")
+
+    _set_snapshot_active(True)
+    log("IsTakingSnapshot enabled")
+    time.sleep(2.0)
+
+    start_child("camerad")
+    streams = _wait_for_vipc(8.0)
+    if not streams:
+      raise RuntimeError("camerad did not publish VisionIPC streams")
+    log(f"VIPC streams ready: {','.join(map(str, streams))}")
+
+    start_child("stream_encoderd")
+    start_child("webrtcd")
+    if not _wait_for_port(5001, 8.0):
+      raise RuntimeError("webrtcd did not open port 5001")
+    log("webrtcd port ready: 5001")
+
+    state["status"] = "running"
+    _write_state(state)
+    log(f"running timeout={TIMEOUT_SECONDS}s")
+
+    deadline = time.monotonic() + TIMEOUT_SECONDS
+    while not stopped and time.monotonic() < deadline:
+      if not _params().get_bool("IsOffroad"):
+        log("offroad ended; stopping")
+        break
+      for name, proc in children.items():
+        if proc.poll() is not None:
+          raise RuntimeError(f"{name} exited code={proc.returncode}")
+      time.sleep(0.5)
+    if time.monotonic() >= deadline:
+      log("timeout reached; stopping")
+  except Exception as exc:
+    state["status"] = "error"
+    state["error"] = str(exc)
+    _write_state(state)
+    log(f"error: {exc}")
+    return 1
+  finally:
+    for name in reversed(tuple(children)):
+      spec = _PROCESS_SPECS[name]
+      _terminate_pid(children[name].pid, str(spec["match"]))
+      log(f"{name} stopped")
+    _set_snapshot_active(False)
+    state["children"] = {}
+    if state["status"] != "error":
+      state["status"] = "stopped"
+    _write_state(state)
+    log("IsTakingSnapshot cleared")
+
+  return 0
+
+
+def run_command(args: list[str]) -> int:
+  parser = argparse.ArgumentParser(prog=":vision_test", add_help=False)
+  parser.add_argument("action", nargs="?", default="start", choices=("start", "status", "logs", "stop"))
+  parser.add_argument("--lines", type=int, default=80)
+  try:
+    options = parser.parse_args(args)
+  except SystemExit:
+    return 2
+
+  if options.action == "start":
+    return start_test()
+  if options.action == "status":
+    return print_status()
+  if options.action == "logs":
+    return print_logs(max(1, min(500, options.lines)))
+  return stop_test()
+
+
+def main(argv: list[str] | None = None) -> int:
+  parser = argparse.ArgumentParser()
+  parser.add_argument("action", choices=("_run",))
+  options = parser.parse_args(argv)
+  if options.action == "_run":
+    return _run_test()
+  return 2
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
--- a/selfdrive/carrot/server/terminal_commands/README.md
+++ b/selfdrive/carrot/server/terminal_commands/README.md
@@ -0,0 +1,58 @@
+# Web Terminal Meta Commands
+
+The Carrot web terminal sends normal input to its tmux shell unchanged. Input
+starting with `:` is reserved for small web-terminal-only helpers.
+
+```text
+:help
+:help vision_test
+:vision_test status
+```
+
+## Adding A Command
+
+1. Add `custom_commands/example.py`.
+2. Register one handler with `register_command`.
+3. Import the new module in `custom_commands/__init__.py`.
+4. Print normal progress and result text from the handler. Output appears in
+   the existing web terminal because the command runs through the tmux shell.
+
+```python
+from ..registry import register_command
+
+
+@register_command(
+  name="example",
+  summary="Describe the helper in one line.",
+  usage=":example [status]",
+)
+def run(args: list[str]) -> int:
+  print("[example] ready")
+  return 0
+```
+
+Use Python argument lists for subprocess calls. Do not pass user input to a
+shell. Keep reusable process or state management in `server/services/`; the
+command handler should remain a small text interface.
+
+## Layout
+
+```text
+terminal_commands/
+  bridge.py              # Converts : input into a fixed CLI call.
+  cli.py                 # Parses one meta-command line.
+  registry.py            # Stores command metadata and handlers.
+  custom_commands/       # Actual user-editable custom command files.
+    help.py
+    vision_test.py
+```
+
+## Bridge Flow
+
+1. `features/terminal.py` receives terminal input over the existing websocket.
+2. `bridge.py` converts `:` input into a fixed Python CLI invocation.
+3. `cli.py` parses the command and invokes a registered handler.
+4. stdout and stderr are rendered by the existing tmux screen capture loop.
+
+This keeps ordinary shell behavior intact and makes each helper independently
+editable.
--- a/selfdrive/carrot/server/terminal_commands/init.py
+++ b/selfdrive/carrot/server/terminal_commands/init.py
@@ -0,0 +1,3 @@
+from .bridge import META_COMMAND_PREFIX, translate_meta_command
+
+__all__ = ["META_COMMAND_PREFIX", "translate_meta_command"]
--- a/selfdrive/carrot/server/terminal_commands/bridge.py
+++ b/selfdrive/carrot/server/terminal_commands/bridge.py
@@ -0,0 +1,17 @@
+from __future__ import annotations
+
+import shlex
+
+
+META_COMMAND_PREFIX = ":"
+_CLI_MODULE = "selfdrive.carrot.server.terminal_commands.cli"
+
+
+def translate_meta_command(line: str) -> str | None:
+  """Translate a web-terminal-only meta command into the fixed CLI bridge."""
+  stripped = str(line or "").strip()
+  if not stripped.startswith(META_COMMAND_PREFIX):
+    return None
+
+  command_line = stripped[len(META_COMMAND_PREFIX):].strip() or "help"
+  return shlex.join(["python3", "-m", _CLI_MODULE, "--line", command_line])
--- a/selfdrive/carrot/server/terminal_commands/cli.py
+++ b/selfdrive/carrot/server/terminal_commands/cli.py
@@ -0,0 +1,46 @@
+from __future__ import annotations
+
+import argparse
+import shlex
+import sys
+
+from .custom_commands import load_commands
+from .registry import get_command
+
+
+def _parse_command_line(command_line: str) -> list[str] | None:
+  try:
+    return shlex.split(command_line)
+  except ValueError as exc:
+    print(f"[terminal] parse error: {exc}", file=sys.stderr)
+    return None
+
+
+def main(argv: list[str] | None = None) -> int:
+  parser = argparse.ArgumentParser(add_help=False)
+  parser.add_argument("--line", default="help")
+  options = parser.parse_args(argv)
+
+  load_commands()
+  parts = _parse_command_line(options.line)
+  if parts is None:
+    return 2
+  if not parts:
+    parts = ["help"]
+
+  command = get_command(parts[0])
+  if command is None:
+    print(f"[terminal] unknown command: {parts[0]}", file=sys.stderr)
+    print("[terminal] run :help to list available commands", file=sys.stderr)
+    return 2
+
+  try:
+    result = command.handler(parts[1:])
+  except Exception as exc:
+    print(f"[terminal] {command.name} failed: {exc}", file=sys.stderr)
+    return 1
+  return int(result or 0)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
--- a/selfdrive/carrot/server/terminal_commands/custom_commands/init.py
+++ b/selfdrive/carrot/server/terminal_commands/custom_commands/init.py
@@ -0,0 +1,16 @@
+from __future__ import annotations
+
+
+_loaded = False
+
+
+def load_commands() -> None:
+  global _loaded
+  if _loaded:
+    return
+
+  from . import help as _help
+  from . import vision_test as _vision_test
+
+  del _help, _vision_test
+  _loaded = True
--- a/selfdrive/carrot/server/terminal_commands/custom_commands/help.py
+++ b/selfdrive/carrot/server/terminal_commands/custom_commands/help.py
@@ -0,0 +1,25 @@
+from __future__ import annotations
+
+from ..bridge import META_COMMAND_PREFIX
+from ..registry import get_command, iter_commands, register_command
+
+
+@register_command(
+  name="help",
+  summary="List web terminal meta commands or show command usage.",
+  usage=":help [command]",
+)
+def run(args: list[str]) -> int:
+  if args:
+    command = get_command(args[0])
+    if command is None:
+      print(f"[terminal] unknown command: {args[0]}")
+      return 2
+    print(f"{command.usage}\n  {command.summary}")
+    return 0
+
+  print("Web terminal meta commands")
+  for command in iter_commands():
+    print(f"  {META_COMMAND_PREFIX}{command.name:<18} {command.summary}")
+  print("\nRun :help <command> for usage. Other input is sent to the shell unchanged.")
+  return 0
--- a/selfdrive/carrot/server/terminal_commands/custom_commands/vision_test.py
+++ b/selfdrive/carrot/server/terminal_commands/custom_commands/vision_test.py
@@ -0,0 +1,13 @@
+from __future__ import annotations
+
+from ...services import vision_test
+from ..registry import register_command
+
+
+@register_command(
+  name="vision_test",
+  summary="Run an offroad Carrot Vision camera and WebRTC test.",
+  usage=":vision_test [start|status|logs|stop] [--lines N]",
+)
+def run(args: list[str]) -> int:
+  return vision_test.run_command(args)
--- a/selfdrive/carrot/server/terminal_commands/registry.py
+++ b/selfdrive/carrot/server/terminal_commands/registry.py
@@ -0,0 +1,47 @@
+from __future__ import annotations
+
+import re
+from dataclasses import dataclass
+from typing import Callable, Iterable
+
+
+CommandHandler = Callable[[list[str]], int | None]
+_COMMAND_NAME_RE = re.compile(r"^[a-z][a-z0-9_]*$")
+
+
+@dataclass(frozen=True)
+class TerminalCommand:
+  name: str
+  summary: str
+  usage: str
+  handler: CommandHandler
+
+
+_commands: dict[str, TerminalCommand] = {}
+
+
+def register_command(*, name: str, summary: str, usage: str) -> Callable[[CommandHandler], CommandHandler]:
+  normalized = str(name or "").strip().lower()
+  if not _COMMAND_NAME_RE.fullmatch(normalized):
+    raise ValueError(f"invalid terminal command name: {name!r}")
+
+  def decorator(handler: CommandHandler) -> CommandHandler:
+    if normalized in _commands:
+      raise ValueError(f"duplicate terminal command: {normalized}")
+    _commands[normalized] = TerminalCommand(
+      name=normalized,
+      summary=str(summary or "").strip(),
+      usage=str(usage or "").strip(),
+      handler=handler,
+    )
+    return handler
+
+  return decorator
+
+
+def get_command(name: str) -> TerminalCommand | None:
+  return _commands.get(str(name or "").strip().lower())
+
+
+def iter_commands() -> Iterable[TerminalCommand]:
+  return sorted(_commands.values(), key=lambda command: command.name)
--- a/selfdrive/carrot/web/css/components/nav_hud.css
+++ b/selfdrive/carrot/web/css/components/nav_hud.css
@@ -11,6 +11,21 @@
  --nav-side-width: 188px;
  --nav-gap: 12px;
  --nav-card-height: 88px;
+  --nav-scale: 1;
+  --nav-padding-y: 11px;
+  --nav-main-padding-x: 18px;
+  --nav-side-padding-x: 14px;
+  --nav-side-gap: 14px;
+  --nav-body-gap: 4px;
+  --nav-side-sign-size: 56px;
+  --nav-side-sign-font: 25px;
+  --nav-side-dist-font: 23px;
+  --nav-side-label-font: 18px;
+  --nav-icon-size: 62px;
+  --nav-icon-font: 38px;
+  --nav-dist-font: 33px;
+  --nav-road-font: 21px;
+  --nav-meta-font: 17px;
  --nav-top: 56px;
  --nav-main-left: 50%;
  --nav-side-left: 14px;
@@ -72,7 +87,7 @@
  min-height: var(--nav-card-height);
  margin: 0;
  margin-left: var(--nav-main-left);
-  padding: 11px 18px 11px 14px;
+  padding: var(--nav-padding-y) var(--nav-main-padding-x) var(--nav-padding-y) calc(var(--nav-main-padding-x) * 0.78);
  border-radius: var(--nav-radius);
 }

@@ -89,10 +104,11 @@
  display: flex;
  align-items: center;
  gap: clamp(11px, 1.0vw, 15px);
+  gap: var(--nav-side-gap);
  width: var(--nav-side-width);
  height: var(--nav-card-height);
  min-height: var(--nav-card-height);
-  padding: 11px 14px;
+  padding: var(--nav-padding-y) var(--nav-side-padding-x);
  border-radius: var(--nav-radius);
  transform: translateY(-50%);
 }
@@ -112,14 +128,14 @@

 .carrot-nav-hud__side-sign {
  flex: 0 0 auto;
-  width: clamp(50px, 4.4vw, 60px);
-  height: clamp(50px, 4.4vw, 60px);
+  width: var(--nav-side-sign-size);
+  height: var(--nav-side-sign-size);
  display: grid;
  place-items: center;
  border-radius: 50%;
  background: #fff;
  color: #c00024;
-  font-size: clamp(22px, 1.72vw, 27px);
+  font-size: var(--nav-side-sign-font);
  font-family: "Arial Black", Impact, var(--font-sans, sans-serif);
  font-weight: 900;
  line-height: 1;
@@ -139,12 +155,12 @@
  min-width: 0;
  display: flex;
  flex-direction: column;
-  gap: 4px;
+  gap: var(--nav-body-gap);
 }

 .carrot-nav-hud__side-dist {
  color: #fff;
-  font-size: clamp(20px, 1.55vw, 25px);
+  font-size: var(--nav-side-dist-font);
  font-weight: 1000;
  line-height: 1.05;
  white-space: nowrap;
@@ -159,35 +175,35 @@

 .carrot-nav-hud__side-label {
  color: rgba(255, 255, 255, 0.98);
-  font-size: clamp(16px, 1.18vw, 20px);
+  font-size: var(--nav-side-label-font);
  font-weight: 920;
-  line-height: 1.08;
+  line-height: 1.12;
  word-break: keep-all;
  overflow-wrap: normal;
  overflow: hidden;
-  display: -webkit-box;
-  -webkit-line-clamp: 2;
-  -webkit-box-orient: vertical;
+  display: block;
+  white-space: nowrap;
+  text-overflow: ellipsis;
  text-shadow: 0 2px 3px rgba(0, 0, 0, 0.82);
 }

 .carrot-nav-hud[data-layout="compact"] .carrot-nav-hud__side {
-  gap: 9px;
-  padding-inline: 11px;
+  gap: calc(var(--nav-side-gap) * 0.82);
+  padding-inline: calc(var(--nav-side-padding-x) * 0.82);
 }

 .carrot-nav-hud[data-layout="compact"] .carrot-nav-hud__side-sign {
-  width: 48px;
-  height: 48px;
-  font-size: 21px;
+  width: calc(var(--nav-side-sign-size) * 0.88);
+  height: calc(var(--nav-side-sign-size) * 0.88);
+  font-size: calc(var(--nav-side-sign-font) * 0.88);
 }

 .carrot-nav-hud[data-layout="compact"] .carrot-nav-hud__side-dist {
-  font-size: 19px;
+  font-size: calc(var(--nav-side-dist-font) * 0.88);
 }

 .carrot-nav-hud[data-layout="compact"] .carrot-nav-hud__side-label {
-  font-size: 16px;
+  font-size: calc(var(--nav-side-label-font) * 0.90);
 }

 .carrot-nav-hud__side-countdown {
@@ -232,8 +248,8 @@

 .carrot-nav-hud__icon {
  flex: 0 0 auto;
-  width: clamp(54px, 4.7vw, 66px);
-  height: clamp(54px, 4.7vw, 66px);
+  width: var(--nav-icon-size);
+  height: var(--nav-icon-size);
  display: grid;
  place-items: center;
  border-radius: clamp(13px, 1.2vw, 17px);
@@ -241,7 +257,7 @@
    linear-gradient(160deg, rgba(255,255,255,.22), rgba(255,255,255,0) 38%),
    linear-gradient(180deg, #ffb55e 0%, #f0791f 100%);
  color: #fff;
-  font-size: clamp(32px, 2.7vw, 41px);
+  font-size: var(--nav-icon-font);
  font-weight: 950;
  line-height: 1;
  box-shadow:
@@ -281,7 +297,7 @@
  min-width: 0;
  display: flex;
  flex-direction: column;
-  gap: 4px;
+  gap: var(--nav-body-gap);
 }

 .carrot-nav-hud__dist-row {
@@ -293,7 +309,7 @@

 .carrot-nav-hud__dist {
  color: var(--nav-amber);
-  font-size: clamp(27px, 2.35vw, 36px);
+  font-size: var(--nav-dist-font);
  font-weight: 950;
  line-height: 1.02;
  letter-spacing: -0.02em;
@@ -350,7 +366,7 @@
  flex: 1 1 auto;
  min-width: 0;
  color: rgba(255, 255, 255, 0.95);
-  font-size: clamp(18px, 1.45vw, 23px);
+  font-size: var(--nav-road-font);
  font-weight: 900;
  line-height: 1.18;
  overflow: hidden;
@@ -383,7 +399,7 @@

 .carrot-nav-hud__meta {
  color: rgba(255, 255, 255, 0.90);
-  font-size: clamp(15px, 1.14vw, 18px);
+  font-size: var(--nav-meta-font);
  font-weight: 900;
  line-height: 1.15;
  overflow: hidden;
--- a/selfdrive/carrot/web/css/pages/drive.css
+++ b/selfdrive/carrot/web/css/pages/drive.css
@@ -36,6 +36,238 @@ body[data-page="carrot"] #driveHudCard {
  display: block;
 }

+.carrot-rtc-perf {
+  position: absolute;
+  left: 0;
+  bottom: calc(100% + 6px);
+  z-index: 8;
+  width: 100%;
+  pointer-events: none;
+}
+
+.carrot-rtc-perf[hidden],
+.carrot-rtc-perf-summary[hidden] {
+  display: none !important;
+}
+
+.carrot-rtc-perf-glance {
+  display: flex;
+  align-items: center;
+  gap: 7px;
+  width: 100%;
+  min-width: 0;
+  height: 30px;
+  padding: 0 10px;
+  overflow: hidden;
+  border: 1px solid rgba(255, 255, 255, 0.13);
+  border-radius: 8px;
+  background: rgba(6, 19, 14, 0.88);
+  box-shadow: 0 8px 18px rgba(0, 0, 0, 0.30);
+  color: rgba(242, 255, 247, 0.96);
+  font: 800 11px/1.1 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+  letter-spacing: -0.18px;
+}
+
+.carrot-rtc-perf-glance__text {
+  min-width: 0;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.carrot-rtc-perf__dot {
+  flex: 0 0 auto;
+  width: 8px;
+  height: 8px;
+  border-radius: 999px;
+  background: #48d786;
+  box-shadow: 0 0 9px rgba(72, 215, 134, 0.66);
+}
+
+.carrot-rtc-perf-glance[data-tone="degraded"],
+.carrot-rtc-perf-summary[data-tone="degraded"] {
+  border-color: rgba(255, 207, 80, 0.48);
+}
+
+.carrot-rtc-perf-glance[data-tone="degraded"] .carrot-rtc-perf__dot,
+.carrot-rtc-perf-summary[data-tone="degraded"] .carrot-rtc-perf__dot {
+  background: #ffcf50;
+  box-shadow: 0 0 9px rgba(255, 207, 80, 0.66);
+}
+
+.carrot-rtc-perf-glance[data-tone="reconnecting"],
+.carrot-rtc-perf-summary[data-tone="reconnecting"] {
+  border-color: rgba(255, 157, 66, 0.56);
+}
+
+.carrot-rtc-perf-glance[data-tone="reconnecting"] .carrot-rtc-perf__dot,
+.carrot-rtc-perf-summary[data-tone="reconnecting"] .carrot-rtc-perf__dot {
+  background: #ff9d42;
+  box-shadow: 0 0 9px rgba(255, 157, 66, 0.70);
+}
+
+.carrot-rtc-perf-glance[data-tone="stall"],
+.carrot-rtc-perf-summary[data-tone="stall"] {
+  border-color: rgba(255, 92, 92, 0.62);
+  background: rgba(47, 10, 14, 0.92);
+}
+
+.carrot-rtc-perf-glance[data-tone="stall"] .carrot-rtc-perf__dot,
+.carrot-rtc-perf-summary[data-tone="stall"] .carrot-rtc-perf__dot {
+  background: #ff5c5c;
+  box-shadow: 0 0 10px rgba(255, 92, 92, 0.78);
+}
+
+.carrot-rtc-perf-glance[data-tone="offline"],
+.carrot-rtc-perf-summary[data-tone="offline"] {
+  border-color: rgba(191, 202, 197, 0.26);
+  background: rgba(19, 24, 23, 0.90);
+}
+
+.carrot-rtc-perf-glance[data-tone="offline"] .carrot-rtc-perf__dot,
+.carrot-rtc-perf-summary[data-tone="offline"] .carrot-rtc-perf__dot {
+  background: #aeb9b4;
+  box-shadow: none;
+}
+
+.carrot-rtc-perf-summary {
+  position: absolute;
+  left: 0;
+  bottom: 36px;
+  width: min(520px, calc(100vw - 24px));
+  max-width: calc(100vw - 24px);
+  padding: 11px 12px 12px;
+  border: 1px solid rgba(255, 255, 255, 0.15);
+  border-radius: 11px;
+  background: rgba(6, 28, 20, 0.94);
+  box-shadow: 0 14px 28px rgba(0, 0, 0, 0.42);
+  color: rgba(245, 255, 249, 0.96);
+  pointer-events: auto;
+  backdrop-filter: blur(9px);
+  -webkit-backdrop-filter: blur(9px);
+}
+
+.carrot-rtc-perf-summary__head {
+  display: flex;
+  align-items: center;
+  gap: 7px;
+  min-width: 0;
+}
+
+.carrot-rtc-perf-summary__title {
+  min-width: 0;
+  flex: 1 1 auto;
+  overflow: hidden;
+  color: rgba(250, 255, 252, 0.98);
+  font: 900 13px/1.1 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.carrot-rtc-perf-summary__action,
+.carrot-rtc-perf-summary__close {
+  flex: 0 0 auto;
+  min-width: 32px;
+  height: 24px;
+  padding: 0 7px;
+  border: 1px solid rgba(255, 255, 255, 0.20);
+  border-radius: 7px;
+  background: rgba(255, 255, 255, 0.04);
+  color: rgba(242, 255, 247, 0.92);
+  font: 900 10px/1 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+  cursor: pointer;
+}
+
+.carrot-rtc-perf-summary__close {
+  min-width: 24px;
+  padding: 0;
+  font-size: 12px;
+}
+
+.carrot-rtc-perf-summary__sub {
+  margin-top: 4px;
+  padding-bottom: 7px;
+  border-bottom: 1px solid rgba(255, 255, 255, 0.12);
+  color: rgba(193, 225, 207, 0.72);
+  font: 800 9px/1.1 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+  letter-spacing: 0.28px;
+}
+
+.carrot-rtc-perf-summary__grid {
+  display: grid;
+  grid-template-columns: auto minmax(92px, 1fr) auto minmax(92px, 1fr);
+  gap: 7px 10px;
+  align-items: center;
+  margin-top: 8px;
+  font: 700 11px/1.15 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+}
+
+.carrot-rtc-perf-summary__grid span {
+  color: rgba(193, 225, 207, 0.70);
+}
+
+.carrot-rtc-perf-summary__grid strong {
+  min-width: 0;
+  overflow: hidden;
+  color: rgba(247, 255, 250, 0.96);
+  text-align: right;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.carrot-rtc-perf-summary__grid .carrot-rtc-perf-summary__path-label {
+  align-self: start;
+  padding-top: 1px;
+}
+
+.carrot-rtc-perf-summary__grid .carrot-rtc-perf-summary__path-value {
+  grid-column: 2 / -1;
+  text-align: left;
+  white-space: normal;
+  overflow-wrap: anywhere;
+  line-height: 1.24;
+}
+
+.carrot-rtc-perf-hold-target {
+  position: absolute;
+  inset: 0;
+  z-index: 7;
+  width: 100%;
+  height: 100%;
+  padding: 0;
+  border: 0;
+  border-radius: var(--hud-radius, 18px);
+  background: transparent;
+  cursor: pointer;
+  pointer-events: auto;
+  touch-action: manipulation;
+}
+
+.carrot-rtc-perf-hold-target.is-holding {
+  background: rgba(255, 255, 255, 0.035);
+}
+
+.carrot-rtc-perf-hold-target::after {
+  content: "";
+  position: absolute;
+  inset: 0;
+  border: 2px solid #48d786;
+  border-radius: 18px;
+  opacity: 0;
+  pointer-events: none;
+  transition: opacity 0.15s ease;
+}
+
+.carrot-rtc-perf-hold-target.is-holding::after {
+  opacity: 0.82;
+  animation: carrot-rtc-perf-hold-progress 0.6s linear;
+}
+
+@keyframes carrot-rtc-perf-hold-progress {
+  from { clip-path: inset(0 100% 0 0); }
+  to { clip-path: inset(0 0 0 0); }
+}
+
 .carrot-hud-dock {
  display: none;
 }
@@ -621,6 +853,10 @@ body[data-page="carrot"] #driveHudCard.driveHudCard--loading {
 }

@media (orientation: portrait) {
+  .carrot-rtc-perf-summary {
+    display: none !important;
+  }
+
  .page--drive {
    justify-content: stretch;
  }
--- a/selfdrive/carrot/web/index.html
+++ b/selfdrive/carrot/web/index.html
@@ -83,8 +83,8 @@
  <link rel="stylesheet" href="/css/pages/tools/base.css?v=2605-43" />
  <link rel="stylesheet" href="/css/pages/tools/qr.css?v=2605-40" />
  <link rel="stylesheet" href="/css/pages/tools/main.css?v=2605-50" />
-  <link rel="stylesheet" href="/css/pages/drive.css?v=2605-18" />
-  <link rel="stylesheet" href="/css/components/nav_hud.css?v=2605-24" />
+  <link rel="stylesheet" href="/css/pages/drive.css?v=2606-04" />
+  <link rel="stylesheet" href="/css/components/nav_hud.css?v=2605-26" />
  <link rel="stylesheet" href="/css/responsive.css?v=2605-10" />
  <link rel="stylesheet" href="/css/vendor/plyr.css?v=3.7.8" />
 </head>
@@ -484,6 +484,32 @@
  </div>

  <div id="driveHudCard">
+    <div id="carrotRtcPerfHud" class="carrot-rtc-perf" hidden>
+      <section id="carrotRtcPerfSummary" class="carrot-rtc-perf-summary" data-tone="offline" hidden aria-label="Carrot Vision live diagnostic summary">
+        <div class="carrot-rtc-perf-summary__head">
+          <span class="carrot-rtc-perf__dot" aria-hidden="true"></span>
+          <strong id="carrotRtcPerfTitle" class="carrot-rtc-perf-summary__title">VISION OFFLINE</strong>
+          <button id="carrotRtcPerfLogBtn" class="carrot-rtc-perf-summary__action" type="button">LOG</button>
+          <button id="carrotRtcPerfCloseBtn" class="carrot-rtc-perf-summary__close" type="button" aria-label="Close Carrot Vision diagnostic summary">x</button>
+        </div>
+        <div class="carrot-rtc-perf-summary__sub">RTC ROAD CAMERA / LIVE DIAGNOSTIC</div>
+        <div class="carrot-rtc-perf-summary__grid">
+          <span>Video</span><strong id="carrotRtcPerfVideo">-</strong>
+          <span>Codec</span><strong id="carrotRtcPerfCodec">-</strong>
+          <span>Bitrate</span><strong id="carrotRtcPerfBitrate">-</strong>
+          <span>RTT</span><strong id="carrotRtcPerfRtt">-</strong>
+          <span>Jitter</span><strong id="carrotRtcPerfJitter">-</strong>
+          <span>Loss</span><strong id="carrotRtcPerfLoss">-</strong>
+          <span>Freeze</span><strong id="carrotRtcPerfFreeze">-</strong>
+          <span class="carrot-rtc-perf-summary__path-label">Path</span><strong id="carrotRtcPerfPath" class="carrot-rtc-perf-summary__path-value">-</strong>
+        </div>
+      </section>
+      <div id="carrotRtcPerfGlance" class="carrot-rtc-perf-glance" data-tone="offline" aria-live="polite">
+        <span class="carrot-rtc-perf__dot" aria-hidden="true"></span>
+        <span id="carrotRtcPerfGlanceText" class="carrot-rtc-perf-glance__text">VISION OFFLINE</span>
+      </div>
+    </div>
+    <button id="carrotRtcPerfHoldTarget" class="carrot-rtc-perf-hold-target" type="button" aria-label="Hold HUD to toggle Carrot Vision diagnostic summary"></button>
    <div class="hudWrap" id="hudRoot">
      <div class="hudMetricBar" role="presentation">
        <div class="hudMetricCell">
@@ -686,14 +712,14 @@
  <script src="/js/pages/terminal.js?v=2604-72"></script>
  <script src="/js/realtime/raw_capnp.js?v=2604-05"></script>
  <script src="/js/realtime/vision_state.js?v=2605-01"></script>
-  <script src="/js/realtime/vision_rtc.js?v=2605-01"></script>
+  <script src="/js/realtime/vision_rtc.js?v=2606-06"></script>
  <script src="/js/realtime/vision_raw.js?v=2605-01"></script>
-  <script src="/js/realtime/app_realtime.js?v=2605-01"></script>
-  <script src="/js/realtime/vision_diag.js?v=2605-01"></script>
-  <script src="/js/realtime/carrot_map.js?v=2605-53"></script>
-  <script src="/js/realtime/nav_hud.js?v=2605-14"></script>
+  <script src="/js/realtime/app_realtime.js?v=2606-04"></script>
+  <script src="/js/realtime/vision_diag.js?v=2606-07"></script>
+  <script src="/js/realtime/carrot_map.js?v=2606-02"></script>
+  <script src="/js/realtime/nav_hud.js?v=2605-17"></script>
  <script src="/js/pages/vision_background.js?v=2605-01"></script>
-  <script src="/js/realtime/home_drive.js?v=2605-07"></script>
+  <script src="/js/realtime/home_drive.js?v=2606-05"></script>
  <script src="/js/app.js?v=2604-76"></script>
 </body>
 </html>
--- a/selfdrive/carrot/web/js/realtime/app_realtime.js
+++ b/selfdrive/carrot/web/js/realtime/app_realtime.js
@@ -47,7 +47,16 @@ window.CarrotLiveRuntimeState = CARROT_LIVE_RUNTIME_STATE;
 let LIVE_RUNTIME_FETCH_T = null;
 let LIVE_RUNTIME_FETCH_IN_FLIGHT = null;
 let LIVE_RUNTIME_POLL_ACTIVE = false;
+let CARROT_VISION_TEST_FETCH_T = null;
+let CARROT_VISION_TEST_FETCH_IN_FLIGHT = null;
 const CARROT_VISION_REQUIRED_LIVE_SERVICES = Object.freeze(["roadCameraState", "modelV2"]);
+const CARROT_VISION_TEST_REQUIRED_LIVE_SERVICES = Object.freeze(["roadCameraState"]);
+const CARROT_VISION_TEST_STATE = {
+  active: false,
+  status: "stopped",
+  fetchedAtMs: 0,
+};
+window.CarrotVisionTestState = CARROT_VISION_TEST_STATE;
 var CARROT_VISION_PHASE = window.CarrotVisionPhase;
 var CARROT_VISION_CONTROL = window.CarrotVisionControl;
 var CARROT_VISION_STATE = window.CarrotVisionState;
@@ -69,6 +78,11 @@ function shouldRunCarrotHudRealtime() {
  return isCarrotPageActive();
 }

+function isCarrotVisionTestActive() {
+  return Boolean(window.CarrotVisionTestState?.active);
+}
+window.isCarrotVisionTestActive = isCarrotVisionTestActive;
+
 function getCarrotVisionRealtimeBlockReason() {
  if (!isCarrotPageActive() || !isCarrotVisionActive()) return "";

@@ -79,7 +93,10 @@ function getCarrotVisionRealtimeBlockReason() {
  const serviceAlive = runtime.serviceAlive && typeof runtime.serviceAlive === "object" ? runtime.serviceAlive : null;
  if (!serviceAlive) return "runtime-unavailable";

-  const missing = CARROT_VISION_REQUIRED_LIVE_SERVICES.filter((service) => serviceAlive[service] !== true);
+  const requiredServices = isCarrotVisionTestActive()
+    ? CARROT_VISION_TEST_REQUIRED_LIVE_SERVICES
+    : CARROT_VISION_REQUIRED_LIVE_SERVICES;
+  const missing = requiredServices.filter((service) => serviceAlive[service] !== true);
  return missing.length ? "services-missing" : "";
 }

@@ -349,6 +366,54 @@ function startLiveRuntimeStateFetch(force = false, ms = getLiveRuntimePollMs())
  scheduleLiveRuntimeStateFetch(ms);
 }

+async function fetchCarrotVisionTestState() {
+  if (CARROT_VISION_TEST_FETCH_IN_FLIGHT) return CARROT_VISION_TEST_FETCH_IN_FLIGHT;
+
+  CARROT_VISION_TEST_FETCH_IN_FLIGHT = (async () => {
+    const wasActive = CARROT_VISION_TEST_STATE.active;
+    try {
+      const response = await fetch("/api/vision_test/status", { cache: "no-store" });
+      const payload = await response.json();
+      if (!payload?.ok) throw new Error(payload?.error || "vision_test status failed");
+      CARROT_VISION_TEST_STATE.active = payload.status === "running" && payload.runner_alive === true;
+      CARROT_VISION_TEST_STATE.status = String(payload.status || "stopped");
+      CARROT_VISION_TEST_STATE.fetchedAtMs = Date.now();
+      window.CarrotVisionTestState = CARROT_VISION_TEST_STATE;
+    } catch {
+      CARROT_VISION_TEST_STATE.active = false;
+      CARROT_VISION_TEST_STATE.status = "unavailable";
+      CARROT_VISION_TEST_STATE.fetchedAtMs = Date.now();
+    } finally {
+      CARROT_VISION_TEST_FETCH_IN_FLIGHT = null;
+    }
+
+    if (wasActive !== CARROT_VISION_TEST_STATE.active) {
+      window.dispatchEvent(new CustomEvent("carrot:visiontestchange", {
+        detail: { ...CARROT_VISION_TEST_STATE },
+      }));
+      syncCarrotVisionAvailability().catch(() => {});
+      syncCarrotRealtimeLifecycle(true);
+    }
+    return CARROT_VISION_TEST_STATE;
+  })();
+
+  return CARROT_VISION_TEST_FETCH_IN_FLIGHT;
+}
+
+function scheduleCarrotVisionTestStateFetch(ms = 1500) {
+  if (CARROT_VISION_TEST_FETCH_T) clearTimeout(CARROT_VISION_TEST_FETCH_T);
+  CARROT_VISION_TEST_FETCH_T = setTimeout(async () => {
+    CARROT_VISION_TEST_FETCH_T = null;
+    await fetchCarrotVisionTestState().catch(() => {});
+    scheduleCarrotVisionTestStateFetch(document.hidden ? 4000 : 1500);
+  }, ms);
+}
+
+function startCarrotVisionTestStateFetch() {
+  fetchCarrotVisionTestState().catch(() => {});
+  scheduleCarrotVisionTestStateFetch(1500);
+}
+
 setCarrotVisionAvailable(false, {
  disabledMessage: getUIText("vision_unavailable_hint", "Available when DisableDM is 2."),
  reason: "init",
@@ -448,10 +513,14 @@ function updateCarrotVisionAvailabilityUi(available, message = window.CARROT_VIS
 async function syncCarrotVisionAvailability() {
  try {
    const disableDm = await fetchDisableDmValue();
-    const available = disableDm === 2;
+    const available = disableDm === 2 || isCarrotVisionTestActive();
    updateCarrotVisionAvailabilityUi(available);
    return available;
  } catch (e) {
+    if (isCarrotVisionTestActive()) {
+      updateCarrotVisionAvailabilityUi(true);
+      return true;
+    }
    updateCarrotVisionAvailabilityUi(false, getUIText("disable_dm_check_failed", "Could not check DisableDM status."));
    return false;
  }
@@ -552,6 +621,7 @@ async function startAll() {
  console.log("[time_sync] syncing server time on page load");
  syncServerTimeOnConnect().catch(() => {});
  rtcInitAuto();
+  startCarrotVisionTestStateFetch();
  ensureRawDecodeWorker();

  if (window.DrivingHud) {
@@ -564,6 +634,70 @@ async function startAll() {
 let _carrotHudRealtimeActive = false;
 let _carrotVisionRealtimeActive = false;
 let _carrotVisionRealtimeBlockReason = "";
+let _carrotVisionPageReturnConnectT = null;
+
+function cancelCarrotVisionPageReturnConnect() {
+  if (_carrotVisionPageReturnConnectT != null) {
+    window.clearTimeout(_carrotVisionPageReturnConnectT);
+    _carrotVisionPageReturnConnectT = null;
+  }
+}
+
+function recordCarrotVisionLifecycleEvent(event, detail = {}) {
+  try {
+    window.dispatchEvent(new CustomEvent("carrot:visionlifecycle", { detail: { event, ...detail, ts: Date.now() } }));
+  } catch (_) {}
+}
+
+function canReuseCarrotVisionConnection() {
+  try {
+    return Boolean(window.CarrotVisionRtc?.canResumeWithoutReconnect?.());
+  } catch {
+    return false;
+  }
+}
+
+function scheduleCarrotVisionPageReturnConnect(reason = "page return") {
+  cancelCarrotVisionPageReturnConnect();
+  if (!shouldRunCarrotVisionRealtime()) return;
+
+  if (canReuseCarrotVisionConnection()) {
+    recordCarrotVisionLifecycleEvent("page_return_reconnect_skipped", { reason, reused: true });
+    rtcScheduleResumeIfConnected(reason);
+    startCarrotVisionHealthWatch();
+    startRtcPerfPolling(true);
+    requestCarrotVisionRender();
+    return;
+  }
+
+  const shouldConnect = typeof window.CarrotVisionRtc?.shouldConnect === "function"
+    ? window.CarrotVisionRtc.shouldConnect()
+    : rtcShouldConnect();
+  if (!shouldConnect) {
+    recordCarrotVisionLifecycleEvent("page_return_reconnect_skipped", { reason, reused: false, busy: true });
+    rtcScheduleResumeIfConnected(reason);
+    startCarrotVisionHealthWatch();
+    startRtcPerfPolling(true);
+    requestCarrotVisionRender();
+    return;
+  }
+
+  recordCarrotVisionLifecycleEvent("page_return_reconnect_scheduled", { reason });
+  _carrotVisionPageReturnConnectT = window.setTimeout(async () => {
+    _carrotVisionPageReturnConnectT = null;
+    if (!shouldRunCarrotVisionRealtime()) return;
+    recordCarrotVisionLifecycleEvent("page_return_reconnect_start", { reason });
+    rtcCancelRetry();
+    rtcCancelRecovery();
+    rtcDisarmTrackTimeout();
+    rtcDisarmFirstFrameTimeout();
+    stopCarrotVisionHealthWatch();
+    await rawOverlayDisconnectAll().catch(() => {});
+    await rtcDisconnect({ keepVideo: true }).catch(() => {});
+    startCarrotVisionHealthWatch();
+    await rtcConnectOnce({ force: true }).catch(() => {});
+  }, 200);
+}

 function syncCarrotRealtimeLifecycle(forceFetch = false) {
  const nextHudActive = shouldRunCarrotHudRealtime();
@@ -606,6 +740,10 @@ function syncCarrotRealtimeLifecycle(forceFetch = false) {

  if (nextVisionActive) {
    console.log("[perf] carrot vision realtime -> active");
+    recordCarrotVisionLifecycleEvent("vision_realtime_active", {
+      forceFetch: Boolean(forceFetch),
+      page: document.body?.dataset?.page || "",
+    });
    startCarrotVisionHealthWatch();
    setCarrotVisionPhase(CARROT_VISION_PHASE.STARTING, {
      reason: "vision lifecycle active",
@@ -624,9 +762,11 @@ function syncCarrotRealtimeLifecycle(forceFetch = false) {
    if (rtcShouldConnect()) {
      rtcCancelRetry();
      rtcResetFailCount();
-      rtcConnectOnce().catch(() => {});
+      if (forceFetch) scheduleCarrotVisionPageReturnConnect("vision lifecycle active");
+      else rtcConnectOnce().catch(() => {});
    }
  } else {
+    cancelCarrotVisionPageReturnConnect();
    if (nextVisionWanted && nextVisionBlockReason) {
      console.log("[perf] carrot vision realtime -> waiting", nextVisionBlockReason);
      setCarrotVisionPhase(CARROT_VISION_PHASE.STARTING, {
@@ -641,6 +781,11 @@ function syncCarrotRealtimeLifecycle(forceFetch = false) {
      rtcCancelResumeCheck();
    } else {
      console.log("[perf] carrot vision realtime -> idle");
+      recordCarrotVisionLifecycleEvent("vision_realtime_idle", {
+        wanted: Boolean(nextVisionWanted),
+        blockReason: nextVisionBlockReason || "",
+        page: document.body?.dataset?.page || "",
+      });
      setCarrotVisionPhase(CARROT_VISION_STATE.available ? CARROT_VISION_PHASE.INACTIVE : CARROT_VISION_PHASE.UNAVAILABLE, {
        reason: "vision lifecycle idle",
        updateRtcStatus: false,
@@ -650,29 +795,106 @@ function syncCarrotRealtimeLifecycle(forceFetch = false) {
    stopCarrotVisionHealthWatch();
    stopRtcPerfPolling();
    rawOverlayDisconnectAll();
-    rtcDisconnect().catch(() => {});
+    rtcDisconnect({ keepVideo: true }).catch(() => {});
  }

  emitCarrotRenderRequest({ force: true, overlayDirty: true, hudDirty: true });
 }

 document.addEventListener("visibilitychange", () => {
+  recordCarrotVisionLifecycleEvent("visibility_change", {
+    state: document.visibilityState,
+    page: document.body?.dataset?.page || "",
+    visionActive: Boolean(isCarrotVisionActive()),
+  });
  rtcHandleVisibilityChange();
  syncCarrotRealtimeLifecycle(false);
 });

 window.addEventListener("offline", () => {
+  recordCarrotVisionLifecycleEvent("network_offline", {
+    page: document.body?.dataset?.page || "",
+    visionActive: Boolean(isCarrotVisionActive()),
+  });
  rtcStatusSet("offline");
 });

 window.addEventListener("online", () => {
+  recordCarrotVisionLifecycleEvent("network_online", {
+    page: document.body?.dataset?.page || "",
+    visionActive: Boolean(isCarrotVisionActive()),
+  });
  syncCarrotRealtimeLifecycle(false);
  rtcScheduleResumeIfConnected("network resumed");
 });
-window.addEventListener("pagehide", rtcExitPictureInPicture);
+
+function handleCarrotVisionPageSuspend(eventName, detail = {}) {
+  recordCarrotVisionLifecycleEvent(eventName, {
+    page: document.body?.dataset?.page || "",
+    visibility: document.visibilityState,
+    visionActive: Boolean(isCarrotVisionActive()),
+    ...detail,
+  });
+  cancelCarrotVisionPageReturnConnect();
+  rtcExitPictureInPicture();
+  if (!isCarrotVisionActive()) return;
+  rtcCaptureVideoHoldFrame();
+  stopCarrotVisionHealthWatch();
+  rawOverlayDisconnectAll().catch(() => {});
+  if (isCarrotPageActive()) {
+    rtcDisconnect({ keepVideo: true }).catch(() => {});
+  }
+}
+
+function handleCarrotVisionPageResume(eventName, detail = {}) {
+  recordCarrotVisionLifecycleEvent(eventName, {
+    page: document.body?.dataset?.page || "",
+    visibility: document.visibilityState,
+    visionActive: Boolean(isCarrotVisionActive()),
+    ...detail,
+  });
+  if (!isCarrotPageActive() || !isCarrotVisionActive()) return;
+  syncCarrotVisionAvailability().catch(() => {});
+  fetchLiveRuntimeState(true).catch(() => {});
+  syncCarrotRealtimeLifecycle(true);
+  scheduleCarrotVisionPageReturnConnect(eventName);
+}
+
+window.addEventListener("pagehide", (event) => {
+  handleCarrotVisionPageSuspend("pagehide", { persisted: Boolean(event?.persisted) });
+});
+window.addEventListener("pageshow", (event) => {
+  handleCarrotVisionPageResume("pageshow", { persisted: Boolean(event?.persisted) });
+});
+window.addEventListener("focus", () => {
+  handleCarrotVisionPageResume("window_focus");
+});
+window.addEventListener("blur", () => {
+  recordCarrotVisionLifecycleEvent("window_blur", {
+    page: document.body?.dataset?.page || "",
+    visionActive: Boolean(isCarrotVisionActive()),
+  });
+});
+document.addEventListener("freeze", () => {
+  handleCarrotVisionPageSuspend("page_freeze", { persisted: true });
+});
+document.addEventListener("resume", () => {
+  handleCarrotVisionPageResume("page_resume", { persisted: true });
+});
+
 window.addEventListener("carrot:pagechange", (event) => {
  maybeRequestCarrotFullscreenOnPageChange(event?.detail || {});
-  syncCarrotRealtimeLifecycle(false);
+  const page = event?.detail?.page || "";
+  recordCarrotVisionLifecycleEvent("page_change", {
+    page,
+    visionActive: Boolean(isCarrotVisionActive()),
+  });
+  if (page === "carrot" && isCarrotVisionActive()) {
+    scheduleCarrotVisionPageReturnConnect("page changed to carrot");
+  } else {
+    cancelCarrotVisionPageReturnConnect();
+  }
+  syncCarrotRealtimeLifecycle(true);
 });

 // Staged overlay gate, driven by vision phase:
@@ -695,7 +917,7 @@ window.addEventListener("carrot:visionstatechange", (event) => {
    _overlayStaged = false;
    return;
  }
-  const isReady = state.controlState === CARROT_VISION_CONTROL.LIVE;
+  const isReady = state.controlState === CARROT_VISION_CONTROL.LIVE && !isCarrotVisionTestActive();
  if (isReady && !_overlayStaged) {
    _overlayStaged = true;
    window.CarrotVisionRaw?.connectOverlay?.();
@@ -705,6 +927,12 @@ window.addEventListener("carrot:visionstatechange", (event) => {
  }
 });

+window.addEventListener("carrot:visiontestchange", () => {
+  if (!isCarrotVisionTestActive()) return;
+  _overlayStaged = false;
+  window.CarrotVisionRaw?.disconnectOverlay?.();
+});
+


 if (document.readyState === "loading") {
--- a/selfdrive/carrot/web/js/realtime/carrot_map.js
+++ b/selfdrive/carrot/web/js/realtime/carrot_map.js
@@ -306,6 +306,7 @@
      window.addEventListener("offline", this.sync);
      window.addEventListener("carrot:pagechange", this.sync);
      window.addEventListener("carrot:visionchange", this.sync);
+      window.addEventListener("carrot:visiontestchange", this.sync);
      window.addEventListener("carrot:websettingschange", this.sync);
      window.addEventListener("carrot:render-request", this.tick);
      document.addEventListener("visibilitychange", this.handleVisibility);
@@ -378,6 +379,7 @@
      if (!settings.enabled) return false;
      if (!isCarrotPageActive()) return false;
      if (!isVisionActive()) return false;
+      if (window.CarrotVisionTestState?.active) return false;
      // Staged startup: hold the map until the first camera frame renders so
      // it does not compete with the WebRTC first-frame acquisition.
      if (!hasVisionReachedReady()) return false;
--- a/selfdrive/carrot/web/js/realtime/home_drive.js
+++ b/selfdrive/carrot/web/js/realtime/home_drive.js
@@ -17,6 +17,22 @@ window.HomeDrive = (() => {
  const metaEl = document.getElementById("carrotStageMeta");
  const debugEl = document.getElementById("carrotStageDebug");
  const driveHudCardEl = document.getElementById("driveHudCard");
+  const rtcPerfHudEl = document.getElementById("carrotRtcPerfHud");
+  const rtcPerfGlanceEl = document.getElementById("carrotRtcPerfGlance");
+  const rtcPerfGlanceTextEl = document.getElementById("carrotRtcPerfGlanceText");
+  const rtcPerfSummaryEl = document.getElementById("carrotRtcPerfSummary");
+  const rtcPerfTitleEl = document.getElementById("carrotRtcPerfTitle");
+  const rtcPerfVideoEl = document.getElementById("carrotRtcPerfVideo");
+  const rtcPerfCodecEl = document.getElementById("carrotRtcPerfCodec");
+  const rtcPerfBitrateEl = document.getElementById("carrotRtcPerfBitrate");
+  const rtcPerfRttEl = document.getElementById("carrotRtcPerfRtt");
+  const rtcPerfJitterEl = document.getElementById("carrotRtcPerfJitter");
+  const rtcPerfLossEl = document.getElementById("carrotRtcPerfLoss");
+  const rtcPerfFreezeEl = document.getElementById("carrotRtcPerfFreeze");
+  const rtcPerfPathEl = document.getElementById("carrotRtcPerfPath");
+  const rtcPerfHoldTargetEl = document.getElementById("carrotRtcPerfHoldTarget");
+  const rtcPerfCloseBtnEl = document.getElementById("carrotRtcPerfCloseBtn");
+  const rtcPerfLogBtnEl = document.getElementById("carrotRtcPerfLogBtn");
  const sourceVideoEl = videoEl;
  const displayModeButton = document.getElementById("btnDisplayModeCycle");

@@ -59,6 +75,9 @@ window.HomeDrive = (() => {
  const DESKTOP_DPR_CAP = 1.5;
  const RENDER_INTERVAL_MS = 33;  // ~30fps for denser plot data (C3: 20Hz/50ms)
  const CAMERA_FRAME_RECHECK_MS = 250;
+  const RTC_PERF_HOLD_MS = 600;
+  const RTC_PERF_HOLD_MOVE_PX = 12;
+  const RTC_PERF_SUMMARY_AUTO_CLOSE_MS = 8000;
  const MIN_ROAD_VIDEO_WIDTH = 320;
  const MIN_ROAD_VIDEO_HEIGHT = 180;
  const PATH_PALETTE = [
@@ -2272,15 +2291,22 @@ window.HomeDrive = (() => {
  }

  function getLeadBadgeOffsets(videoWidth, videoHeight) {
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    return {
+      dx: 80 * uiScale,
+      rectTopOffset: 25 * uiScale,
+      textBaselineOffset: 60 * uiScale,
+      badgeHeight: Math.max(42 * uiScale, 20),
+      fontSize: Math.max(40 * uiScale, 18),
+      radius: Math.max(12 * uiScale, 7),
+      strokeWidth: Math.max(4 * uiScale, 2.2),
+    };
+  }
+
+  function getLeadUiScale(videoWidth, videoHeight) {
    const scaleX = videoWidth / BASE_CAMERA.width;
    const scaleY = videoHeight / BASE_CAMERA.height;
-    return {
-      dx: 80 * scaleX,
-      rectTopOffset: 25 * scaleY,
-      textBaselineOffset: 60 * scaleY,
-      badgeHeight: Math.max(42 * scaleY, 26),
-      fontSize: Math.max(40 * scaleY, 20),
-    };
+    return clamp(Math.min(scaleX, scaleY), 0.45, 1.0);
  }

  function hasNearbyAssistLead(lead, speedMps) {
@@ -2325,28 +2351,33 @@ window.HomeDrive = (() => {

  function getLeadBoxClampMargins(videoWidth, videoHeight, stageWidth = videoWidth, stageHeight = videoHeight, transform = null, options = {}) {
    const visibleRect = getVisibleSourceRect(videoWidth, videoHeight, stageWidth, stageHeight, transform);
-    // C3 fixed margins: top=200, bottom=80, marginX=350
-    const topMargin = Math.max(200.0, visibleRect.top + 6);
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    // C3 fixed margins scaled to the encoded source resolution. Without this,
+    // 964x604 streams keep 1928x1208 margins and force lead UI into the center.
+    const topReserve = Math.max(200.0 * uiScale, 96.0);
+    const bottomReserve = Math.max(80.0 * uiScale, 42.0);
+    const sideReserve = Math.max(350.0 * uiScale, 120.0);
+    const topMargin = Math.max(topReserve, visibleRect.top + 6 * uiScale);

    // C3 base: maxCenterY = fb_h - 80
-    let maxCenterY = videoHeight - 80.0;
+    let maxCenterY = videoHeight - bottomReserve;

    // In crop/fit modes, also keep badges inside visible area
    const offsets = getLeadBadgeOffsets(videoWidth, videoHeight);
    let badgeReserve = 0;
    if (options.includeDistanceBadge !== false) {
-      badgeReserve = Math.max(badgeReserve, offsets.rectTopOffset + offsets.badgeHeight + 8);
+      badgeReserve = Math.max(badgeReserve, offsets.rectTopOffset + offsets.badgeHeight + 8 * uiScale);
    }
    if (options.includeStateText) {
-      badgeReserve = Math.max(badgeReserve, offsets.textBaselineOffset + Math.max(offsets.fontSize * 0.28, 8));
+      badgeReserve = Math.max(badgeReserve, offsets.textBaselineOffset + Math.max(offsets.fontSize * 0.28, 8 * uiScale));
    }
-    maxCenterY = Math.min(maxCenterY, visibleRect.bottom - Math.max(badgeReserve, 80.0));
+    maxCenterY = Math.min(maxCenterY, visibleRect.bottom - Math.max(badgeReserve, bottomReserve));
    maxCenterY = Math.max(topMargin, maxCenterY);

    return {
-      marginX: 350.0,
+      marginX: sideReserve,
      topMargin,
-      bottomMargin: Math.max(80.0, videoHeight - maxCenterY),
+      bottomMargin: Math.max(bottomReserve, videoHeight - maxCenterY),
      maxCenterY,
      visibleRect,
      bottomReserve: badgeReserve,
@@ -2381,7 +2412,8 @@ window.HomeDrive = (() => {
    // Match CarrotLink's adaptive bottom margin while keeping carrot.cc clamp policy.
    const _path_x = clamp(rawCenterX, marginX, Math.max(marginX, videoWidth - marginX));
    const _path_y = clamp(rawCenterY, topMargin, maxCenterY);
-    const _path_width = clamp(rawWidth, 120, 800);
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    const _path_width = clamp(rawWidth, 120 * uiScale, 800 * uiScale);

    // ── Step 2: Time-based EMA on clamped values ──
    // C3 uses alpha=0.85 at stable 20Hz.  Web frame rate varies, so
@@ -2401,8 +2433,8 @@ window.HomeDrive = (() => {
    const path_x = Math.trunc(path_fx);
    const path_y = Math.trunc(path_fy);
    const width = Math.max(Math.trunc(path_fw), 1);
-    const sidePad = 10;
-    const height = Math.max(Math.trunc(width * 0.8), 12);
+    const sidePad = Math.max(10 * uiScale, 5);
+    const height = Math.max(Math.trunc(width * 0.8), Math.round(12 * uiScale));
    // capnp default is -1; Number(null)=0 would falsely trigger radar-detected, so guard null
    const radarTrackId = (lead.radarTrackId != null) ? finiteNumber(lead.radarTrackId, -1) : -1;
    const radarDetected = radarTrackId >= 0;
@@ -2422,6 +2454,8 @@ window.HomeDrive = (() => {
      dRel: distance,
      modelProb: finiteNumber(lead.modelProb, 0),
      width,
+      videoWidth,
+      videoHeight,
    };
  }

@@ -2457,18 +2491,22 @@ window.HomeDrive = (() => {
    );
    const clampedCenterX = clamp((xl + xr) * 0.5, marginX, Math.max(marginX, videoWidth - marginX));
    const rawWidth = Math.max(xr - xl, 1);
-    const width = Math.max(Math.trunc(clamp(rawWidth, 120, 800)), 1);
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    const sidePad = Math.max(10 * uiScale, 5);
+    const width = Math.max(Math.trunc(clamp(rawWidth, 120 * uiScale, 800 * uiScale)), 1);
    const yInt = Math.trunc(clamp(y, topMargin, maxCenterY));
    const xlInt = Math.trunc(clampedCenterX - width * 0.5);
-    const height = Math.max(Math.trunc(width * 0.8), 1);
+    const height = Math.max(Math.trunc(width * 0.8), Math.round(12 * uiScale));
    return {
      rect: {
-        x: xlInt - 10,
+        x: xlInt - sidePad,
        y: yInt - height,
-        width: width + 20,
+        width: width + sidePad * 2,
        height,
      },
      dRel: distance,
+      videoWidth,
+      videoHeight,
    };
  }

@@ -2482,8 +2520,9 @@ window.HomeDrive = (() => {
  function drawLeadBoxCard(box, strokeColor, fillColor, primary = true) {
    if (!box?.rect) return;
    const { x, y, width, height } = box.rect;
-    const r = primary ? 15 : 12;
-    const sw = primary ? 3.0 : 2.2;
+    const uiScale = getLeadUiScale(box.videoWidth || BASE_CAMERA.width, box.videoHeight || BASE_CAMERA.height);
+    const r = Math.max((primary ? 15 : 12) * uiScale, primary ? 7 : 6);
+    const sw = Math.max((primary ? 3.0 : 2.2) * uiScale, primary ? 1.7 : 1.3);
    // C3 style: fill + stroke (carrot.cc ui_fill_rect with stroke color)
    fillRoundedRect(ctx, x, y, width, height, r, fillColor);
    strokeRoundedRect(ctx, x, y, width, height, r, strokeColor, sw);
@@ -2492,9 +2531,10 @@ window.HomeDrive = (() => {
  function eraseLeadBoxOcclusion(box, primary = true) {
    if (!box?.rect) return;
    const { x, y, width, height } = box.rect;
+    const uiScale = getLeadUiScale(box.videoWidth || BASE_CAMERA.width, box.videoHeight || BASE_CAMERA.height);
    ctx.save();
    ctx.globalCompositeOperation = "destination-out";
-    fillRoundedRect(ctx, x, y, width, height, primary ? 15 : 12, "rgba(0,0,0,1)");
+    fillRoundedRect(ctx, x, y, width, height, Math.max((primary ? 15 : 12) * uiScale, primary ? 7 : 6), "rgba(0,0,0,1)");
    ctx.restore();
  }

@@ -2510,9 +2550,9 @@ window.HomeDrive = (() => {

    const drawBadge = (text, centerX, bgColor) => {
      const charW = fontSize * 0.62;
-      const w = Math.max(52, 16 + text.length * charW);
+      const w = Math.max(52 * getLeadUiScale(videoWidth, videoHeight), 16 * getLeadUiScale(videoWidth, videoHeight) + text.length * charW);
      const bx = centerX - w * 0.5;
-      fillRoundedRect(ctx, bx, baseY, w, badgeH, 12, bgColor);
+      fillRoundedRect(ctx, bx, baseY, w, badgeH, offsets.radius, bgColor);
      ctx.save();
      ctx.font = `800 ${fontSize}px ${HUD_TEXT_FONT}`;
      ctx.textAlign = "center";
@@ -2520,7 +2560,7 @@ window.HomeDrive = (() => {
      ctx.lineJoin = "round";
      ctx.strokeStyle = "rgba(0,0,0,0.82)";
      ctx.fillStyle = textColor;
-      ctx.lineWidth = 4;
+      ctx.lineWidth = offsets.strokeWidth;
      ctx.strokeText(text, centerX, baseY + badgeH * 0.54);
      ctx.fillText(text, centerX, baseY + badgeH * 0.54);
      ctx.restore();
@@ -2619,15 +2659,16 @@ window.HomeDrive = (() => {

  function drawLeadStateBadge(box, text, _xState, videoWidth = BASE_CAMERA.width, videoHeight = BASE_CAMERA.height, stageWidth = videoWidth, stageHeight = videoHeight, transform = null) {
    if (!box?.rect || !text) return;
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
    const offsets = getLeadBadgeOffsets(videoWidth, videoHeight);
    const visibleRect = getVisibleSourceRect(videoWidth, videoHeight, stageWidth, stageHeight, transform);
-    const textY = Math.min(box.centerY + offsets.textBaselineOffset, Math.max(visibleRect.top + 6, visibleRect.bottom - 6));
+    const textY = Math.min(box.centerY + offsets.textBaselineOffset, Math.max(visibleRect.top + 6 * uiScale, visibleRect.bottom - 6 * uiScale));
    drawCanvasOutlinedText(text, box.centerX, textY, {
-      fontSize: Math.max(50 * (videoHeight / BASE_CAMERA.height), 24),
+      fontSize: Math.max(50 * uiScale, 22),
      fontWeight: 900,
      fillStyle: "#ffffff",
      strokeStyle: "rgba(0,0,0,0.88)",
-      strokeWidth: Math.max(4.0 * (videoHeight / BASE_CAMERA.height), 3.4),
+      strokeWidth: Math.max(4.0 * uiScale, 2.2),
      align: "center",
      baseline: "bottom",
    });
@@ -2667,17 +2708,18 @@ window.HomeDrive = (() => {
    return anchor;
  }

-  function drawRadarSpeedBadge(center, text, accentColor) {
+  function drawRadarSpeedBadge(center, text, accentColor, videoWidth = BASE_CAMERA.width, videoHeight = BASE_CAMERA.height) {
    if (!center || !text) return;
-    const badgeWidth = Math.max(40, 35 * String(text).length);
-    const badgeHeight = 42;
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    const badgeWidth = Math.max(40 * uiScale, 35 * uiScale * String(text).length);
+    const badgeHeight = Math.max(42 * uiScale, 20);
    const badgeX = center.x - badgeWidth * 0.5;
-    const badgeY = center.y - 35;
-    fillRoundedRect(ctx, badgeX, badgeY, badgeWidth, badgeHeight, 15, accentColor);
+    const badgeY = center.y - 35 * uiScale;
+    fillRoundedRect(ctx, badgeX, badgeY, badgeWidth, badgeHeight, Math.max(15 * uiScale, 7), accentColor);
    drawCanvasOutlinedText(String(text), center.x, center.y, {
-      fontSize: 40,
+      fontSize: Math.max(40 * uiScale, 18),
      fontWeight: 900,
-      strokeWidth: 4.2,
+      strokeWidth: Math.max(4.2 * uiScale, 2.2),
    });
  }

@@ -2700,19 +2742,22 @@ window.HomeDrive = (() => {
    const right = projectPoint(calibTransform, tfDistance, lineY + 1.0, lineZ + PATH_Z_OFFSET);
    if (!left || !right) return;

-    drawPolyline([left, right], "rgba(255,255,255,0.92)", 3.0);
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    drawPolyline([left, right], "rgba(255,255,255,0.92)", Math.max(3.0 * uiScale, 1.6));
    const labelText = `${displayDistanceMeters(tfDistance).toFixed(1)}(${finiteNumber(longitudinalPlan?.tFollow, 0).toFixed(2)})`;
+    const labelFontSize = Math.max(20 * uiScale, 12);
    const labelAnchor = clampTextAnchor(
      { x: right.x + 10, y: right.y - 4 },
      labelText,
-      20,
+      labelFontSize,
      videoWidth,
      videoHeight,
    );
    drawCanvasOutlinedText(labelText, labelAnchor.x, labelAnchor.y, {
-      fontSize: 20,
+      fontSize: labelFontSize,
      fontWeight: 800,
      align: "left",
+      strokeWidth: Math.max(3.4 * uiScale, 1.8),
    });
  }

@@ -2747,7 +2792,8 @@ window.HomeDrive = (() => {
    const rawCenterX = (left.x + right.x) * 0.5;
    const rawCenterY = (left.y + right.y) * 0.5;
    const { marginX, topMargin, bottomMargin } = getLeadBoxClampMargins(videoWidth, videoHeight);
-    const width = clamp(rawWidth, 120, 800);
+    const uiScale = getLeadUiScale(videoWidth, videoHeight);
+    const width = clamp(rawWidth, 120 * uiScale, 800 * uiScale);
    const centerX = clamp(rawCenterX, marginX, Math.max(marginX, videoWidth - marginX));
    const centerY = clamp(rawCenterY, topMargin, Math.max(topMargin, videoHeight - bottomMargin));
    return {
@@ -2764,15 +2810,15 @@ window.HomeDrive = (() => {
    const anchor = anchorBox || projectPathEndAnchorBox(modelPath, calibTransform, videoWidth, videoHeight);
    if (!anchor) return;

-    const scale = videoHeight / BASE_CAMERA.height;
-    const fontSize = Math.max(50 * scale, 24);
-    const baselineY = clamp(anchor.centerY + 60 * scale, fontSize + 8, videoHeight - 10);
+    const scale = getLeadUiScale(videoWidth, videoHeight);
+    const fontSize = Math.max(50 * scale, 22);
+    const baselineY = clamp(anchor.centerY + 60 * scale, fontSize + 8 * scale, videoHeight - 10 * scale);
    drawCanvasOutlinedText(text, anchor.centerX, baselineY, {
      fontSize,
      fontWeight: 900,
      fillStyle: "#ffffff",
      strokeStyle: "rgba(0,0,0,0.88)",
-      strokeWidth: Math.max(4.0 * scale, 3.4),
+      strokeWidth: Math.max(4.0 * scale, 2.2),
      align: "center",
      baseline: "bottom",
    });
@@ -2802,7 +2848,7 @@ window.HomeDrive = (() => {
    return model?.position || null;
  }

-  function drawRadarTargets(radarState, model, calibTransform) {
+  function drawRadarTargets(radarState, model, calibTransform, videoWidth = BASE_CAMERA.width, videoHeight = BASE_CAMERA.height) {
    const showRadarInfo = finiteNumber(paramsState.ShowRadarInfo, 0);
    if (showRadarInfo <= 0) return;
    const projectionLine = getRadarProjectionLine(model);
@@ -2834,8 +2880,9 @@ window.HomeDrive = (() => {
          : null;
        if (future) {
          const vectorColor = vSigned >= 0 ? "rgba(35,213,93,0.94)" : "rgba(255,59,48,0.94)";
-          drawPolyline([center, future], vectorColor, 3.0);
-          drawPolygon(circlePolygon(future.x, future.y, 10, 12), vectorColor);
+          const uiScale = getLeadUiScale(videoWidth, videoHeight);
+          drawPolyline([center, future], vectorColor, Math.max(3.0 * uiScale, 1.6));
+          drawPolygon(circlePolygon(future.x, future.y, Math.max(10 * uiScale, 5), 12), vectorColor);
        }

        let badgeColor = "rgba(255,59,48,0.96)";
@@ -2844,26 +2891,28 @@ window.HomeDrive = (() => {
        else if (vSigned > 0) badgeColor = "rgba(255,167,38,0.96)";

        const speedValue = vSigned * (isMetric ? 3.6 : 2.2369363);
-        drawRadarSpeedBadge({ x: center.x, y: center.y }, speedValue.toFixed(0), badgeColor);
+        drawRadarSpeedBadge({ x: center.x, y: center.y }, speedValue.toFixed(0), badgeColor, videoWidth, videoHeight);

        if (showRadarInfo >= 2) {
-          drawCanvasOutlinedText(displayDistanceMeters(finiteNumber(radar?.yRel, 0)).toFixed(1), center.x, center.y - 40, {
-            fontSize: 30,
+          const uiScale = getLeadUiScale(videoWidth, videoHeight);
+          drawCanvasOutlinedText(displayDistanceMeters(finiteNumber(radar?.yRel, 0)).toFixed(1), center.x, center.y - 40 * uiScale, {
+            fontSize: Math.max(30 * uiScale, 15),
            fontWeight: 900,
-            strokeWidth: 3.8,
+            strokeWidth: Math.max(3.8 * uiScale, 2.0),
          });
          const distanceValue = displayDistanceMeters(dRel);
-          drawCanvasOutlinedText(distanceValue.toFixed(1), center.x, center.y + 30, {
-            fontSize: 30,
+          drawCanvasOutlinedText(distanceValue.toFixed(1), center.x, center.y + 30 * uiScale, {
+            fontSize: Math.max(30 * uiScale, 15),
            fontWeight: 900,
-            strokeWidth: 3.8,
+            strokeWidth: Math.max(3.8 * uiScale, 2.0),
          });
        }
      } else if (showRadarInfo >= 3) {
+        const uiScale = getLeadUiScale(videoWidth, videoHeight);
        drawCanvasOutlinedText("*", center.x, center.y, {
-          fontSize: 40,
+          fontSize: Math.max(40 * uiScale, 18),
          fontWeight: 900,
-          strokeWidth: 4.2,
+          strokeWidth: Math.max(4.2 * uiScale, 2.2),
        });
      }
    }
@@ -2966,7 +3015,7 @@ window.HomeDrive = (() => {
      resetLeadTwoEma();
    }
    drawPathStatusText(modelPath, hudState, calibTransform, videoWidth, videoHeight, primaryStatusAnchorBox);
-    drawRadarTargets(radarState, model, calibTransform);
+    drawRadarTargets(radarState, model, calibTransform, videoWidth, videoHeight);
  }

  function roundedRectPath(context, x, y, width, height, radius) {
@@ -3064,79 +3113,180 @@ window.HomeDrive = (() => {
    });
  }

-  function formatRtcPerfLabel() {
+  function optionalNumber(value) {
+    if (value == null || value === "") return null;
+    const number = Number(value);
+    return Number.isFinite(number) ? number : null;
+  }
+
+  function formatRtcNumber(value, suffix = "", digits = 0) {
+    return value == null ? `-${suffix}` : `${value.toFixed(digits)}${suffix}`;
+  }
+
+  function getRtcCodecLabel(codec, codecParams) {
+    const rawCodec = String(codec || "").split("/").pop().trim().toUpperCase();
+    if (!rawCodec) return "-";
+    if (rawCodec !== "H264") return rawCodec;
+    const match = /profile-level-id=([0-9a-fA-F]{6})/.exec(String(codecParams || ""));
+    const profilePrefix = match?.[1]?.slice(0, 2)?.toLowerCase() || "";
+    const profile = profilePrefix === "42"
+      ? "Baseline"
+      : profilePrefix === "4d"
+        ? "Main"
+        : profilePrefix === "64"
+          ? "High"
+          : "";
+    return profile ? `${rawCodec} ${profile}` : rawCodec;
+  }
+
+  function buildRtcPerfHudModel() {
    const perf = window.CarrotRtcPerf || null;
-    if (!perf?.active) return "";
-    if (perf?.connectionState === "connecting" || perf?.iceConnectionState === "checking") return "RECONN";
-    if (perf?.error) return "";
+    if (!perf?.active) {
+      return { visible: false, tone: "offline", title: "VISION OFFLINE", glance: "" };
+    }

    const network = perf.network || {};
    const inbound = perf.inbound || {};
    const video = perf.video || {};
-    const resolutionLabel = String(network.resolutionLabel || "").trim();
-    const bitrateMbps = Number.isFinite(Number(network.bitrateMbps)) ? Number(network.bitrateMbps) : null;
-    const fps = Number.isFinite(Number(inbound.framesPerSecond)) ? Number(inbound.framesPerSecond) : null;
-    const rttMs = Number.isFinite(Number(network.rttMs)) ? Number(network.rttMs) : null;
-    const lossPct = Number.isFinite(Number(network.lossPct)) ? Number(network.lossPct) : null;
-    const jitterMs = Number.isFinite(Number(network.jitterMs)) ? Number(network.jitterMs) : null;
-    const keyFramesDecoded = Number.isFinite(Number(inbound.keyFramesDecoded)) ? Number(inbound.keyFramesDecoded) : null;
-    const packetsLost = Number.isFinite(Number(inbound.packetsLost)) ? Number(inbound.packetsLost) : null;
-    const hasFreeze = Number.isFinite(Number(inbound.freezeCount)) && Number(inbound.freezeCount) > 0 &&
-      Number.isFinite(Number(video.readyState)) && Number(video.readyState) < 3;
-
-    if (!resolutionLabel && bitrateMbps == null && fps == null && rttMs == null && lossPct == null && jitterMs == null) {
-      return hasFreeze ? "STALL" : "";
-    }
-
-    const bitrateLabel = bitrateMbps != null
-      ? `${bitrateMbps >= 10 ? bitrateMbps.toFixed(0) : bitrateMbps.toFixed(1)}m`
-      : "-m";
-    const fpsLabel = fps != null ? `${Math.round(fps)}fps` : "-fps";
-    const rttLabel = rttMs != null ? `${Math.round(rttMs)}ms` : "-ms";
-    const warningLabels = [];
-    if (lossPct != null && lossPct >= 0.5) {
-      warningLabels.push(`loss${lossPct >= 10 ? Math.round(lossPct) : lossPct.toFixed(1)}%`);
-    } else if (packetsLost != null && packetsLost > 0 && Number(inbound.framesDecoded || 0) <= 0) {
-      warningLabels.push(`lost${packetsLost}`);
-    }
-    if (jitterMs != null && jitterMs >= 30) warningLabels.push(`jit${Math.round(jitterMs)}`);
-    if (keyFramesDecoded === 0 && Number(inbound.framesDecoded || 0) <= 0) warningLabels.push("key0");
-
-    return [resolutionLabel || "-p", bitrateLabel, fpsLabel, rttLabel].concat(warningLabels).join(" ");
-  }
-
-  function drawHudRightCenterPerfText(stageWidth, stageHeight, viewportRect, pathMode) {
-    const label = shortText(formatRtcPerfLabel(), 48);
-    if (!label) return;
-
-    const exactC3Mode = stageWidth >= 1280 && stageHeight >= 720;
-    const baseScale = Math.min(stageWidth / 1920, stageHeight / 1080);
-    const scale = clamp(baseScale, 0.48, 1.0);
-    const edgeInsetX = exactC3Mode ? 1.5 : clamp(2.0 * scale, 1.0, 2.5);
-    const edgeInsetTop = exactC3Mode ? 28.0 : clamp(30.0 * scale, 12.0, 30.0);
-    const maxWidth = Math.max(180.0, viewportRect.width * 0.42);
-    const fontSize = fitSingleLineHudFontSize(
-      label,
-      exactC3Mode ? 18.0 : clamp(18.0 * scale, 8.0, 18.0),
-      maxWidth,
-      6.0,
-      900,
+    const resolution = String(network.resolutionLabel || "").trim() || "-";
+    const bitrateMbps = optionalNumber(network.bitrateMbps);
+    const fps = optionalNumber(inbound.framesPerSecond);
+    const rttMs = optionalNumber(network.rttMs);
+    const lossPct = optionalNumber(network.lossPct);
+    const jitterMs = optionalNumber(network.jitterMs);
+    const freezeCount = optionalNumber(inbound.freezeCount);
+    const framesDecoded = optionalNumber(inbound.framesDecoded);
+    const framesReceived = optionalNumber(inbound.framesReceived);
+    const readyState = optionalNumber(video.readyState);
+    const reconnecting = (
+      perf.connectionState === "connecting" ||
+      perf.iceConnectionState === "checking" ||
+      perf.iceConnectionState === "disconnected"
    );
-    const alpha = getHudLabelAlpha(pathMode, 0.0);
+    const stalled = (
+      (framesReceived != null && framesReceived > 0 && framesDecoded != null && framesDecoded <= 0) ||
+      (freezeCount != null && freezeCount > 0 && readyState != null && readyState < 3)
+    );
+    const degraded = (
+      (lossPct != null && lossPct >= 0.5) ||
+      (jitterMs != null && jitterMs >= 30) ||
+      (rttMs != null && rttMs >= 150)
+    );
+    const bitrateLabel = formatRtcNumber(bitrateMbps, "Mbps", bitrateMbps != null && bitrateMbps < 10 ? 2 : 1);
+    const fpsLabel = fps == null ? "-fps" : `${Math.round(fps)}fps`;
+    const rttLabel = rttMs == null ? "-ms" : `${Math.round(rttMs)}ms`;
+    const jitterLabel = jitterMs == null ? "-ms" : `${Math.round(jitterMs)}ms`;
+    const lossLabel = lossPct == null ? "-%" : `${lossPct.toFixed(lossPct >= 10 ? 0 : 1)}%`;
+    const codecLabel = getRtcCodecLabel(perf.codec, perf.codecParams);
+    const protocol = String(network.protocol || "-").toUpperCase();
+    const localType = String(network.localCandidateType || "-");
+    const remoteType = String(network.remoteCandidateType || "-");
+    let tone = "normal";
+    let title = "VISION OK";
+    let glance = `${resolution} | ${fpsLabel} | ${bitrateLabel} | ${rttLabel}`;

-    drawOutlinedHudText({
-      text: label,
-      x: viewportRect.right - edgeInsetX,
-      y: viewportRect.top + edgeInsetTop,
-      color: `rgba(244, 244, 244, ${alpha.toFixed(3)})`,
-      strokeColor: `rgba(0, 0, 0, ${clamp(alpha + 0.08, 0.0, 1.0).toFixed(3)})`,
-      strokeWidth: clamp(4.2 * scale, 2.8, 5.4),
-      fontSize,
-      fontWeight: 900,
-      alignX: "right",
-      alignY: "top",
-      maxWidth,
-    });
+    if (perf.error) {
+      tone = "offline";
+      title = "VISION OFFLINE";
+      glance = "OFFLINE | stats unavailable";
+    } else if (reconnecting) {
+      tone = "reconnecting";
+      title = "VISION RECONNECTING";
+      glance = "RECONNECTING | waiting stream";
+    } else if (stalled) {
+      tone = "stall";
+      title = "VISION STALL";
+      glance = `STALL | decode ${framesDecoded ?? "-"} | recv ${framesReceived ?? "-"}`;
+    } else if (degraded) {
+      tone = "degraded";
+      title = "VISION DEGRADED";
+      const warnings = [];
+      if (lossPct != null && lossPct >= 0.5) warnings.push(`loss ${lossLabel}`);
+      if (rttMs != null && rttMs >= 150) warnings.push(`RTT ${rttLabel}`);
+      if (jitterMs != null && jitterMs >= 30) warnings.push(`jitter ${jitterLabel}`);
+      glance = `DEGRADED | ${warnings.slice(0, 2).join(" | ")}`;
+    }
+
+    return {
+      visible: true,
+      tone,
+      title,
+      glance,
+      video: `${resolution} | ${fpsLabel}`,
+      codec: codecLabel,
+      bitrate: bitrateLabel,
+      rtt: rttLabel,
+      jitter: jitterLabel,
+      loss: lossLabel,
+      freeze: freezeCount == null ? "-" : String(Math.round(freezeCount)),
+      path: `${protocol} ${localType} -> ${remoteType}`,
+    };
+  }
+
+  function formatRtcPerfLabel() {
+    return buildRtcPerfHudModel().glance || "";
+  }
+
+  let _rtcPerfSummaryOpen = false;
+  let _rtcPerfSummaryCloseTimer = null;
+
+  function isRtcPerfSummaryAvailable() {
+    return window.matchMedia("(orientation: landscape)").matches;
+  }
+
+  function clearRtcPerfSummaryCloseTimer() {
+    if (_rtcPerfSummaryCloseTimer == null) return;
+    window.clearTimeout(_rtcPerfSummaryCloseTimer);
+    _rtcPerfSummaryCloseTimer = null;
+  }
+
+  function syncRtcPerfSummaryAutoClose(tone) {
+    clearRtcPerfSummaryCloseTimer();
+    if (!_rtcPerfSummaryOpen || tone !== "normal") return;
+    _rtcPerfSummaryCloseTimer = window.setTimeout(() => {
+      setRtcPerfSummaryOpen(false);
+    }, RTC_PERF_SUMMARY_AUTO_CLOSE_MS);
+  }
+
+  function setRtcPerfSummaryOpen(open) {
+    const model = buildRtcPerfHudModel();
+    const nextOpen = Boolean(open && model.visible && isRtcPerfSummaryAvailable());
+    _rtcPerfSummaryOpen = nextOpen;
+    if (rtcPerfSummaryEl) rtcPerfSummaryEl.hidden = !nextOpen;
+    if (!nextOpen) {
+      clearRtcPerfSummaryCloseTimer();
+      return;
+    }
+    syncRtcPerfSummaryAutoClose(model.tone);
+  }
+
+  function syncRtcPerfHud() {
+    if (!rtcPerfHudEl || !rtcPerfGlanceEl || !rtcPerfGlanceTextEl) return;
+    const model = buildRtcPerfHudModel();
+    rtcPerfHudEl.hidden = !model.visible;
+    rtcPerfGlanceEl.dataset.tone = model.tone;
+    rtcPerfGlanceTextEl.textContent = model.glance || model.title;
+
+    if (!model.visible || !isRtcPerfSummaryAvailable()) {
+      setRtcPerfSummaryOpen(false);
+      return;
+    }
+
+    if (rtcPerfSummaryEl) rtcPerfSummaryEl.dataset.tone = model.tone;
+    if (rtcPerfTitleEl) rtcPerfTitleEl.textContent = model.title;
+    if (rtcPerfVideoEl) rtcPerfVideoEl.textContent = model.video;
+    if (rtcPerfCodecEl) rtcPerfCodecEl.textContent = model.codec;
+    if (rtcPerfBitrateEl) rtcPerfBitrateEl.textContent = model.bitrate;
+    if (rtcPerfRttEl) rtcPerfRttEl.textContent = model.rtt;
+    if (rtcPerfJitterEl) rtcPerfJitterEl.textContent = model.jitter;
+    if (rtcPerfLossEl) rtcPerfLossEl.textContent = model.loss;
+    if (rtcPerfFreezeEl) rtcPerfFreezeEl.textContent = model.freeze;
+    if (rtcPerfPathEl) rtcPerfPathEl.textContent = model.path;
+    if (_rtcPerfSummaryOpen && _rtcPerfSummaryCloseTimer == null) {
+      syncRtcPerfSummaryAutoClose(model.tone);
+    } else if (_rtcPerfSummaryOpen && model.tone !== "normal") {
+      clearRtcPerfSummaryCloseTimer();
+    }
  }

  function drawStageEdgeFades(stageWidth, stageHeight) {
@@ -3679,6 +3829,7 @@ window.HomeDrive = (() => {
          : getUIText("start_vision_hint", "Tap the start button to enable drive vision."));
        setMeta("");
        setDebug("");
+        syncRtcPerfHud();
      }
      return;
    }
@@ -3707,6 +3858,7 @@ window.HomeDrive = (() => {
        width: stageWidth,
        height: stageHeight,
      });
+      syncRtcPerfHud();
      scheduleCameraFrameRecheck();
      return;
    }
@@ -3793,7 +3945,7 @@ window.HomeDrive = (() => {
      setDebug(debugText);
      drawHudTopLeftText(stageWidth, stageHeight, viewportRect, overlayInfoState.carLabel, pathStyle.mode);
      drawHudTopRightText(stageWidth, stageHeight, viewportRect, lastDebug, pathStyle.mode);
-      drawHudRightCenterPerfText(stageWidth, stageHeight, viewportRect, pathStyle.mode);
+      syncRtcPerfHud();
      drawHudBottomLeftText(stageWidth, stageHeight, viewportRect, overlayInfoState.branchLabel, pathStyle.mode);
      drawHudBottomText(stageWidth, stageHeight, viewportRect, selectedPath.latDebugText, hudState, pathStyle.mode);
    }
@@ -3942,6 +4094,85 @@ window.HomeDrive = (() => {
    });
  }

+  let _rtcPerfHoldTimer = null;
+  let _rtcPerfHoldPointerId = null;
+  let _rtcPerfHoldStartX = 0;
+  let _rtcPerfHoldStartY = 0;
+
+  function clearRtcPerfHold() {
+    if (_rtcPerfHoldTimer != null) {
+      window.clearTimeout(_rtcPerfHoldTimer);
+      _rtcPerfHoldTimer = null;
+    }
+    _rtcPerfHoldPointerId = null;
+    if (rtcPerfHoldTargetEl) rtcPerfHoldTargetEl.classList.remove("is-holding");
+  }
+
+  function bindRtcPerfHudInteractions() {
+    if (!rtcPerfHoldTargetEl || !rtcPerfSummaryEl) return;
+
+    rtcPerfHoldTargetEl.addEventListener("pointerdown", (event) => {
+      event.stopPropagation();
+      clearRtcPerfHold();
+      if (!isActive() || !isRtcPerfSummaryAvailable()) return;
+      _rtcPerfHoldPointerId = event.pointerId;
+      _rtcPerfHoldStartX = event.clientX;
+      _rtcPerfHoldStartY = event.clientY;
+      rtcPerfHoldTargetEl.classList.add("is-holding");
+      rtcPerfHoldTargetEl.setPointerCapture?.(event.pointerId);
+      _rtcPerfHoldTimer = window.setTimeout(() => {
+        _rtcPerfHoldTimer = null;
+        rtcPerfHoldTargetEl.classList.remove("is-holding");
+        setRtcPerfSummaryOpen(!_rtcPerfSummaryOpen);
+      }, RTC_PERF_HOLD_MS);
+    });
+    rtcPerfHoldTargetEl.addEventListener("pointermove", (event) => {
+      if (_rtcPerfHoldPointerId !== event.pointerId) return;
+      if (Math.hypot(event.clientX - _rtcPerfHoldStartX, event.clientY - _rtcPerfHoldStartY) > RTC_PERF_HOLD_MOVE_PX) {
+        clearRtcPerfHold();
+      }
+    });
+    ["pointerup", "pointercancel", "lostpointercapture"].forEach((eventName) => {
+      rtcPerfHoldTargetEl.addEventListener(eventName, clearRtcPerfHold);
+    });
+    rtcPerfHoldTargetEl.addEventListener("click", (event) => {
+      event.preventDefault();
+      event.stopPropagation();
+    });
+
+    rtcPerfCloseBtnEl?.addEventListener("click", (event) => {
+      event.stopPropagation();
+      setRtcPerfSummaryOpen(false);
+    });
+    rtcPerfLogBtnEl?.addEventListener("click", (event) => {
+      event.stopPropagation();
+      const previousText = rtcPerfLogBtnEl.textContent;
+      rtcPerfLogBtnEl.disabled = true;
+      rtcPerfLogBtnEl.textContent = "SEND";
+      (async () => {
+        try {
+          if (!window.CarrotVisionDiag?.uploadDiscord) throw new Error("diagnostic upload unavailable");
+          await window.CarrotVisionDiag.uploadDiscord();
+          rtcPerfLogBtnEl.textContent = "SENT";
+          if (typeof showAppToast === "function") showAppToast("Carrot Vision log sent to Discord", { duration: 2600 });
+        } catch (error) {
+          rtcPerfLogBtnEl.textContent = "FAIL";
+          if (typeof showAppToast === "function") showAppToast(`Discord upload failed: ${error?.message || error}`, { tone: "error", duration: 4200 });
+        } finally {
+          window.setTimeout(() => {
+            rtcPerfLogBtnEl.disabled = false;
+            rtcPerfLogBtnEl.textContent = previousText;
+          }, 1400);
+        }
+      })();
+    });
+    document.addEventListener("pointerdown", (event) => {
+      if (!_rtcPerfSummaryOpen) return;
+      if (rtcPerfSummaryEl.contains(event.target) || rtcPerfHoldTargetEl.contains(event.target)) return;
+      setRtcPerfSummaryOpen(false);
+    }, true);
+  }
+
  function shouldIgnoreStageFullscreenToggle(target) {
    if (!(target instanceof Element)) return false;
    if (target.closest("button, a, input, textarea, select, label")) return true;
@@ -3958,11 +4189,13 @@ window.HomeDrive = (() => {
  }

  function requestFullRender() {
+    if (!isRtcPerfSummaryAvailable()) setRtcPerfSummaryOpen(false);
    refresh();
    requestRender({ force: true, overlayDirty: true, hudDirty: true });
  }

  function handleLifecycleChange() {
+    if (!isActive()) setRtcPerfSummaryOpen(false);
    if (isStageVisible()) {
      if (isCarrotVisionActive()) {
        const live = (getCarrotVisionState().controlState || "") === "live";
@@ -4008,6 +4241,8 @@ window.HomeDrive = (() => {
  } catch {}

  syncDisplayModeButtons();
+  bindRtcPerfHudInteractions();
+  syncRtcPerfHud();
  refreshParams(true);
  refreshOverlayInfo(true).catch(() => {});
  requestRender({ force: true, overlayDirty: true, hudDirty: true });
--- a/selfdrive/carrot/web/js/realtime/nav_hud.js
+++ b/selfdrive/carrot/web/js/realtime/nav_hud.js
@@ -146,6 +146,26 @@
    return parts.join(" · ");
  }

+  function cleanGuidanceText(value) {
+    const text = String(value || "").trim();
+    if (!text) return "";
+    if (/^route\s*=\s*[-+]?\d+(?:\.\d+)?$/i.test(text)) return "";
+    return text;
+  }
+
+  function escapeRegex(text) {
+    return String(text).replace(/[.*+?^${}()|[\]\\]/g, "\\$&");
+  }
+
+  function compactSideLabel(side) {
+    let label = String(side?.label || "").replace(/\s+/g, " ").trim();
+    const sign = String(side?.sign || "").trim();
+    if (side?.kind === "camera" && sign) {
+      label = label.replace(new RegExp(`^${escapeRegex(sign)}\\s*`), "").trim();
+    }
+    return label;
+  }
+
  function navIconSvg(kind) {
    const attrs = 'class="carrot-nav-hud__icon-svg" viewBox="0 0 48 48" aria-hidden="true" focusable="false"';
    const pathAttrs = 'fill="none" stroke="currentColor" stroke-width="6.5" stroke-linecap="round" stroke-linejoin="round"';
@@ -288,7 +308,10 @@
      }

      const compact = sideVisible && (sideLeft <= edge + 1 || groupWidth() > stageWidth * 0.68);
-      const cardHeight = compact ? 78 : clamp(stageHeight * 0.12, 82, 92);
+      const navScale = clamp(stageHeight / 604, 0.86, 1.10);
+      const compactScale = compact ? clamp(navScale * 0.92, 0.82, 0.98) : navScale;
+      const cardHeight = Math.round((compact ? 88 : 96) * compactScale);
+      const setPx = (name, value) => this.root.style.setProperty(name, `${Math.round(value)}px`);
      if (compact) this.root.dataset.layout = "compact";
      else delete this.root.dataset.layout;
      this.root.dataset.sideVisible = sideVisible ? "1" : "0";
@@ -300,6 +323,21 @@
      this.root.style.setProperty("--nav-card-height", `${Math.round(cardHeight)}px`);
      this.root.style.setProperty("--nav-main-left", `${mainLeft}px`);
      this.root.style.setProperty("--nav-side-left", `${Math.max(edge, sideLeft)}px`);
+      this.root.style.setProperty("--nav-scale", String(Number(compactScale.toFixed(3))));
+      setPx("--nav-padding-y", 12 * compactScale);
+      setPx("--nav-main-padding-x", 18 * compactScale);
+      setPx("--nav-side-padding-x", 15 * compactScale);
+      setPx("--nav-side-gap", 14 * compactScale);
+      setPx("--nav-body-gap", 5 * compactScale);
+      setPx("--nav-side-sign-size", 58 * compactScale);
+      setPx("--nav-side-sign-font", 25 * compactScale);
+      setPx("--nav-side-dist-font", 23 * compactScale);
+      setPx("--nav-side-label-font", 18 * compactScale);
+      setPx("--nav-icon-size", 62 * compactScale);
+      setPx("--nav-icon-font", 38 * compactScale);
+      setPx("--nav-dist-font", 33 * compactScale);
+      setPx("--nav-road-font", 21 * compactScale);
+      setPx("--nav-meta-font", 17 * compactScale);
    }

    readCarrotMan() {
@@ -327,8 +365,8 @@
      const turnDist = finiteNumber(cm.xDistToTurn) ?? 0;
      const turnCountdown = finiteNumber(cm.xTurnCountDown) ?? 0;
      const roadLimit = finiteNumber(cm.nRoadLimitSpeed) ?? 0;
-      const roadName = String(cm.szPosRoadName || "").trim();
-      const tbtRoad = String(cm.szTBTMainText || "").trim();
+      const roadName = cleanGuidanceText(cm.szPosRoadName);
+      const tbtRoad = cleanGuidanceText(cm.szTBTMainText);
      const atcType = String(cm.atcType || "").trim().toLowerCase();
      const trafficState = finiteNumber(cm.trafficState) ?? 0;
      const meta = buildMeta(cm);
@@ -513,7 +551,7 @@
        this.sideDistEl.textContent = side.dist || "";
        this.sideDistEl.hidden = !side.dist;
      }
-      if (this.sideLabelEl) this.sideLabelEl.textContent = side.label || "";
+      if (this.sideLabelEl) this.sideLabelEl.textContent = compactSideLabel(side);
      if (this.sideCountdownEl) {
        this.sideCountdownEl.textContent = side.countdown || "";
        this.sideCountdownEl.hidden = !side.countdown;
--- a/selfdrive/carrot/web/js/realtime/vision_diag.js
+++ b/selfdrive/carrot/web/js/realtime/vision_diag.js
@@ -1,25 +1,97 @@
 (function () {
  "use strict";

-  // Carrot Vision diagnostic recorder.
+  // Carrot Vision diagnostic recorder (enriched).
  //
-  // Silently records RTC phase transitions + periodic WebRTC stats into a ring
-  // buffer (persisted to localStorage so it survives reloads / reconnects), and
-  // exposes a phone-friendly export (download .txt + copy to clipboard) via a
-  // small "LOG" button on the drive page. Built so a tester can capture
-  // "why did it drop" data during a once-a-day drive WITHOUT DevTools.
+  // Silently records, into a ring buffer persisted to localStorage:
+  //   PHASE   - RTC phase / recovery transitions (deduped)
+  //   STAT    - periodic WebRTC + <video> numbers, with framesReceived/Decoded
+  //             deltas so a decode stall ("data in, 0 frames out") is obvious
+  //   CODEC   - negotiated codec / H264 profile / decoder implementation (on change)
+  //   PATH    - transport protocol + ICE candidate types + negotiated resolution (on change)
+  //   VINFO   - <video> readyState / networkState / MediaError (on change)
+  //   VEVENT  - real <video> element events (loadedmetadata/playing/waiting/error/...)
+  //   VIS     - tab visibility changes (a hidden tab can freeze the decoder)
+  //   NETCHG  - navigator.connection changes (effectiveType/downlink/rtt)
+  //   PERFERR - getStats() errors
+  //   RTCTRACE- WebRTC control-plane trace events emitted by vision_rtc.js
+  //   LIFECYCLE - page leave/return and forced reconnect lifecycle events
  //
-  // Fully self-contained: only reads window.CarrotRtcPerf / CarrotVisionState
-  // and listens to carrot:visionstatechange — no edits to the RTC logic.
+  // dump() prepends an AUTO SUMMARY (verdict) so a tester can read the conclusion
+  // without scrolling 200 lines. Phone-friendly export via a small "LOG" button
+  // (download .txt + copy to clipboard) — no DevTools needed.
+  //
+  // Self-contained: reads window.CarrotRtcPerf / CarrotVisionState, listens to
+  // carrot:visionstatechange, and binds to the live <video> element. No edits to
+  // the RTC control logic.

-  const STORAGE_KEY = "carrot_vision_diag_log_v1";
-  const MAX_ENTRIES = 1500;          // ~50 min at the 2s stats cadence
-  const STATS_INTERVAL_MS = 2000;
+  const STORAGE_KEY = "carrot_vision_diag_log_v2";
+  const MAX_ENTRIES = 3000;
+  const MAX_CONSOLE_ENTRIES = 1200;
+  const MAX_CONSOLE_ARG_CHARS = 1600;
  const PERSIST_THROTTLE_MS = 4000;
+  const STAT_FAST_MS = 1000;     // while connecting / reconnecting / pre-first-frame
+  const STAT_SLOW_MS = 2500;     // once decoding steadily

  let entries = [];
  let lastPersist = 0;
  let lastPhaseSig = "";
+  let prevFrm = null;
+  let prevRecv = null;
+  let prevCt = null;
+  let prevDvf = null;
+  let everDecoded = false;
+  let lastCodecSig = "";
+  let lastPathSig = "";
+  let lastVinfoSig = "";
+  let lastErr = "";
+  let statsTimer = null;
+  let consoleEntries = [];
+
+  function stringifyConsoleArg(value) {
+    try {
+      if (value instanceof Error) {
+        return value.stack || value.message || String(value);
+      }
+      if (typeof value === "string") return value;
+      if (value == null || typeof value === "number" || typeof value === "boolean") return String(value);
+      return JSON.stringify(value);
+    } catch (_) {
+      try { return String(value); } catch (__) { return "[unprintable]"; }
+    }
+  }
+
+  function recordConsole(level, args) {
+    try {
+      const parts = Array.prototype.slice.call(args || []).map(function (arg) {
+        const text = stringifyConsoleArg(arg);
+        return text.length > MAX_CONSOLE_ARG_CHARS ? text.slice(0, MAX_CONSOLE_ARG_CHARS) + "..." : text;
+      });
+      consoleEntries.push({
+        t: Date.now(),
+        level: level,
+        message: parts.join(" "),
+      });
+      if (consoleEntries.length > MAX_CONSOLE_ENTRIES) {
+        consoleEntries.splice(0, consoleEntries.length - MAX_CONSOLE_ENTRIES);
+      }
+    } catch (_) {}
+  }
+
+  function hookConsole() {
+    if (!window.console || window.console.__carrotVisionDiagHooked) return;
+    ["log", "info", "warn", "error", "debug"].forEach(function (level) {
+      const original = window.console[level];
+      if (typeof original !== "function") return;
+      window.console[level] = function () {
+        recordConsole(level, arguments);
+        return original.apply(this, arguments);
+      };
+    });
+    window.console.__carrotVisionDiagHooked = true;
+  }
+
+  hookConsole();

  // Restore a prior buffer (survives the reconnect/reload that often follows a drop).
  try {
@@ -54,32 +126,118 @@
    return (typeof v === "number" && isFinite(v)) ? Number(v.toFixed(d == null ? 1 : d)) : null;
  }

+  function n(v) { return (typeof v === "number" && isFinite(v)) ? v : null; }
+
+  // 0x42=Baseline 0x4D=Main 0x58=Extended 0x64=High ... + constrained-baseline flag.
+  function h264Profile(fmtp) {
+    const m = /profile-level-id=([0-9a-fA-F]{6})/.exec(fmtp || "");
+    if (!m) return "";
+    const pli = m[1].toUpperCase();
+    const prof = pli.slice(0, 2);
+    const constraints = parseInt(pli.slice(2, 4), 16) || 0;
+    const level = (parseInt(pli.slice(4, 6), 16) || 0) / 10;
+    const map = { "42": "Baseline", "4D": "Main", "58": "Extended", "64": "High", "6E": "High10", "7A": "High422", "F4": "High444" };
+    let name = map[prof] || ("0x" + prof);
+    if (prof === "42" && (constraints & 0x40)) name = "ConstrainedBaseline";
+    return name + " L" + level.toFixed(1) + " (" + pli + ")";
+  }
+
+  // --- video element binding (re-binds when the element is recreated on reconnect) ---
+  function getVideo() {
+    return document.getElementById("carrotRoadVideo") || document.getElementById("rtcVideo");
+  }
+
+  const VEVENTS = [
+    "loadedmetadata", "loadeddata", "canplay", "canplaythrough", "play", "playing",
+    "pause", "waiting", "stalled", "suspend", "emptied", "ended", "ratechange", "resize", "error",
+  ];
+
+  function ensureVideoBound() {
+    const v = getVideo();
+    if (!v || v.__carrotDiagBound) return;
+    v.__carrotDiagBound = true;
+    VEVENTS.forEach(function (name) {
+      v.addEventListener(name, function () {
+        const e = { name: name, w: v.videoWidth || 0, h: v.videoHeight || 0, rs: v.readyState, ct: num(v.currentTime, 1) };
+        if (name === "error" && v.error) { e.code = v.error.code; e.msg = String(v.error.message || ""); }
+        record("vevent", e);
+      }, { passive: true });
+    });
+  }
+
+  function emitChangeLines(st, p, inb, net, vid) {
+    const codecSig = (p.codec || "") + "|" + (inb.decoderImplementation || "") + "|" + (p.codecParams || "");
+    if (codecSig !== lastCodecSig && (p.codec || inb.decoderImplementation || p.codecParams)) {
+      lastCodecSig = codecSig;
+      record("codec", { mime: p.codec || "", decoder: inb.decoderImplementation || "", fmtp: p.codecParams || "", profile: h264Profile(p.codecParams) });
+    }
+    const pathSig = (net.protocol || "") + "|" + (net.localCandidateType || "") + "|" + (net.remoteCandidateType || "") + "|" + (net.resolutionLabel || "");
+    if (pathSig !== lastPathSig && (net.protocol || net.resolutionLabel)) {
+      lastPathSig = pathSig;
+      record("path", { proto: net.protocol || "", local: net.localCandidateType || "", remote: net.remoteCandidateType || "", res: net.resolutionLabel || "", avail: num(net.availableIncomingMbps, 2) });
+    }
+    const vinfoSig = vid.readyState + "|" + vid.networkState + "|" + (vid.errorCode || 0) + "|" + vid.paused;
+    if (vinfoSig !== lastVinfoSig) {
+      lastVinfoSig = vinfoSig;
+      record("vinfo", { rs: n(vid.readyState), ns: n(vid.networkState), code: vid.errorCode || 0, msg: vid.errorMessage || "", paused: typeof vid.paused === "boolean" ? vid.paused : null });
+    }
+    const err = p.error || "";
+    if (err !== lastErr) { lastErr = err; if (err) record("perferr", { msg: err }); }
+  }
+
  function snapshotStats() {
    if (!document.body || document.body.dataset.page !== "carrot") return;
+    ensureVideoBound();
    const st = window.CarrotVisionState || {};
    if (!st.active) return;
    const p = window.CarrotRtcPerf || {};
    const inb = p.inbound || {};
    const net = p.network || {};
    const vid = p.video || {};
+
+    emitChangeLines(st, p, inb, net, vid);
+
+    const frm = n(inb.framesDecoded);
+    const recv = n(inb.framesReceived);
+    const frmD = (frm != null && prevFrm != null) ? Math.max(0, frm - prevFrm) : null;
+    const recvD = (recv != null && prevRecv != null) ? Math.max(0, recv - prevRecv) : null;
+    const ct = num(vid.currentTime, 1);
+    const dvf = n(vid.droppedVideoFrames);
+    const ctD = (ct != null && prevCt != null) ? num(Math.max(0, ct - prevCt), 1) : null;
+    const dvfD = (dvf != null && prevDvf != null) ? Math.max(0, dvf - prevDvf) : null;
+    prevFrm = frm; prevRecv = recv;
+    prevCt = ct; prevDvf = dvf;
+    if (frm != null && frm > 0) everDecoded = true;
+
    push({
      type: "stat",
-      ph: st.phase,
-      cs: st.controlState,
-      conn: p.connectionState,
-      ice: p.iceConnectionState,
-      loss: num(net.lossPct, 1),
-      jit: num(net.jitterMs, 0),
-      br: num(net.bitrateMbps, 2),
-      frm: inb.framesDecoded != null ? inb.framesDecoded : null,
-      key: inb.keyFramesDecoded != null ? inb.keyFramesDecoded : null,
-      lost: inb.packetsLost != null ? inb.packetsLost : null,
-      ct: num(vid.currentTime, 1),
-      rs: vid.readyState != null ? vid.readyState : null,
-      err: p.error || "",
+      ph: st.phase, cs: st.controlState, conn: p.connectionState, ice: p.iceConnectionState,
+      recv: recv, recvD: recvD, frm: frm, frmD: frmD, key: n(inb.keyFramesDecoded),
+      drop: n(inb.framesDropped), fps: num(inb.framesPerSecond, 1),
+      dw: n(inb.frameWidth), dh: n(inb.frameHeight),
+      loss: num(net.lossPct, 1), lost: n(inb.packetsLost),
+      jit: num(net.jitterMs, 0), rtt: num(net.rttMs, 0),
+      br: num(net.bitrateMbps, 2), avail: num(net.availableIncomingMbps, 2),
+      nack: n(inb.nackCount), pli: n(inb.pliCount), fir: n(inb.firCount),
+      frz: n(inb.freezeCount), frzMs: num(inb.totalFreezesDuration, 1),
+      ct: ct, ctD: ctD, rs: n(vid.readyState), ns: n(vid.networkState),
+      paused: typeof vid.paused === "boolean" ? vid.paused : null,
+      dvf: dvf, dvfD: dvfD, cvf: n(vid.corruptedVideoFrames),
    });
  }

+  function statInterval() {
+    const st = window.CarrotVisionState || {};
+    const cs = st.controlState;
+    if (cs === "connecting" || cs === "reconnecting" || !everDecoded) return STAT_FAST_MS;
+    return STAT_SLOW_MS;
+  }
+
+  function statsTick() {
+    try { snapshotStats(); } catch (_) {}
+    statsTimer = setTimeout(statsTick, statInterval());
+  }
+
  function fmtTime(ms) {
    const base = entries.length ? entries[0].t : ms;
    const s = Math.max(0, (ms - base) / 1000);
@@ -88,9 +246,164 @@
    return String(mm).padStart(2, "0") + ":" + (ss.length < 4 ? "0" + ss : ss);
  }

+  function summary() {
+    const stats = entries.filter((e) => e.type === "stat");
+    const codecs = entries.filter((e) => e.type === "codec");
+    let maxFrm = 0, maxRecv = 0, maxKey = 0, peakLoss = 0, maxFrz = 0, brSum = 0, brN = 0;
+    let reachedReady = false, everPlayed = false, decRes = "";
+    for (const s of stats) {
+      if (typeof s.frm === "number") maxFrm = Math.max(maxFrm, s.frm);
+      if (typeof s.recv === "number") maxRecv = Math.max(maxRecv, s.recv);
+      if (typeof s.key === "number") maxKey = Math.max(maxKey, s.key);
+      if (typeof s.rs === "number" && s.rs >= 2) reachedReady = true;
+      if (typeof s.ct === "number" && s.ct > 0) everPlayed = true;
+      if (typeof s.loss === "number") peakLoss = Math.max(peakLoss, s.loss);
+      if (typeof s.frz === "number") maxFrz = Math.max(maxFrz, s.frz);
+      if (typeof s.br === "number" && s.br > 0) { brSum += s.br; brN++; }
+      if (typeof s.dw === "number" && s.dw > 0 && typeof s.dh === "number" && s.dh > 0) decRes = s.dw + "x" + s.dh;
+    }
+    let videoError = false;
+    for (const e of entries) {
+      if (e.type === "vevent" && e.name === "error") videoError = true;
+      if (e.type === "vinfo" && e.code) videoError = true;
+    }
+    const reconnects = entries.filter((e) => e.type === "phase" && e.cs === "reconnecting").length;
+    const starts = entries.filter((e) => e.type === "phase" && /user start/.test(e.reason || "")).length;
+    const decoders = [...new Set(codecs.map((c) => c.decoder).filter(Boolean))];
+    const profiles = [...new Set(codecs.map((c) => c.profile).filter(Boolean))];
+    const mimes = [...new Set(codecs.map((c) => c.mime).filter(Boolean))];
+    const decodedEver = maxFrm > 0, receivedEver = maxRecv > 0;
+
+    let verdict;
+    if (receivedEver && !decodedEver)
+      verdict = "DECODE STALL — frames RECEIVED (" + maxRecv + ") but framesDecoded stayed 0. Viewer never decoded a renderable frame -> likely codec/profile/hardware-decoder incompatibility.";
+    else if (decodedEver && !reachedReady)
+      verdict = "DECODED frames but <video> never reached readyState>=2 -> render/attach problem, not decode.";
+    else if (peakLoss >= 5)
+      verdict = "PACKET LOSS elevated (peak " + peakLoss.toFixed(1) + "%) -> network path is the prime suspect.";
+    else if (decodedEver && reachedReady)
+      verdict = "Video DID play (frames decoded, readyState>=2). For any mid-stream drops, inspect freeze/loss spikes below.";
+    else
+      verdict = "Inconclusive — a media flow likely never established (no frames received).";
+
+    return [
+      "# ===== AUTO SUMMARY =====",
+      "# verdict: " + verdict,
+      "# framesReceived(max)=" + maxRecv + "  framesDecoded(max)=" + maxFrm + "  keyFrames(max)=" + maxKey,
+      "# reachedReadyState>=2=" + reachedReady + "  everPlayed(ct>0)=" + everPlayed + "  decodedResolution=" + (decRes || "never"),
+      "# peakLoss=" + peakLoss.toFixed(1) + "%  avgBitrate=" + (brN ? (brSum / brN).toFixed(2) : "?") + "Mbps  maxFreezeCount=" + maxFrz,
+      "# starts=" + starts + "  reconnects=" + reconnects + "  videoElementError=" + videoError,
+      "# codec=" + (mimes.join(",") || "?") + "  profile=" + (profiles.join(",") || "?") + "  decoder=" + (decoders.join(",") || "?"),
+      "# ========================",
+      "",
+    ];
+  }
+
+  function koreanHealthSummary() {
+    const stats = entries.filter((e) => e.type === "stat");
+    const latest = stats.length ? stats[stats.length - 1] : null;
+    const codec = entries.filter((e) => e.type === "codec").slice(-1)[0] || {};
+    const path = entries.filter((e) => e.type === "path").slice(-1)[0] || {};
+    let verdict = "아직 판단할 통계가 충분하지 않습니다.";
+    if (latest) {
+      const connected = /connected|completed/i.test(String(latest.conn || "")) || /connected|completed/i.test(String(latest.ice || ""));
+      const recv = Number(latest.recv || 0);
+      const frm = Number(latest.frm || 0);
+      const loss = Number(latest.loss || 0);
+      if (recv > 0 && frm > 0) {
+        verdict = "영상 수신과 디코드가 정상 진행 중입니다.";
+      } else if (recv > 0 && frm <= 0) {
+        verdict = "영상 RTP는 수신되지만 브라우저 디코드/렌더가 진행되지 않습니다.";
+      } else if (connected && recv <= 0) {
+        verdict = "WebRTC 연결은 되었지만 영상 RTP/첫 프레임이 아직 들어오지 않았습니다.";
+      } else if (loss >= 5) {
+        verdict = "패킷 손실이 높아 네트워크 경로 문제가 의심됩니다.";
+      }
+    }
+    return [
+      "# ===== 네트워크 건강 요약 =====",
+      "# 판정: " + verdict,
+      "# 상태: " + (latest ? `${latest.ph}/${latest.cs}` : "?"),
+      "# ICE/연결: " + (latest ? `${latest.conn}/${latest.ice}` : "?"),
+      "# 경로: " + ((path.proto || "?") + " " + (path.local || "?") + " -> " + (path.remote || "?")),
+      "# 해상도/FPS: " + (latest ? `${latest.dw || "?"}x${latest.dh || "?"} / ${latest.fps || "?"}fps` : "?"),
+      "# 프레임: 수신 " + (latest?.recv ?? "?") + " / 디코드 " + (latest?.frm ?? "?") + " / 키프레임 " + (latest?.key ?? "?"),
+      "# 네트워크: RTT " + (latest?.rtt ?? "?") + "ms / 지터 " + (latest?.jit ?? "?") + "ms / 손실 " + (latest?.loss ?? "?") + "% / 비트레이트 " + (latest?.br ?? "?") + "Mbps",
+      "# 코덱: " + (codec.mime || "?") + " / " + (codec.profile || "?"),
+      "# 프리즈: " + (latest?.frz ?? "?") + "회 / " + (latest?.frzMs ?? "?") + "ms",
+      "# ============================",
+      "",
+    ];
+  }
+
+  function fmtLine(e) {
+    const ts = fmtTime(e.t);
+    switch (e.type) {
+      case "phase":
+        return "[" + ts + "] PHASE " + e.ph + " (" + e.cs + ") reason=" + (e.reason || "");
+      case "stat":
+        return "[" + ts + "] STAT " + e.ph + "/" + e.cs + " " + e.conn + "/" + e.ice +
+          " | recv=" + e.recv + "Δ" + e.recvD + " frm=" + e.frm + "Δ" + e.frmD + " key=" + e.key +
+          " drop=" + e.drop + " fps=" + e.fps + " dec=" + e.dw + "x" + e.dh +
+          " | loss=" + e.loss + "% lost=" + e.lost + " jit=" + e.jit + "ms rtt=" + e.rtt + "ms br=" + e.br + "M avail=" + e.avail + "M" +
+          " nack=" + e.nack + " pli=" + e.pli + " fir=" + e.fir +
+          " | ct=" + e.ct + "?" + e.ctD + " rs=" + e.rs + " ns=" + e.ns + " paused=" + e.paused + " dvf=" + e.dvf + "?" + e.dvfD + " cvf=" + e.cvf +
+          " frz=" + e.frz + "/" + e.frzMs + "ms";
+      case "codec":
+        return "[" + ts + "] CODEC mime=" + e.mime + " profile=" + (e.profile || "?") + " decoder=" + (e.decoder || "?") + " fmtp=\"" + (e.fmtp || "") + "\"";
+      case "path":
+        return "[" + ts + "] PATH proto=" + e.proto + " " + e.local + "->" + e.remote + " res=" + (e.res || "?") + " avail=" + e.avail + "M";
+      case "vinfo":
+        return "[" + ts + "] VINFO rs=" + e.rs + " ns=" + e.ns + " paused=" + e.paused + (e.code ? " ERROR " + e.code + ":" + (e.msg || "") : "");
+      case "vevent":
+        return "[" + ts + "] VEVENT " + e.name + " " + e.w + "x" + e.h + " rs=" + e.rs + " ct=" + e.ct + (e.code ? " ERROR " + e.code + ":" + (e.msg || "") : "");
+      case "vis":
+        return "[" + ts + "] VIS " + e.state;
+      case "netchg":
+        return "[" + ts + "] NETCHG type=" + e.netType + " downlink=" + e.downlink + "Mbps rtt=" + e.rtt + "ms";
+      case "perferr":
+        return "[" + ts + "] PERFERR " + e.msg;
+      case "rtctrace":
+        return "[" + ts + "] RTCTRACE " + e.event + " pc=" + (e.pc || "?") +
+          " conn=" + (e.conn || "?") + "/" + (e.ice || "?") +
+          " frm=" + e.framesDecoded + " key=" + e.keyFramesDecoded +
+          " br=" + e.bitrateMbps + "M rtt=" + e.rttMs + "ms" +
+          " rs=" + e.readyState + " track=" + (e.trackState || "?") +
+          (e.stallSamples != null ? " stallSamples=" + e.stallSamples : "") +
+          (e.receivedProgress != null ? " rtpProgress=" + e.receivedProgress : "") +
+          (e.reason ? " reason=" + e.reason : "") +
+          (e.timeoutMs ? " timeoutMs=" + e.timeoutMs : "");
+      case "lifecycle":
+        return "[" + ts + "] LIFECYCLE " + e.event +
+          (e.page ? " page=" + e.page : "") +
+          (e.reason ? " reason=" + e.reason : "") +
+          (e.visionActive != null ? " visionActive=" + e.visionActive : "") +
+          (e.forceFetch != null ? " forceFetch=" + e.forceFetch : "");
+      default:
+        return "[" + ts + "] " + e.type + " " + JSON.stringify(e);
+    }
+  }
+
+  function safeJson(value) {
+    try {
+      return JSON.stringify(value, null, 2);
+    } catch (error) {
+      return JSON.stringify({ error: error?.message || String(error), fallback: String(value) }, null, 2);
+    }
+  }
+
+  function jsonSection(title, value) {
+    return [
+      "",
+      "# ===== " + title + " =====",
+      safeJson(value),
+      "# ===== END " + title + " =====",
+    ].join("\n");
+  }
+
  function dump() {
    const conn = navigator.connection || {};
-    const lines = [
+    const head = [
      "# Carrot Vision diagnostic log",
      "# exported: " + new Date().toISOString(),
      "# ua: " + navigator.userAgent,
@@ -99,20 +412,147 @@
      "# entries: " + entries.length,
      "",
    ];
-    for (const e of entries) {
-      const ts = fmtTime(e.t);
-      if (e.type === "phase") {
-        lines.push("[" + ts + "] PHASE " + e.ph + " (" + e.cs + ") reason=" + (e.reason || ""));
-      } else if (e.type === "stat") {
-        lines.push("[" + ts + "] STAT  ph=" + e.ph + " conn=" + e.conn + " ice=" + e.ice +
-          " loss=" + e.loss + "% jit=" + e.jit + "ms br=" + e.br + "M" +
-          " frm=" + e.frm + " key=" + e.key + " lost=" + e.lost + " ct=" + e.ct + " rs=" + e.rs +
-          (e.err ? " err=" + e.err : ""));
-      } else {
-        lines.push("[" + ts + "] " + e.type + " " + JSON.stringify(e));
+    const body = entries.map(fmtLine);
+    return head.concat(summary(), koreanHealthSummary(), body).join("\n");
+  }
+
+  async function collectBrowserRawSnapshot() {
+    const snapshot = {
+      capturedAtMs: Date.now(),
+      capturedAtIso: new Date().toISOString(),
+      document: {
+        visibilityState: document.visibilityState,
+        hidden: document.hidden,
+        url: window.location.href,
+        referrer: document.referrer || "",
+        fullscreenElement: Boolean(document.fullscreenElement),
+        pictureInPictureElement: Boolean(document.pictureInPictureElement),
+      },
+      navigator: {
+        userAgent: navigator.userAgent,
+        platform: navigator.platform || "",
+        language: navigator.language || "",
+        languages: navigator.languages || [],
+        hardwareConcurrency: navigator.hardwareConcurrency ?? null,
+        deviceMemory: navigator.deviceMemory ?? null,
+        maxTouchPoints: navigator.maxTouchPoints ?? null,
+        cookieEnabled: navigator.cookieEnabled ?? null,
+        onLine: navigator.onLine ?? null,
+        connection: navigator.connection ? {
+          effectiveType: navigator.connection.effectiveType || "",
+          downlink: navigator.connection.downlink ?? null,
+          rtt: navigator.connection.rtt ?? null,
+          saveData: navigator.connection.saveData ?? null,
+        } : null,
+      },
+      screen: {
+        width: window.screen?.width ?? null,
+        height: window.screen?.height ?? null,
+        availWidth: window.screen?.availWidth ?? null,
+        availHeight: window.screen?.availHeight ?? null,
+        orientation: window.screen?.orientation ? {
+          type: window.screen.orientation.type || "",
+          angle: window.screen.orientation.angle ?? null,
+        } : null,
+        innerWidth: window.innerWidth,
+        innerHeight: window.innerHeight,
+        outerWidth: window.outerWidth,
+        outerHeight: window.outerHeight,
+        devicePixelRatio: window.devicePixelRatio,
+      },
+      performance: {
+        timeOrigin: performance.timeOrigin ?? null,
+        now: performance.now ? performance.now() : null,
+        memory: performance.memory ? {
+          jsHeapSizeLimit: performance.memory.jsHeapSizeLimit ?? null,
+          totalJSHeapSize: performance.memory.totalJSHeapSize ?? null,
+          usedJSHeapSize: performance.memory.usedJSHeapSize ?? null,
+        } : null,
+        navigation: performance.getEntriesByType ? performance.getEntriesByType("navigation").map(function (entry) {
+          return {
+            type: entry.type || "",
+            startTime: entry.startTime,
+            domContentLoadedEventEnd: entry.domContentLoadedEventEnd,
+            loadEventEnd: entry.loadEventEnd,
+            transferSize: entry.transferSize,
+            encodedBodySize: entry.encodedBodySize,
+            decodedBodySize: entry.decodedBodySize,
+          };
+        }) : [],
+      },
+      state: {
+        carrotVision: window.CarrotVisionState || null,
+        rtcPerf: window.CarrotRtcPerf || null,
+        visionTest: window.CarrotVisionTestState || null,
+      },
+      rtc: null,
+      rawStatsHistory: null,
+      errors: [],
+    };
+    try {
+      if (typeof window.rtcDiagnosticSnapshot === "function") {
+        snapshot.rtc = await window.rtcDiagnosticSnapshot();
+      } else if (window.CarrotVisionRtc && typeof window.CarrotVisionRtc.diagnosticSnapshot === "function") {
+        snapshot.rtc = await window.CarrotVisionRtc.diagnosticSnapshot();
+      }
+    } catch (error) {
+      snapshot.errors.push({ source: "rtcDiagnosticSnapshot", message: error?.message || String(error) });
+    }
+    try {
+      if (window.CarrotVisionRtc && typeof window.CarrotVisionRtc.rawStatsHistory === "function") {
+        snapshot.rawStatsHistory = window.CarrotVisionRtc.rawStatsHistory();
+      } else if (typeof window.rtcRawStatsHistory === "function") {
+        snapshot.rawStatsHistory = window.rtcRawStatsHistory();
+      }
+    } catch (error) {
+      snapshot.errors.push({ source: "rtcRawStatsHistory", message: error?.message || String(error) });
+    }
+    return snapshot;
+  }
+
+  async function fetchServerSnapshot() {
+    const controller = typeof AbortController === "function" ? new AbortController() : null;
+    const timer = controller ? setTimeout(function () { controller.abort(); }, 8000) : null;
+    try {
+      const response = await fetch("/api/vision_diag/server_snapshot", {
+        cache: "no-store",
+        signal: controller ? controller.signal : undefined,
+      });
+      const body = await response.json().catch(function () { return null; });
+      return {
+        ok: response.ok,
+        status: response.status,
+        body,
+      };
+    } catch (error) {
+      return {
+        ok: false,
+        error: error?.message || String(error),
+      };
+    } finally {
+      if (timer) clearTimeout(timer);
    }
  }
-    return lines.join("\n");
+
+  async function dumpBundle() {
+    persist(true);
+    const browserRaw = await collectBrowserRawSnapshot();
+    const serverSnapshot = await fetchServerSnapshot();
+    return [
+      dump(),
+      jsonSection("BROWSER RAW SNAPSHOT", browserRaw),
+      jsonSection("COMMA SERVER SNAPSHOT", serverSnapshot),
+    ].join("\n");
+  }
+
+  function dumpConsole() {
+    return [
+      "# Carrot Vision browser console",
+      "# exported: " + new Date().toISOString(),
+      "# ua: " + navigator.userAgent,
+      "# entries: " + consoleEntries.length,
+      jsonSection("BROWSER CONSOLE", consoleEntries.slice(-MAX_CONSOLE_ENTRIES)),
+    ].join("\n");
  }

  function copy(text) {
@@ -135,9 +575,9 @@
    } catch (_) {}
  }

-  function download() {
+  async function download() {
    persist(true);
-    const text = dump();
+    const text = await dumpBundle();
    try {
      const blob = new Blob([text], { type: "text/plain" });
      const url = URL.createObjectURL(blob);
@@ -151,30 +591,99 @@
    copy(text);  // also stash on the clipboard so they can paste directly
  }

+  async function uploadDiscord() {
+    persist(true);
+    const text = await dumpBundle();
+    const consoleText = dumpConsole();
+    const filename = "carrot_vision_diag_" + new Date().toISOString().replace(/[:.]/g, "-") + ".txt";
+    const consoleFilename = filename.replace(/\.txt$/, "_console.txt");
+    const response = await fetch("/api/vision_diag/upload_discord", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        source: "web",
+        filename: filename,
+        bundle: text,
+        consoleFilename: consoleFilename,
+        console: consoleText,
+      }),
+    });
+    const body = await response.json().catch(function () { return null; });
+    if (!response.ok || !body || !body.ok) {
+      const detail = body?.discord?.error || body?.error || response.statusText || "upload failed";
+      throw new Error(detail);
+    }
+    return body;
+  }
+
  function clear() {
    entries = [];
    lastPhaseSig = "";
+    prevFrm = null; prevRecv = null; prevCt = null; prevDvf = null; everDecoded = false;
+    lastCodecSig = ""; lastPathSig = ""; lastVinfoSig = ""; lastErr = "";
    try { window.localStorage && window.localStorage.removeItem(STORAGE_KEY); } catch (_) {}
  }

  // --- capture ---
-  // Phase / recovery transitions (recovery sets phase=recovering with a reason).
-  // De-dupe so the many same-phase state updates don't spam the log.
  window.addEventListener("carrot:visionstatechange", function (ev) {
    const st = (ev && ev.detail && ev.detail.state) || window.CarrotVisionState;
    if (!st) return;
+    ensureVideoBound();
    const sig = (st.phase || "") + "|" + (st.reason || "");
    if (sig === lastPhaseSig) return;
    lastPhaseSig = sig;
    record("phase", { ph: st.phase, cs: st.controlState, reason: st.reason || "" });
  });

-  setInterval(snapshotStats, STATS_INTERVAL_MS);
+  window.addEventListener("carrot:rtctrace", function (ev) {
+    const detail = ev && ev.detail;
+    if (!detail || typeof detail !== "object") return;
+    record("rtctrace", detail);
+  });
+
+  window.addEventListener("carrot:visionlifecycle", function (ev) {
+    const detail = ev && ev.detail;
+    if (!detail || typeof detail !== "object") return;
+    record("lifecycle", detail);
+  });
+
+  document.addEventListener("visibilitychange", function () {
+    record("vis", { state: document.visibilityState });
+  });
+
+  window.addEventListener("error", function (event) {
+    recordConsole("window.error", [
+      event?.message || "error",
+      event?.filename || "",
+      event?.lineno || "",
+      event?.colno || "",
+      event?.error?.stack || event?.error || "",
+    ]);
+  });
+
+  window.addEventListener("unhandledrejection", function (event) {
+    recordConsole("unhandledrejection", [
+      event?.reason?.stack || event?.reason?.message || event?.reason || "",
+    ]);
+  });
+
+  const netInfo = navigator.connection;
+  if (netInfo && typeof netInfo.addEventListener === "function") {
+    netInfo.addEventListener("change", function () {
+      record("netchg", {
+        netType: netInfo.effectiveType || "?",
+        downlink: netInfo.downlink != null ? netInfo.downlink : null,
+        rtt: netInfo.rtt != null ? netInfo.rtt : null,
+      });
+    });
+  }
+
+  statsTick();
  window.addEventListener("beforeunload", function () { persist(true); });

  // --- phone-friendly export button on the drive page ---
  function ensureButton() {
-    if (!document.body || document.getElementById("carrotDiagBtn")) return;
+    if (!document.body || document.getElementById("carrotRtcPerfLogBtn") || document.getElementById("carrotDiagBtn")) return;
    const btn = document.createElement("button");
    btn.id = "carrotDiagBtn";
    btn.type = "button";
@@ -224,7 +733,10 @@
  window.CarrotVisionDiag = {
    record: record,
    dump: dump,
+    dumpBundle: dumpBundle,
+    dumpConsole: dumpConsole,
    download: download,
+    uploadDiscord: uploadDiscord,
    copy: copy,
    clear: clear,
    get entries() { return entries; },
--- a/selfdrive/carrot/web/js/realtime/vision_rtc.js
+++ b/selfdrive/carrot/web/js/realtime/vision_rtc.js
@@ -7,6 +7,18 @@ var setCarrotVisionPhase = window.CarrotVisionSetPhase;
 var setCarrotVisionState = window.CarrotVisionSetState;

 const RTC_STATS_POLL_MS = 1000;
+const RTC_RAW_STATS_HISTORY_MAX = 60;
+const RTC_RAW_STATS_KEEP_TYPES = new Set([
+  "candidate-pair",
+  "codec",
+  "inbound-rtp",
+  "local-candidate",
+  "media-source",
+  "remote-candidate",
+  "remote-inbound-rtp",
+  "track",
+  "transport",
+]);
 // Tolerance philosophy: a frame stall while the PC/ICE is still connected and
 // the track has not ended is almost always TRANSIENT (a brief source-side
 // encoder/CPU hiccup on the comma device, or a momentary viewer main-thread
@@ -21,8 +33,9 @@ const RTC_STATS_POLL_MS = 1000;
 // wait for the source to resume; only fall back to a full reconnect as a
 // last resort. Genuine permanent failures (ICE/connection failed|closed,
 // remote track ended) still reconnect immediately via their own handlers.
-const RTC_FREEZE_MAX_STALL_SAMPLES = 20;          // ~20s live-connection stall before last-resort reconnect (was 8s)
-const RTC_INITIAL_FRAME_MAX_STALL_SAMPLES = 12;   // ~12s for first frame before reconnect (was 5s)
+const RTC_FREEZE_MAX_STALL_SAMPLES = 8;           // source/network progress also stopped: wait a little longer
+const RTC_DECODE_STALL_MAX_SAMPLES = 4;           // RTP still arrives but decode/render is stuck: recreate quickly
+const RTC_INITIAL_FRAME_MAX_STALL_SAMPLES = 6;    // ~6s for first frame before reconnect
 const RTC_FREEZE_CURRENT_TIME_EPSILON = 0.05;
 const RTC_FREEZE_RECOVERY_COOLDOWN_MS = 4000;
 const RTC_RESUME_PROGRESS_CHECK_MS = 900;
@@ -33,10 +46,10 @@ const RTC_RESUME_PROGRESS_CHECK_MS = 900;
 // persistent failure.
 const RTC_RETRY_BASE_MS = 350;                    // first retry delay after a failed/closed peer (was 700)
 const RTC_ICE_GATHER_TIMEOUT_MS = 700;            // host-only candidates gather near-instantly; tighter cap (was 1200)
-const RTC_INITIAL_TRACK_TIMEOUT_MS = 4000;        // track should arrive fast; give a loaded device a little more slack (was 2800)
-const RTC_INITIAL_FRAME_TIMEOUT_MS = 12000;       // align with the first-frame stall window above (was 6500)
-const RTC_STREAM_FETCH_TIMEOUT_MS = 6500;
-const RTC_PENDING_STALE_MS = 12000;               // align pending-peer stale with the first-frame window (was 9000)
+const RTC_INITIAL_TRACK_TIMEOUT_MS = 3000;        // track should arrive quickly on host-only WebRTC
+const RTC_INITIAL_FRAME_TIMEOUT_MS = 6000;        // ICE/track connected but no first frame -> recreate /stream session
+const RTC_STREAM_FETCH_TIMEOUT_MS = 5000;
+const RTC_PENDING_STALE_MS = 7000;
 const CARROT_VISION_HEALTH_POLL_MS = 2000;
 const RTC_PERF_STATE = {
  active: false,
@@ -44,6 +57,7 @@ const RTC_PERF_STATE = {
  connectionState: "idle",
  iceConnectionState: "new",
  codec: "",
+  codecParams: "",
  inbound: null,
  video: null,
  network: null,
@@ -60,12 +74,14 @@ const RTC_RATE_STATE = {
 const RTC_FREEZE_STATE = {
  stallSamples: 0,
  lastFramesDecoded: null,
+  lastFramesReceived: null,
  lastTotalVideoFrames: null,
  lastCurrentTime: null,
  lastRecoveredAtMs: 0,
  consecutiveRecoveries: 0,
  everDecodedFrame: false,
 };
+const RTC_RAW_STATS_HISTORY = [];
 let RTC_RECOVERY_T = null;
 let RTC_VIDEO_EVENTS_BOUND = false;
 let RTC_WAIT_TRACK_PC = null;
@@ -109,15 +125,172 @@ function rtcBuildTraceSnapshot(pc = RTC_PC) {
 }

 function rtcTrace(event, extra = {}, pc = RTC_PC) {
-  if (!RTC_TRACE_ENABLED) return;
-  console.log("[RTC TRACE]", {
+  const detail = {
    ts: Date.now(),
    iso: new Date().toISOString(),
    event,
    pc: rtcPcLabel(pc),
    ...rtcBuildTraceSnapshot(pc),
    ...extra,
+  };
+  window.dispatchEvent(new CustomEvent("carrot:rtctrace", { detail }));
+  if (RTC_TRACE_ENABLED) console.log("[RTC TRACE]", detail);
+}
+
+function rtcDescriptionSnapshot(description) {
+  if (!description) return null;
+  return {
+    type: description.type || "",
+    sdp: description.sdp || "",
+    sdpBytes: String(description.sdp || "").length,
+  };
+}
+
+function rtcPlainStatsReport(report) {
+  const snapshot = {};
+  try {
+    Object.entries(report || {}).forEach(([key, value]) => {
+      snapshot[key] = value;
    });
+  } catch {}
+  return snapshot;
+}
+
+function rtcImportantStatsReports(stats) {
+  if (!stats) return [];
+  const reports = [];
+  try {
+    stats.forEach((report) => {
+      if (!report || !RTC_RAW_STATS_KEEP_TYPES.has(report.type)) return;
+      if (report.type === "inbound-rtp" && report.kind && report.kind !== "video") return;
+      if (report.type === "media-source" && report.kind && report.kind !== "video") return;
+      if (report.type === "track" && report.kind && report.kind !== "video") return;
+      reports.push(rtcPlainStatsReport(report));
+    });
+  } catch {}
+  return reports;
+}
+
+function rtcTrackSnapshot(track) {
+  if (!track) return null;
+  let settings = null;
+  let constraints = null;
+  let capabilities = null;
+  try { settings = track.getSettings?.() || null; } catch {}
+  try { constraints = track.getConstraints?.() || null; } catch {}
+  try { capabilities = track.getCapabilities?.() || null; } catch {}
+  return {
+    id: track.id || "",
+    kind: track.kind || "",
+    label: track.label || "",
+    enabled: typeof track.enabled === "boolean" ? track.enabled : null,
+    muted: typeof track.muted === "boolean" ? track.muted : null,
+    readyState: track.readyState || "",
+    contentHint: track.contentHint || "",
+    settings,
+    constraints,
+    capabilities,
+  };
+}
+
+function rtcStatsReportSnapshot(report) {
+  return rtcPlainStatsReport(report);
+}
+
+function rtcMediaSnapshot(video = getRtcVideoElement()) {
+  const stream = video?.srcObject || null;
+  const tracks = typeof stream?.getTracks === "function" ? stream.getTracks().map(rtcTrackSnapshot) : [];
+  return {
+    video: {
+      id: video?.id || "",
+      width: Number(video?.videoWidth || 0),
+      height: Number(video?.videoHeight || 0),
+      readyState: Number(video?.readyState || 0),
+      networkState: Number(video?.networkState || 0),
+      currentTime: Number.isFinite(Number(video?.currentTime)) ? Number(video.currentTime) : null,
+      paused: typeof video?.paused === "boolean" ? video.paused : null,
+      muted: typeof video?.muted === "boolean" ? video.muted : null,
+      srcObjectActive: typeof stream?.active === "boolean" ? stream.active : null,
+      tracks,
+    },
+  };
+}
+
+function rtcPushRawStatsHistory(pc, stats, reason = "poll") {
+  try {
+    const video = getRtcVideoElement();
+    RTC_RAW_STATS_HISTORY.push({
+      capturedAtMs: Date.now(),
+      capturedAtIso: new Date().toISOString(),
+      reason,
+      pcLabel: pc ? rtcPcLabel(pc) : null,
+      pc: pc ? {
+        connectionState: pc.connectionState || "",
+        iceConnectionState: pc.iceConnectionState || "",
+        iceGatheringState: pc.iceGatheringState || "",
+        signalingState: pc.signalingState || "",
+      } : null,
+      trace: rtcBuildTraceSnapshot(pc),
+      media: rtcMediaSnapshot(video),
+      perf: {
+        inbound: RTC_PERF_STATE.inbound,
+        video: RTC_PERF_STATE.video,
+        network: RTC_PERF_STATE.network,
+        codec: RTC_PERF_STATE.codec,
+        codecParams: RTC_PERF_STATE.codecParams,
+      },
+      stats: rtcImportantStatsReports(stats),
+    });
+    if (RTC_RAW_STATS_HISTORY.length > RTC_RAW_STATS_HISTORY_MAX) {
+      RTC_RAW_STATS_HISTORY.splice(0, RTC_RAW_STATS_HISTORY.length - RTC_RAW_STATS_HISTORY_MAX);
+    }
+  } catch {}
+}
+
+async function rtcDiagnosticSnapshot() {
+  const pc = RTC_PC || RTC_PENDING_PC || null;
+  const video = getRtcVideoElement();
+  let stats = [];
+  let statsError = "";
+  if (pc) {
+    try {
+      const report = await pc.getStats(null);
+      stats = Array.from(report.values()).map(rtcStatsReportSnapshot);
+    } catch (error) {
+      statsError = error?.message || String(error);
+    }
+  }
+
+  return {
+    capturedAtMs: Date.now(),
+    capturedAtIso: new Date().toISOString(),
+    active: shouldRunCarrotVisionRealtime(),
+    connecting: _rtcConnecting,
+    failCount: RTC_FAIL_COUNT,
+    retryArmed: Boolean(RTC_RETRY_T),
+    trackTimeoutArmed: Boolean(RTC_WAIT_TRACK_T),
+    firstFrameTimeoutArmed: Boolean(RTC_WAIT_FIRST_FRAME_T),
+    pendingPc: RTC_PENDING_PC ? rtcPcLabel(RTC_PENDING_PC) : null,
+    activePc: RTC_PC ? rtcPcLabel(RTC_PC) : null,
+    trace: rtcBuildTraceSnapshot(pc),
+    freezeState: { ...RTC_FREEZE_STATE },
+    perfState: window.CarrotRtcPerf || null,
+    visionState: window.CarrotVisionState || null,
+    testState: window.CarrotVisionTestState || null,
+    video: rtcMediaSnapshot(video).video,
+    pc: pc ? {
+      label: rtcPcLabel(pc),
+      connectionState: pc.connectionState || "",
+      iceConnectionState: pc.iceConnectionState || "",
+      iceGatheringState: pc.iceGatheringState || "",
+      signalingState: pc.signalingState || "",
+      localDescription: rtcDescriptionSnapshot(pc.localDescription),
+      remoteDescription: rtcDescriptionSnapshot(pc.remoteDescription),
+    } : null,
+    statsError,
+    stats,
+    rawStatsHistory: RTC_RAW_STATS_HISTORY.slice(-RTC_RAW_STATS_HISTORY_MAX),
+  };
 }

 function rtcPcSawTrack(pc) {
@@ -216,6 +389,7 @@ function resetRtcPerfState() {
 function rtcResetFreezeWatchdog() {
  RTC_FREEZE_STATE.stallSamples = 0;
  RTC_FREEZE_STATE.lastFramesDecoded = null;
+  RTC_FREEZE_STATE.lastFramesReceived = null;
  RTC_FREEZE_STATE.lastTotalVideoFrames = null;
  RTC_FREEZE_STATE.lastCurrentTime = null;
  RTC_FREEZE_STATE.everDecodedFrame = false;
@@ -254,7 +428,11 @@ function readRtcVideoPlaybackQuality(video) {
    width: Number(video.videoWidth || 0),
    height: Number(video.videoHeight || 0),
    readyState: Number(video.readyState || 0),
+    networkState: Number(video.networkState || 0),
    currentTime: Number(video.currentTime || 0),
+    paused: Boolean(video.paused),
+    errorCode: video.error ? Number(video.error.code || 0) : 0,
+    errorMessage: video.error ? String(video.error.message || "") : "",
  };
 }

@@ -262,11 +440,14 @@ function extractRtcInboundVideoStats(statsReport, statsMap) {
  if (!statsReport) return { inbound: null, codec: "" };
  const codecReport = statsReport.codecId ? statsMap.get(statsReport.codecId) : null;
  const keyFramesDecoded = "keyFramesDecoded" in statsReport ? Number(statsReport.keyFramesDecoded ?? 0) : null;
+  const framesReceived = "framesReceived" in statsReport ? Number(statsReport.framesReceived ?? 0) : null;
  return {
    codec: codecReport?.mimeType || codecReport?.id || "",
+    codecFmtp: codecReport?.sdpFmtpLine || "",
    inbound: {
      framesDecoded: Number(statsReport.framesDecoded ?? 0),
      keyFramesDecoded: Number.isFinite(Number(keyFramesDecoded)) ? Number(keyFramesDecoded) : null,
+      framesReceived: Number.isFinite(Number(framesReceived)) ? Number(framesReceived) : null,
      framesDropped: Number(statsReport.framesDropped ?? 0),
      framesPerSecond: Number(statsReport.framesPerSecond ?? 0),
      frameWidth: Number(statsReport.frameWidth ?? 0),
@@ -428,11 +609,13 @@ async function collectRtcPerfStats() {
    RTC_PERF_STATE.connectionState = pc.connectionState || "unknown";
    RTC_PERF_STATE.iceConnectionState = pc.iceConnectionState || "unknown";
    RTC_PERF_STATE.codec = inbound.codec;
+    RTC_PERF_STATE.codecParams = inbound.codecFmtp || "";
    RTC_PERF_STATE.inbound = inbound.inbound;
    RTC_PERF_STATE.video = readRtcVideoPlaybackQuality(video);
    RTC_PERF_STATE.network = buildRtcNetworkStats(inbound.inbound, RTC_PERF_STATE.video, stats, collectedAtMs);
    RTC_PERF_STATE.error = "";
    window.CarrotRtcPerf = RTC_PERF_STATE;
+    rtcPushRawStatsHistory(pc, stats, "poll");
    rtcUpdateFreezeWatchdog(pc, video);
    _hudMarkDirty();
    emitCarrotRenderRequest({ force: false, overlayDirty: false, hudDirty: true });
@@ -592,12 +775,25 @@ function rtcConnectionLooksLive(pc = RTC_PC) {
  return pc.connectionState === "connected" || pc.iceConnectionState === "connected" || pc.iceConnectionState === "completed";
 }

+function rtcCanResumeWithoutReconnect() {
+  return Boolean(
+    shouldRunCarrotVisionRealtime() &&
+    RTC_PC &&
+    !RTC_PENDING_PC &&
+    !_rtcConnecting &&
+    rtcConnectionLooksLive(RTC_PC) &&
+    rtcHasLiveTrack() &&
+    (rtcVideoHasRenderableFrame() || RTC_FREEZE_STATE.everDecodedFrame)
+  );
+}
+
 function rtcIsWaitingForInitialTrack(pc = RTC_PC) {
  return Boolean(RTC_WAIT_TRACK_T && RTC_WAIT_TRACK_PC && RTC_WAIT_TRACK_PC === pc);
 }

 function rtcUpdateFreezeSnapshot(snapshot) {
  RTC_FREEZE_STATE.lastFramesDecoded = snapshot.framesDecoded;
+  RTC_FREEZE_STATE.lastFramesReceived = snapshot.framesReceived;
  RTC_FREEZE_STATE.lastTotalVideoFrames = snapshot.totalVideoFrames;
  RTC_FREEZE_STATE.lastCurrentTime = snapshot.currentTime;
 }
@@ -753,6 +949,7 @@ function rtcUpdateFreezeWatchdog(pc, video) {

  const snapshot = {
    framesDecoded: Number.isFinite(Number(RTC_PERF_STATE.inbound?.framesDecoded)) ? Number(RTC_PERF_STATE.inbound.framesDecoded) : null,
+    framesReceived: Number.isFinite(Number(RTC_PERF_STATE.inbound?.framesReceived)) ? Number(RTC_PERF_STATE.inbound.framesReceived) : null,
    totalVideoFrames: Number.isFinite(Number(RTC_PERF_STATE.video?.totalVideoFrames)) ? Number(RTC_PERF_STATE.video.totalVideoFrames) : null,
    currentTime: Number.isFinite(Number(RTC_PERF_STATE.video?.currentTime)) ? Number(RTC_PERF_STATE.video.currentTime) : null,
  };
@@ -777,6 +974,10 @@ function rtcUpdateFreezeWatchdog(pc, video) {
    (snapshot.framesDecoded != null && RTC_FREEZE_STATE.lastFramesDecoded != null && snapshot.framesDecoded > RTC_FREEZE_STATE.lastFramesDecoded) ||
    (snapshot.totalVideoFrames != null && RTC_FREEZE_STATE.lastTotalVideoFrames != null && snapshot.totalVideoFrames > RTC_FREEZE_STATE.lastTotalVideoFrames) ||
    (snapshot.currentTime != null && RTC_FREEZE_STATE.lastCurrentTime != null && snapshot.currentTime > RTC_FREEZE_STATE.lastCurrentTime + RTC_FREEZE_CURRENT_TIME_EPSILON);
+  const receivedProgress =
+    snapshot.framesReceived != null &&
+    RTC_FREEZE_STATE.lastFramesReceived != null &&
+    snapshot.framesReceived > RTC_FREEZE_STATE.lastFramesReceived;

  if (hasProgress) {
    RTC_FREEZE_STATE.stallSamples = 0;
@@ -786,10 +987,26 @@ function rtcUpdateFreezeWatchdog(pc, video) {
    }
  } else {
    RTC_FREEZE_STATE.stallSamples++;
+    rtcTrace("decode_stall_sample", {
+      stallSamples: RTC_FREEZE_STATE.stallSamples,
+      receivedProgress,
+      previous: {
+        framesReceived: RTC_FREEZE_STATE.lastFramesReceived,
+        framesDecoded: RTC_FREEZE_STATE.lastFramesDecoded,
+        totalVideoFrames: RTC_FREEZE_STATE.lastTotalVideoFrames,
+        currentTime: RTC_FREEZE_STATE.lastCurrentTime,
+      },
+      current: snapshot,
+      inbound: RTC_PERF_STATE.inbound,
+      video: RTC_PERF_STATE.video,
+      network: RTC_PERF_STATE.network,
+    }, pc);
  }
  rtcUpdateFreezeSnapshot(snapshot);

-  const stallLimit = RTC_FREEZE_STATE.everDecodedFrame ? RTC_FREEZE_MAX_STALL_SAMPLES : RTC_INITIAL_FRAME_MAX_STALL_SAMPLES;
+  const stallLimit = RTC_FREEZE_STATE.everDecodedFrame
+    ? (receivedProgress ? RTC_DECODE_STALL_MAX_SAMPLES : RTC_FREEZE_MAX_STALL_SAMPLES)
+    : RTC_INITIAL_FRAME_MAX_STALL_SAMPLES;
  if (RTC_FREEZE_STATE.stallSamples >= stallLimit) {
    rtcRecover(
      "stall",
@@ -1059,7 +1276,6 @@ async function rtcConnectOnce(options = {}) {
      videoEl.srcObject = stream;
      RTC_PENDING_PC = null;
      RTC_PC = pc;
-      try { await videoEl.play(); } catch (e) { console.log("[RTC] play() failed", e); }
      rtcStatusSet("track: " + ev.track.kind);
      rtcDisarmTrackTimeout(pc);
      rtcArmFirstFrameTimeout(RTC_INITIAL_FRAME_TIMEOUT_MS, pc);
@@ -1069,6 +1285,7 @@ async function rtcConnectOnce(options = {}) {
      startRtcPerfPolling(true);
      collectRtcPerfStats().catch(() => {});
      requestCarrotVisionRender();
+      videoEl.play().catch((e) => console.log("[RTC] play() failed", e));

      ev.track.addEventListener("unmute", () => {
        videoEl.play().catch(() => {});
@@ -1259,12 +1476,14 @@ function rtcHandleVisibilityChange() {

 window.CarrotVisionRtc = {
  bindVideoEvents: rtcBindVideoEvents,
+  canResumeWithoutReconnect: rtcCanResumeWithoutReconnect,
  cancelRecovery: rtcCancelRecovery,
  cancelResumeCheck: rtcCancelResumeCheck,
  cancelRetry: rtcCancelRetry,
  captureVideoHoldFrame: rtcCaptureVideoHoldFrame,
  collectPerfStats: collectRtcPerfStats,
  connectOnce: rtcConnectOnce,
+  diagnosticSnapshot: rtcDiagnosticSnapshot,
  disconnect: rtcDisconnect,
  disarmTrackTimeout: rtcDisarmTrackTimeout,
  disarmFirstFrameTimeout: rtcDisarmFirstFrameTimeout,
@@ -1273,6 +1492,7 @@ window.CarrotVisionRtc = {
  hasLiveTrack: rtcHasLiveTrack,
  handleVisibilityChange: rtcHandleVisibilityChange,
  reportCameraRenderable: rtcReportCameraRenderable,
+  rawStatsHistory: () => RTC_RAW_STATS_HISTORY.slice(-RTC_RAW_STATS_HISTORY_MAX),
  resetFailCount: rtcResetFailCount,
  scheduleResumeIfConnected: rtcScheduleResumeIfConnected,
  shouldConnect: rtcShouldConnect,
@@ -1288,17 +1508,20 @@ Object.assign(window, {
  getRtcVideoElement,
  requestCarrotVisionRecovery,
  rtcBindVideoEvents,
+  rtcCanResumeWithoutReconnect,
  rtcCancelRecovery,
  rtcCancelResumeCheck,
  rtcCancelRetry,
  rtcCaptureVideoHoldFrame,
  rtcConnectOnce,
+  rtcDiagnosticSnapshot,
  rtcDisconnect,
  rtcDisarmFirstFrameTimeout,
  rtcDisarmTrackTimeout,
  rtcExitPictureInPicture,
  rtcHandleVisibilityChange,
  rtcHasLiveTrack,
+  rtcRawStatsHistory: () => RTC_RAW_STATS_HISTORY.slice(-RTC_RAW_STATS_HISTORY_MAX),
  rtcResetFailCount,
  rtcScheduleResumeIfConnected,
  rtcShouldConnect,
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -145,6 +145,12 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {

 V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
    : VideoEncoder(encoder_info, in_width, in_height) {
+  const bool carrot_livestream_road = strcmp(encoder_info.publish_name, "livestreamRoadEncodeData") == 0;
+  if (carrot_livestream_road) {
+    out_width = 964;
+    out_height = 604;
+  }
+
  fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK));
  assert(fd >= 0);

@@ -245,6 +251,38 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
    }
  }

+  if (carrot_livestream_road) {
+    LOGW("H264 compatibility profile enabled for %s: output=%dx%d bitrate=%d multi-slice-max-bytes=%d",
+         encoder_info.publish_name, out_width, out_height, 600'000, 1200);
+
+    struct v4l2_control compatibility_ctrls[] = {
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = 600'000},
+      { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE},
+      { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC},
+    };
+    for (auto ctrl : compatibility_ctrls) {
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+    }
+
+    struct v4l2_control slice_size = {
+      .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES,
+      .value = 1200,
+    };
+    const bool size_set = util::safe_ioctl(fd, VIDIOC_S_CTRL, &slice_size) == 0;
+    struct v4l2_control slice_mode = {
+      .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE,
+      .value = size_set ? V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES : V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE,
+    };
+    const bool mode_set = size_set && util::safe_ioctl(fd, VIDIOC_S_CTRL, &slice_mode) == 0;
+    if (mode_set) {
+      LOGW("multi-slice enabled for %s: max-bytes=%d", encoder_info.publish_name, 1200);
+    } else {
+      slice_mode.value = V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE;
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &slice_mode);
+      LOGW("multi-slice unavailable for %s; falling back to single-slice H264", encoder_info.publish_name);
+    }
+  }
+
  // allocate buffers
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, BUF_OUT_COUNT);
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, BUF_IN_COUNT);