init

date: 2025-12-18T23:23:16
master commit: 154c2334110373950bac1c36fc6e943cb1208326

.gitignore

@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-bin/
+
+/docs_site/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,13 +39,11 @@ bin/
 *.mo
 *_pyx.cpp
 *.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html
 
-# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -58,34 +56,45 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
-*.rlog
 
 build/
 
 !**/.gitkeep
 
+poetry.toml
+Pipfile
 
 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# agents
-.claude/
-.context/
-PLAN.md
-TASK.md
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
 
 # rick - keep panda_tici standalone
 panda_tici/

BRANCHES.md

@@ -1,91 +0,0 @@
-```mermaid
-flowchart TD
-    B000["devel-staging"] ---> CORE["core"]
-    CORE ---> CORE_001["core-feat/params"]
-    CORE_001 ---> CORE_002["core-feat/panel"]
-    CORE_002 ---> CORE_003["core-feat/safety-ext"]
-    CORE_003 ---> MIN["min"]
-    MIN ---> MIN_001["min-feat/ui/display-mode"]
-    MIN ---> MIN_002["min-feat/dev/model-selector"]
-    MIN ---> MIN_003["min-feat/lat/lca"]
-    MIN ---> MIN_004["min-feat/dev/on-off-road"]
-    MIN ---> MIN_005["min-feat/ui/hide-hud"]
-    MIN ---> MIN_006["min-feat/lon/ext-radar"]
-    MIN ---> MIN_007["min-feat/lat/road-edge-detection"]
-    MIN ---> MIN_008["min-feat/ui/rainbow-path"]
-    MIN ---> MIN_009["min-feat/lon/acm"]
-    MIN ---> MIN_010["min-feat/lon/aem"]
-    MIN ---> MIN_011["min-feat/lon/dtsc"]
-    MIN ---> MIN_012["min-feat/lon/apm"]
-    MIN ---> MIN_013["min-feat/lon/dasr"]
-    MIN ---> MIN_014["min-feat/dev/alert-mode"]
-    MIN ---> MIN_015["min-feat/dev/auto-shutdown"]
-    MIN ---> MIN_016["min-feat/ui/lead-stats"]
-    MIN ---> MIN_017["min-feat/ui/border-indicator"]
-    MIN ---> MIN_018["min-feat/dev/delay-loggerd"]
-    MIN ---> MIN_019["min-feat/dev/disable-connect"]
-    MIN ---> MIN_020["min-feat/dev/tether-on-boot"]
-    MIN ---> MIN_021["min-feat/ui/torque-bar"]
-    MIN ---> MIN_022["min-feat/ui/mici-ui-mode"]
-    MIN ---> MIN_023["min-feat/lat/lat-offset"]
-    MIN_001 ---> FULL["full"]
-    MIN_002 ---> FULL
-    MIN_003 ---> FULL
-    MIN_004 ---> FULL
-    MIN_005 ---> FULL
-    MIN_006 ---> FULL
-    MIN_007 ---> FULL
-    MIN_008 ---> FULL
-    MIN_009 ---> FULL
-    MIN_010 ---> FULL
-    MIN_011 ---> FULL
-    MIN_012 ---> FULL
-    MIN_013 ---> FULL
-    MIN_014 ---> FULL
-    MIN_015 ---> FULL
-    MIN_016 ---> FULL
-    MIN_017 ---> FULL
-    MIN_018 ---> FULL
-    MIN_019 ---> FULL
-    MIN_020 ---> FULL
-    MIN_021 ---> FULL
-    FULL ---> TOYOTA_001[brand/toyota/safety-common]
-    FULL ---> TOYOTA_002[brand/toyota/door-auto-lock-unlock]
-    FULL ---> TOYOTA_003[brand/toyota/tss1-sng]
-    FULL ---> TOYOTA_004[brand/toyota/radar-filter]
-    FULL ---> TOYOTA_005[brand/toyota/sdsu]
-    FULL ---> TOYOTA_006[brand/toyota/dsu-bypass]
-    FULL ---> TOYOTA_007[brand/toyota/zss]
-    FULL ---> TOYOTA_008[brand/toyota/stock-lon]
-    FULL ---> VAG_001[brand/vag/a0-sng]
-    FULL ---> VAG_002[brand/vag/pq-steering-patch]
-    FULL ---> VAG_003[brand/vag/pq-no-dashcam]
-    FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
-    FULL ---> HKG_001[brand/hkg/smdps]
-    FULL ---> HONDA_001[brand/honda/eps-mod]
-    FULL ---> HONDA_002[brand/honda/nidec-stock-long]
-    FULL ---> SUBARU_001[brand/subaru/torque-3071]
-    TOYOTA_001 ---> TOYOTA[pre-toyota]
-    TOYOTA_002 ---> TOYOTA
-    TOYOTA_003 ---> TOYOTA
-    TOYOTA_004 ---> TOYOTA
-    TOYOTA_005 ---> TOYOTA
-    TOYOTA_006 ---> TOYOTA
-    TOYOTA_007 ---> TOYOTA
-    TOYOTA_008 ---> TOYOTA
-    VAG_001 ---> VAG[pre-vag]
-    VAG_002 ---> VAG
-    VAG_003 ---> VAG
-    VAG_004 ---> VAG
-    HKG_001 ---> HKG[pre-hkg]
-    HONDA_001 ---> HONDA[pre-honda]
-    SUBARU_001 ---> SUBARU[pre-subaru]
-    TOYOTA ---> PRE[pre]
-    VAG ---> PRE
-    HKG ---> PRE
-    HONDA ---> PRE
-    SUBARU ---> PRE
-    PRE ---> PRE_PATCH[pre-patch]
-    PRE_PATCH ---> PREBUILD[pre-build]
-    PREBUILD ---> VERSION[x.x.x]
-```

Dockerfile.openpilot

@@ -1,38 +1,14 @@
-FROM ubuntu:24.04
+FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED=1
 
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
+ENV OPENPILOT_PATH=/home/batman/openpilot
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY --chown=$USER . ${OPENPILOT_PATH}/
+COPY . ${OPENPILOT_PATH}/
 
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,81 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -210,23 +210,30 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
+      'loopback': {
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+        ])
+      },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
@@ -244,9 +251,11 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          // TODO: enable once new AGNOS is available
+          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },

RELEASES.md

@@ -1,12 +1,3 @@
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

SConstruct

@@ -4,7 +4,6 @@ import sys
 import sysconfig
 import platform
 import shlex
-import importlib
 import numpy as np
 
 import SCons.Errors
@@ -15,11 +14,11 @@ Decider('MD5-timestamp')
 
 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
 AddOption('--asan', action='store_true', help='turn on ASAN')
 AddOption('--ubsan', action='store_true', help='turn on UBSan')
 AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
           action='store_false',
           dest='extras',
@@ -30,6 +29,7 @@ AddOption('--minimal',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
 assert arch in [
@@ -39,10 +39,6 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-py_include = importlib.import_module('python3_dev').INCLUDE_DIR
-
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
@@ -51,13 +47,15 @@ env = Environment(
     "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
     "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
   },
+  CC='clang',
+  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -76,16 +74,16 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    [x.INCLUDE_DIR for x in pkgs],
+    "#third_party/libyuv/include",
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
     "#third_party",
-    "#selfdrive/pandad_tici" if "TICI_DOS" in os.environ else "#selfdrive/pandad",
+    "#selfdrive/pandad",
     "#rednose/helpers",
+    f"#third_party/libyuv/{arch}/lib",
     f"#third_party/acados/{arch}/lib",
-    [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
@@ -97,8 +95,7 @@ env = Environment(
 
 # Arch-specific flags and paths
 if arch == "larch64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
+  env.Append(CPPPATH=["#third_party/opencl/include"])
   env.Append(LIBPATH=[
     "/usr/local/lib",
     "/system/vendor/lib64",
@@ -109,10 +106,17 @@ if arch == "larch64":
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
   env.Append(LIBPATH=[
+    f"{brew_prefix}/lib",
+    f"{brew_prefix}/opt/openssl@3.0/lib",
+    f"{brew_prefix}/opt/llvm/lib/c++",
     "/System/Library/Frameworks/OpenGL.framework/Libraries",
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CPPPATH=[
+    f"{brew_prefix}/include",
+    f"{brew_prefix}/opt/openssl@3.0/include",
+  ])
 else:
   env.Append(LIBPATH=[
     "/usr/lib",
@@ -135,22 +139,6 @@ if _extra_cc:
 if arch != "Darwin":
   env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
 
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
 # progress output
 node_interval = 5
 node_count = 0
@@ -162,9 +150,10 @@ if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
 # ********** Cython build environment **********
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
@@ -183,12 +172,6 @@ cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
-# dragonpilot settings generation — runs every scons invocation, idempotent.
-# Writes common/params_keys.h in place; we don't declare a target so scons
-# treats it purely as a pre-build side effect.
-if env.Execute('./generate_settings.py') != 0:
-  Exit('generate_settings.py failed')
-
 # ********** start building stuff **********
 
 # Build common module
@@ -220,6 +203,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 
@@ -231,8 +215,10 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-if Dir('#tools/cabana/').exists() and arch != "larch64":
-  SConscript(['tools/cabana/SConscript'])
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 
 env.CompilationDatabase('compile_commands.json')

SPONSORS.md

@@ -1,26 +0,0 @@
-# Sponsors 贊助者
-
-我們誠摯感謝以下贊助者提供的硬體資源，讓專案能夠在多種平台上進行測試與驗證。
-
-We sincerely thank the following sponsors for providing hardware resources, which enable the project to be tested and validated across multiple platforms.
-
----
-
-## 贊助者列表 Sponsors
-
-| 贊助者 Sponsor | 設備 Deices | 備註 Notes |
-| -------------- | ----------- | ---------- |
-| BlueGood | <ul><li>Radar Filter x 2</li><li>sDSU x1</li></ul> | - |
-| Chia Chun Lee | <ul><li>C3 Quick Mount x1</li></ul> | - |
-| CloudJ | <ul><li>C3X x1</li></ul> | - |
-| FareWay | <ul><li>EON Quick Mount x1</li><li>C2/C3 Quick Mount x1</li></ul> | Special thanks for fixing my good old EON |
-| Fred Wang | <ul><li>Oneplus 3t x1</li></ul> | - |
-| Saber Huang | <ul><li>O3L x1</li></ul> | - |
-| [馬威 Mr. One](https://shop61532546.taobao.com/) | <ul><li>O3 x 1</li><li>O3 (Dev) x1</li><li>O3XL x1</li><li>Red Panda x1</li><li>Panda Jungle v1 x1</li></ul> | - |
-| 門文梁 | <ul><li>C1.5 x1</li></ul> | - |
-
----
-
-🙏 沒有你們的支持，我們無法讓專案在這麼多硬體平台上持續成長與驗證。
-
-Without your support, this project could not continue to grow and be validated across so many hardware platforms.

cereal/SConscript

@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 

cereal/custom.capnp

@@ -24,10 +24,36 @@ struct ModelExt @0xf35cc4560bbf6ec2 {
   rightEdgeDetected @1 :Bool;
 }
 
-struct DashyState @0xda96579883444c35 {
-  # Pre-serialized JSON bytes for dashy UI
-  # Aggregates all topics needed by dashy into single message
-  json @0 :Data;
+struct LiveGPS @0xda96579883444c35 {
+  # Position
+  latitude @0 :Float64;                # degrees
+  longitude @1 :Float64;               # degrees
+  altitude @2 :Float64;                # meters (WGS84)
+
+  # Motion
+  speed @3 :Float32;                   # m/s (horizontal speed)
+  bearingDeg @4 :Float32;              # degrees (heading)
+
+  # Accuracy
+  horizontalAccuracy @5 :Float32;      # meters
+  verticalAccuracy @6 :Float32;        # meters
+
+  # Status
+  gpsOK @7 :Bool;                      # livePose valid + GPS fresh
+  status @8 :Status;
+
+  enum Status {
+    noGps @0;
+    initializing @1;
+    calibrating @2;
+    valid @3;
+    recalibrating @4;
+    gpsStale @5;
+  }
+
+  # Metadata
+  unixTimestampMillis @9 :Int64;
+  lastGpsTimestamp @10 :UInt64;        # logMonoTime of last GPS
 }
 
 struct CustomReserved4 @0x80ae746ee2596b11 {

cereal/log.capnp

@@ -87,7 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
-    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -499,8 +498,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  gnssTempC @48 :Float32;
-  bottomSocTempC @50 :Float32;
+  caseTempC @48 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -593,7 +591,6 @@ struct PandaState @0xa7649e2575e4591e {
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
   sbu2Voltage @36 :Float32;
-  soundOutputLevel @37 :UInt16;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -1480,11 +1477,6 @@ struct ProcLog {
 
     cmdline @15 :List(Text);
     exe @16 :Text;
-
-    # from /proc/<pid>/smaps_rollup (proportional/private memory)
-    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
-    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
-    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
   }
 
   struct CPUTimes {
@@ -2636,7 +2628,7 @@ struct Event {
     controlsStateExt @107 :Custom.ControlsStateExt;
     carStateExt @108 :Custom.CarStateExt;
     modelExt @109 :Custom.ModelExt;
-    dashyState @110 :Custom.DashyState;
+    liveGPS @110 :Custom.LiveGPS;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;

cereal/messaging/__init__.py

@@ -1,8 +1,10 @@
 # must be built with scons
-from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
-                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, drain_sock_raw
 import msgq
+
 import os
 import capnp
 import time
@@ -11,7 +13,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

cereal/messaging/bridge.cc

@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<BridgeZmqPoller>();
-  auto pub_context = std::make_unique<Context>();
-  auto sub_context = std::make_unique<BridgeZmqContext>();
-  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new PubSocket();
-    auto sub_sock = new BridgeZmqSubSocket();
-    size_t queue_size = services.at(endpoint).queue_size;
-    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/bridge_zmq.cc

@@ -1,170 +0,0 @@
-#include "cereal/messaging/bridge_zmq.h"
-
-#include <cassert>
-#include <cstring>
-#include <unistd.h>
-
-static size_t fnv1a_hash(const std::string &str) {
-  const size_t fnv_prime = 0x100000001b3;
-  size_t hash_value = 0xcbf29ce484222325;
-  for (char c : str) {
-    hash_value ^= (unsigned char)c;
-    hash_value *= fnv_prime;
-  }
-  return hash_value;
-}
-
-// FIXME: This is a hack to get the port number from the socket name, might have collisions.
-static int get_port(std::string endpoint) {
-  size_t hash_value = fnv1a_hash(endpoint);
-  int start_port = 8023;
-  int max_port = 65535;
-  return start_port + (hash_value % (max_port - start_port));
-}
-
-BridgeZmqContext::BridgeZmqContext() {
-  context = zmq_ctx_new();
-}
-
-BridgeZmqContext::~BridgeZmqContext() {
-  if (context != nullptr) {
-    zmq_ctx_term(context);
-  }
-}
-
-void BridgeZmqMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void BridgeZmqMessage::init(char *d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void BridgeZmqMessage::close() {
-  if (size > 0) {
-    delete[] data;
-  }
-  data = nullptr;
-  size = 0;
-}
-
-BridgeZmqMessage::~BridgeZmqMessage() {
-  close();
-}
-
-int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate) {
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-void BridgeZmqSubSocket::setTimeout(int timeout) {
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-Message *BridgeZmqSubSocket::receive(bool non_blocking) {
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-
-  Message *ret = nullptr;
-  if (rc >= 0) {
-    ret = new BridgeZmqMessage;
-    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-BridgeZmqSubSocket::~BridgeZmqSubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
-  pid = getpid();
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int BridgeZmqPubSocket::sendMessage(Message *message) {
-  assert(pid == getpid());
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int BridgeZmqPubSocket::send(char *data, size_t size) {
-  assert(pid == getpid());
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-BridgeZmqPubSocket::~BridgeZmqPubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
-  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
-  std::vector<BridgeZmqSubSocket *> ret;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0) {
-    return ret;
-  }
-
-  for (size_t i = 0; i < num_polls; i++) {
-    if (polls[i].revents) {
-      ret.push_back(sockets[i]);
-    }
-  }
-
-  return ret;
-}

cereal/messaging/bridge_zmq.h

@@ -1,72 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <string>
-#include <vector>
-
-#include <zmq.h>
-
-#include "msgq/ipc.h"
-
-class BridgeZmqContext {
-public:
-  BridgeZmqContext();
-  void *getRawContext() { return context; }
-  ~BridgeZmqContext();
-
-private:
-  void *context = nullptr;
-};
-
-class BridgeZmqMessage : public Message {
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void close();
-  size_t getSize() { return size; }
-  char *getData() { return data; }
-  ~BridgeZmqMessage();
-
-private:
-  char *data = nullptr;
-  size_t size = 0;
-};
-
-class BridgeZmqSubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
-  void setTimeout(int timeout);
-  Message *receive(bool non_blocking = false);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqSubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-};
-
-class BridgeZmqPubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqPubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-  int pid = -1;
-};
-
-class BridgeZmqPoller {
-public:
-  void registerSocket(BridgeZmqSubSocket *socket);
-  std::vector<BridgeZmqSubSocket *> poll(int timeout);
-
-private:
-  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
-  std::vector<BridgeZmqSubSocket *> sockets;
-  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
-  size_t num_polls = 0;
-};

cereal/messaging/msgq_to_zmq.cc

@@ -2,7 +2,6 @@
 
 #include <cassert>
 
-#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<BridgeZmqContext>();
-  msgq_context = std::make_unique<Context>();
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            size_t queue_size = services.at(pair.endpoint).queue_size;
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();

cereal/messaging/msgq_to_zmq.h

@@ -7,8 +7,9 @@
 #include <string>
 #include <vector>
 
+#define private public
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "msgq/impl_zmq.h"
 
 class MsgqToZmq {
 public:
@@ -21,16 +22,16 @@ protected:
 
   struct SocketPair {
     std::string endpoint;
-    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
     std::unique_ptr<MSGQSubSocket> sub_sock;
     int connected_clients = 0;
   };
 
-  std::unique_ptr<Context> msgq_context;
-  std::unique_ptr<BridgeZmqContext> zmq_context;
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
   std::mutex mutex;
   std::condition_variable cv;
   std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
   std::vector<SocketPair> socket_pairs;
 };

cereal/messaging/tests/test_messaging.py

@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 import pytest
 
 from cereal import log, car

cereal/messaging/tests/test_services.py

@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST

cereal/services.py

@@ -105,7 +105,7 @@ _services: dict[str, tuple] = {
   "controlsStateExt": (True, 100.),
   "carStateExt": (True, 100.),
   "modelExt": (True, 20.),
-  "dashyState": (True, 0.),    # Aggregated dashy UI state (optional)
+  "liveGPS": (True, 20.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

common/.gitignore

@@ -0,0 +1 @@
+*.cpp

common/SConscript

@@ -5,6 +5,7 @@ common_libs = [
   'swaglog.cc',
   'util.cc',
   'ratekeeper.cc',
+  'clutil.cc',
 ]
 
 _common = env.Library('common', common_libs, LIBS="json11")
@@ -18,6 +19,11 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-common_python = [params_python]
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
 
 Export('common_python')

common/clutil.cc

@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  LOGE("No valid openCL platform found");
+  assert(0);
+  return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}

common/clutil.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/file_chunker.py

@@ -1,37 +0,0 @@
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)

common/filter_simple.py

@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-3:
+    if abs(self.velocity.x) < 1e-5:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str | None = None) -> str:
+def get_short_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str | None = None) -> str:
+def get_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str | None = None) -> str:
+def get_origin(cwd: str = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str | None = None) -> str:
+def get_normalized_origin(cwd: str = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/i2c.py

@@ -1,81 +0,0 @@
-import os
-import fcntl
-import ctypes
-
-# I2C constants from /usr/include/linux/i2c-dev.h
-I2C_SLAVE = 0x0703
-I2C_SLAVE_FORCE = 0x0706
-I2C_SMBUS = 0x0720
-
-# SMBus transfer types
-I2C_SMBUS_READ = 1
-I2C_SMBUS_WRITE = 0
-I2C_SMBUS_BYTE_DATA = 2
-I2C_SMBUS_I2C_BLOCK_DATA = 8
-
-I2C_SMBUS_BLOCK_MAX = 32
-
-
-class _I2cSmbusData(ctypes.Union):
-  _fields_ = [
-    ("byte", ctypes.c_uint8),
-    ("word", ctypes.c_uint16),
-    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
-  ]
-
-
-class _I2cSmbusIoctlData(ctypes.Structure):
-  _fields_ = [
-    ("read_write", ctypes.c_uint8),
-    ("command", ctypes.c_uint8),
-    ("size", ctypes.c_uint32),
-    ("data", ctypes.POINTER(_I2cSmbusData)),
-  ]
-
-
-class SMBus:
-  def __init__(self, bus: int):
-    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
-
-  def __enter__(self) -> 'SMBus':
-    return self
-
-  def __exit__(self, *args) -> None:
-    self.close()
-
-  def close(self) -> None:
-    if hasattr(self, '_fd') and self._fd >= 0:
-      os.close(self._fd)
-      self._fd = -1
-
-  def _set_address(self, addr: int, force: bool = False) -> None:
-    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
-    fcntl.ioctl(self._fd, ioctl_arg, addr)
-
-  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
-    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
-    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
-
-  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
-    return int(data.byte)
-
-  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    data.byte = value & 0xFF
-    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
-
-  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
-    self._set_address(addr, force)
-    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
-      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
-
-    data = _I2cSmbusData()
-    data.block[0] = length
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
-    read_len = int(data.block[0]) or length
-    read_len = min(read_len, length)
-    return [int(b) for b in data.block[1 : read_len + 1]]

common/mat.h

@@ -0,0 +1,85 @@
+#pragma once
+
+typedef struct vec3 {
+  float v[3];
+} vec3;
+
+typedef struct vec4 {
+  float v[4];
+} vec4;
+
+typedef struct mat3 {
+  float v[3*3];
+} mat3;
+
+typedef struct mat4 {
+  float v[4*4];
+} mat4;
+
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
+  mat3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      float v = 0.0;
+      for (int k=0; k<3; k++) {
+        v += a.v[r*3+k] * b.v[k*3+c];
+      }
+      ret.v[r*3+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
+  vec3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      ret.v[r] += a.v[r*3+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
+  mat4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      float v = 0.0;
+      for (int k=0; k<4; k++) {
+        v += a.v[r*4+k] * b.v[k*4+c];
+      }
+      ret.v[r*4+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
+  vec4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      ret.v[r] += a.v[r*4+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+// scales the input and output space of a transformation matrix
+// that assumes pixel-center origin.
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
+  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
+
+  mat3 transform_out = {{
+    1.0f/s, 0.0f, 0.5f,
+    0.0f, 1.0f/s, 0.5f,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  mat3 transform_in = {{
+    s,  0.0f, -0.5f*s,
+    0.0f, s, -0.5f*s,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  return matmul3(transform_in, matmul3(in, transform_out));
+}

common/parameterized.py

@@ -1,47 +0,0 @@
-import sys
-import pytest
-import inspect
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator

common/params_keys.h

@@ -131,35 +131,35 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
     {"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
-    {"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
-    {"dp_honda_nidec_stock_long", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
-    {"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
-    {"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
-    {"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
+    {"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
+    {"dp_dev_model_selected", {PERSISTENT, STRING}},
+    {"dp_dev_model_list", {PERSISTENT, STRING}},
+    {"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
+    {"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
+    {"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
+    {"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
+    {"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_dtsc", {PERSISTENT, BOOL, "0"}},
     {"dp_dev_audible_alert_mode", {PERSISTENT, INT, "0"}},
     {"dp_dev_auto_shutdown_in", {PERSISTENT, INT, "-5"}},
+    {"dp_ui_lead", {PERSISTENT, INT, "0"}},
     {"dp_dev_dashy", {PERSISTENT, BOOL, "0"}},
     {"dp_dev_delay_loggerd", {PERSISTENT, INT, "0"}},
     {"dp_dev_disable_connect", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_model_selected", {PERSISTENT, STRING}},
-    {"dp_dev_model_list", {PERSISTENT, JSON}},
-    {"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
-    {"dp_dev_opview", {PERSISTENT, BOOL, "0"}},
     {"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
-    {"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_mici", {PERSISTENT, BOOL, "0"}},
     {"dp_lat_offset_cm", {PERSISTENT, INT, "0"}},
-    {"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
-    {"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
-    {"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_apm", {PERSISTENT, BOOL, "0"}},
-    {"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
-    {"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
-    {"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
-    {"dp_ui_lead", {PERSISTENT, INT, "0"}},
-    {"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
+    {"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
+    {"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
+    {"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
 };

common/pid.py

@@ -3,9 +3,15 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+    self._k_p = k_p
+    self._k_i = k_i
+    self._k_d = k_d
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+    if isinstance(self._k_d, Number):
+      self._k_d = [[0], [self._k_d]]
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,11 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-#ifdef __APPLE__
-    msgq_path = "/tmp/msgq_" + prefix;
-#else
-    msgq_path = "/dev/shm/msgq_" + prefix;
-#endif
+    msgq_path = Path::shm_path() + "/" + prefix;
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -27,14 +23,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
     }
-    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
-    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
     unsetenv("OPENPILOT_PREFIX");
   }
 

common/prefix.py

@@ -1,5 +1,4 @@
 import os
-import platform
 import shutil
 import uuid
 
@@ -10,10 +9,9 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
-    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/ratekeeper.cc

@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
-    : name(name_),
-      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
+RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
+    : name(name),
+      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
   interval = 1 / rate;
   last_monitor_time = seconds_since_boot();
   next_frame_time = last_monitor_time + interval;

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/tests/test_util.cc

@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
     REQUIRE(util::read_file(filename).empty());
 
     std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
+    write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
     bool equal = (ret == content);
     REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }
 
 TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
+  system("rm /tmp/test_create_directories -rf");
   std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
 
-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
     struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
   };
 
   SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
   }
   SECTION("a file exists with the same name") {
     REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
     REQUIRE(f != -1);
     close(f);
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);

common/transformations/.gitignore

@@ -0,0 +1,2 @@
+transformations
+transformations.cpp

common/transformations/SConscript

@@ -0,0 +1,5 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')

common/transformations/coordinates.cc

@@ -0,0 +1,100 @@
+#define _USE_MATH_DEFINES
+
+#include "common/transformations/coordinates.hpp"
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
+double e1sq = 6.73949674228 * 0.001;
+
+
+static Geodetic to_degrees(Geodetic geodetic){
+  geodetic.lat = RAD2DEG(geodetic.lat);
+  geodetic.lon = RAD2DEG(geodetic.lon);
+  return geodetic;
+}
+
+static Geodetic to_radians(Geodetic geodetic){
+  geodetic.lat = DEG2RAD(geodetic.lat);
+  geodetic.lon = DEG2RAD(geodetic.lon);
+  return geodetic;
+}
+
+
+ECEF geodetic2ecef(const Geodetic &geodetic) {
+  auto g = to_radians(geodetic);
+  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
+  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
+  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
+  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
+  return {x, y, z};
+}
+
+Geodetic ecef2geodetic(const ECEF &e) {
+  // Convert from ECEF to geodetic using Ferrari's methods
+  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  double x = e.x;
+  double y = e.y;
+  double z = e.z;
+
+  double r = sqrt(x * x + y * y);
+  double Esq = a * a - b * b;
+  double F = 54 * b * b * z * z;
+  double G = r * r + (1 - esq) * z * z - esq * Esq;
+  double C = (esq * esq * F * r * r) / (pow(G, 3));
+  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
+  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
+  double Q = sqrt(1 + 2 * esq * esq * P);
+  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
+  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
+  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
+  double Z_0 = b * b * z / (a * V);
+  double h = U * (1 - b * b / (a * V));
+
+  double lat = atan((z + e1sq * Z_0) / r);
+  double lon = atan2(y, x);
+
+  return to_degrees({lat, lon, h});
+}
+
+LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
+  init_ecef <<  e.x, e.y, e.z;
+
+  auto g = to_radians(geodetic);
+
+  ned2ecef_matrix <<
+    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
+    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
+    cos(g.lat), 0, -sin(g.lat);
+  ecef2ned_matrix = ned2ecef_matrix.transpose();
+}
+
+NED LocalCoord::ecef2ned(const ECEF &e) {
+  Eigen::Vector3d ecef;
+  ecef << e.x, e.y, e.z;
+
+  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
+  return {ned[0], ned[1], ned[2]};
+}
+
+ECEF LocalCoord::ned2ecef(const NED &n) {
+  Eigen::Vector3d ned;
+  ned << n.n, n.e, n.d;
+
+  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
+  return {ecef[0], ecef[1], ecef[2]};
+}
+
+NED LocalCoord::geodetic2ned(const Geodetic &g) {
+  ECEF e = ::geodetic2ecef(g);
+  return ecef2ned(e);
+}
+
+Geodetic LocalCoord::ned2geodetic(const NED &n) {
+  ECEF e = ned2ecef(n);
+  return ::ecef2geodetic(e);
+}

common/transformations/coordinates.hpp

@@ -0,0 +1,43 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+struct ECEF {
+  double x, y, z;
+  Eigen::Vector3d to_vector() const {
+    return Eigen::Vector3d(x, y, z);
+  }
+};
+
+struct NED {
+  double n, e, d;
+  Eigen::Vector3d to_vector() const {
+    return Eigen::Vector3d(n, e, d);
+  }
+};
+
+struct Geodetic {
+  double lat, lon, alt;
+  bool radians=false;
+};
+
+ECEF geodetic2ecef(const Geodetic &g);
+Geodetic ecef2geodetic(const ECEF &e);
+
+class LocalCoord {
+public:
+  Eigen::Matrix3d ned2ecef_matrix;
+  Eigen::Matrix3d ecef2ned_matrix;
+  Eigen::Vector3d init_ecef;
+  LocalCoord(const Geodetic &g, const ECEF &e);
+  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(const ECEF &e);
+  ECEF ned2ecef(const NED &n);
+  NED geodetic2ned(const Geodetic &g);
+  Geodetic ned2geodetic(const NED &n);
+};

common/transformations/orientation.cc

@@ -0,0 +1,144 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"
+
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
+  if (quat.w() > 0){
+    return quat;
+  } else {
+    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
+  }
+}
+
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
+  Eigen::Quaterniond q;
+
+  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
+    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
+    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
+  return ensure_unique(q);
+}
+
+
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
+  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
+  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
+  // return {euler(2), euler(1), euler(0)};
+  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
+  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
+  return {gamma, theta, psi};
+}
+
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
+  return quat.toRotationMatrix();
+}
+
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
+  return ensure_unique(Eigen::Quaterniond(rot));
+}
+
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
+  return quat2rot(euler2quat(euler));
+}
+
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
+  return quat2euler(rot2quat(rot));
+}
+
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
+  return euler2rot({roll, pitch, yaw});
+}
+
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
+  Eigen::Quaterniond q;
+  q = Eigen::AngleAxisd(angle, axis);
+  return q.toRotationMatrix();
+}
+
+
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+  Eigen::Vector3d zero = ecef_init.to_vector();
+
+  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
+
+
+  x0 = Eigen::Vector3d(1, 0, 0);
+  y0 = Eigen::Vector3d(0, 1, 0);
+  z0 = Eigen::Vector3d(0, 0, 1);
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+
+  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
+  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
+  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
+
+  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
+
+  Eigen::Vector3d zero = ecef_init.to_vector();
+  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+

common/transformations/orientation.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <eigen3/Eigen/Dense>
+#include "common/transformations/coordinates.hpp"
+
+
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
+
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);

common/transformations/tests/test_coordinates.py

@@ -102,36 +102,3 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-
-  def test_errors(self):
-    # Test wrong shape/type for geodetic2ecef
-    # numpy_wrap raises IndexError for scalar input
-    with np.testing.assert_raises(IndexError):
-      coord.geodetic2ecef(1.0)
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0])
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0, 0, 0])
-
-    with np.testing.assert_raises(TypeError):
-      coord.geodetic2ecef(['a', 'b', 'c'])
-
-    # Test LocalCoord constructor errors
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic([0, 0])
-
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic(1)
-
-    with np.testing.assert_raises(TypeError):
-      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
-
-    # Test wrong shape/type for ecef2geodetic
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2])
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2, 3, 4])
-    with np.testing.assert_raises(IndexError):
-      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,5 +1,4 @@
 import numpy as np
-import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -60,32 +59,3 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-  def test_inputs(self):
-    with pytest.raises(ValueError):
-      euler2quat([1, 2])
-
-    with pytest.raises(ValueError):
-      quat2rot([1, 2, 3])
-
-    with pytest.raises(IndexError):
-      rot2quat(np.zeros((2, 2)))
-
-  def test_euler_rot_consistency(self):
-    rpy = [0.1, 0.2, 0.3]
-    R = euler2rot(rpy)
-
-    # R -> q -> R
-    q = rot2quat(R)
-    R_new = quat2rot(q)
-    np.testing.assert_allclose(R, R_new, atol=1e-15)
-
-    # q -> R -> Euler (quat2euler) -> R
-    rpy_new = quat2euler(q)
-    R_new2 = euler2rot(rpy_new)
-    np.testing.assert_allclose(R, R_new2, atol=1e-15)
-
-    # R -> Euler (rot2euler) -> R
-    rpy_from_rot = rot2euler(R)
-    R_new3 = euler2rot(rpy_from_rot)
-    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -0,0 +1,72 @@
+# cython: language_level=3
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(const Vector3 &)
+  Vector3 quat2euler(const Quaternion &)
+  Matrix3 quat2rot(const Quaternion &)
+  Quaternion rot2quat(const Matrix3 &)
+  Vector3 rot2euler(const Matrix3 &)
+  Matrix3 euler2rot(const Vector3 &)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(const Geodetic &)
+  Geodetic ecef2geodetic(const ECEF &)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(const Geodetic &, const ECEF &)
+    LocalCoord_c(const Geodetic &)
+    LocalCoord_c(const ECEF &)
+
+    NED ecef2ned(const ECEF &)
+    ECEF ned2ecef(const NED &)
+    NED geodetic2ned(const Geodetic &)
+    Geodetic ned2geodetic(const NED &)
+
+cdef extern from "coordinates.hpp":
+  pass

common/transformations/transformations.py

@@ -1,342 +0,0 @@
-import numpy as np
-
-
-# Constants
-a = 6378137.0
-b = 6356752.3142
-esq = 6.69437999014e-3
-e1sq = 6.73949674228e-3
-
-
-def geodetic2ecef_single(g):
-  """
-  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
-  """
-  try:
-    if len(g) != 3:
-      raise ValueError("Geodetic must be size 3")
-  except TypeError:
-    raise ValueError("Geodetic must be a sequence of length 3") from None
-
-  lat, lon, alt = g
-  lat = np.radians(lat)
-  lon = np.radians(lon)
-  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
-  return np.array([x, y, z])
-
-
-def ecef2geodetic_single(e):
-  """
-  Convert ECEF to geodetic coordinates using Ferrari's solution.
-  """
-  x, y, z = e
-  r = np.sqrt(x**2 + y**2)
-  Esq = a**2 - b**2
-  F = 54 * b**2 * z**2
-  G = r**2 + (1 - esq) * z**2 - esq * Esq
-  C = (esq**2 * F * r**2) / (G**3)
-  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
-  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
-  Q = np.sqrt(1 + 2 * esq**2 * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
-  U = np.sqrt((r - esq * r_0)**2 + z**2)
-  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
-  Z_0 = b**2 * z / (a * V)
-  h = U * (1 - b**2 / (a * V))
-  lat = np.arctan((z + e1sq * Z_0) / r)
-  lon = np.arctan2(y, x)
-  return np.array([np.degrees(lat), np.degrees(lon), h])
-
-
-def euler2quat_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a quaternion.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
-  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
-  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
-
-  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
-  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
-  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
-  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def quat2euler_single(q):
-  """
-  Convert a quaternion to Euler angles (roll, pitch, yaw).
-  """
-  w, x, y, z = q
-  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
-  sin_arg = 2 * (w * y - z * x)
-  sin_arg = np.clip(sin_arg, -1.0, 1.0)
-  theta = np.arcsin(sin_arg)
-  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
-  return np.array([gamma, theta, psi])
-
-
-def quat2rot_single(q):
-  """
-  Convert a quaternion to a 3x3 rotation matrix.
-  """
-  w, x, y, z = q
-  xx, yy, zz = x * x, y * y, z * z
-  xy, xz, yz = x * y, x * z, y * z
-  wx, wy, wz = w * x, w * y, w * z
-
-  mat = np.array([
-    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
-    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
-    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
-  ])
-  return mat
-
-
-def rot2quat_single(rot):
-  """
-  Convert a 3x3 rotation matrix to a quaternion.
-  """
-  trace = np.trace(rot)
-  if trace > 0:
-    s = 0.5 / np.sqrt(trace + 1.0)
-    w = 0.25 / s
-    x = (rot[2, 1] - rot[1, 2]) * s
-    y = (rot[0, 2] - rot[2, 0]) * s
-    z = (rot[1, 0] - rot[0, 1]) * s
-  else:
-    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
-      w = (rot[2, 1] - rot[1, 2]) / s
-      x = 0.25 * s
-      y = (rot[0, 1] + rot[1, 0]) / s
-      z = (rot[0, 2] + rot[2, 0]) / s
-    elif rot[1, 1] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
-      w = (rot[0, 2] - rot[2, 0]) / s
-      x = (rot[0, 1] + rot[1, 0]) / s
-      y = 0.25 * s
-      z = (rot[1, 2] + rot[2, 1]) / s
-    else:
-      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
-      w = (rot[1, 0] - rot[0, 1]) / s
-      x = (rot[0, 2] + rot[2, 0]) / s
-      y = (rot[1, 2] + rot[2, 1]) / s
-      z = 0.25 * s
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def euler2rot_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  cx, sx = np.cos(phi), np.sin(phi)
-  cy, sy = np.cos(theta), np.sin(theta)
-  cz, sz = np.cos(psi), np.sin(psi)
-
-  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
-  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
-  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
-
-  return Rz @ Ry @ Rx
-
-
-def rot2euler_single(rot):
-  """
-  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
-  """
-  return quat2euler_single(rot2quat_single(rot))
-
-
-def rot_matrix(roll, pitch, yaw):
-  """
-  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
-  """
-  return euler2rot_single([roll, pitch, yaw])
-
-
-def axis_angle_to_rot(axis, angle):
-  """
-  Convert an axis-angle representation to a 3x3 rotation matrix.
-  """
-  c = np.cos(angle / 2)
-  s = np.sin(angle / 2)
-  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
-  return quat2rot_single(q)
-
-
-class LocalCoord:
-  """
-  A class to handle conversions between ECEF and local NED coordinates.
-  """
-  def __init__(self, geodetic=None, ecef=None):
-    """
-    Initialize LocalCoord with either geodetic or ECEF coordinates.
-    """
-    if geodetic is not None:
-      self.init_ecef = geodetic2ecef_single(geodetic)
-      lat, lon, _ = geodetic
-    elif ecef is not None:
-      self.init_ecef = np.array(ecef)
-      lat, lon, _ = ecef2geodetic_single(ecef)
-    else:
-      raise ValueError("Must provide geodetic or ecef")
-
-    lat = np.radians(lat)
-    lon = np.radians(lon)
-
-    self.ned2ecef_matrix = np.array([
-      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
-      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
-      [np.cos(lat), 0, -np.sin(lat)]
-    ])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, geodetic):
-    """
-    Create a LocalCoord instance from geodetic coordinates.
-    """
-    return cls(geodetic=geodetic)
-
-  @classmethod
-  def from_ecef(cls, ecef):
-    """
-    Create a LocalCoord instance from ECEF coordinates.
-    """
-    return cls(ecef=ecef)
-
-  def ecef2ned_single(self, ecef):
-    """
-    Convert a single ECEF point to NED coordinates relative to the origin.
-    """
-    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
-
-  def ned2ecef_single(self, ned):
-    """
-    Convert a single NED point to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix @ ned + self.init_ecef
-
-  def geodetic2ned_single(self, geodetic):
-    """
-    Convert a single geodetic point to NED coordinates.
-    """
-    ecef = geodetic2ecef_single(geodetic)
-    return self.ecef2ned_single(ecef)
-
-  def ned2geodetic_single(self, ned):
-    """
-    Convert a single NED point to geodetic coordinates.
-    """
-    ecef = self.ned2ecef_single(ned)
-    return ecef2geodetic_single(ecef)
-
-  @property
-  def ned_from_ecef_matrix(self):
-    """
-    Returns the rotation matrix from ECEF to NED coordinates.
-    """
-    return self.ecef2ned_matrix
-
-  @property
-  def ecef_from_ned_matrix(self):
-    """
-    Returns the rotation matrix from NED to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix
-
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-  """
-  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent ECEF Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-  zero = np.array(ecef_init)
-
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  phi, theta, psi = ned_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])
-
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-  """
-  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent NED Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  phi, theta, psi = ecef_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  zero = np.array(ecef_init)
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -0,0 +1,173 @@
+# distutils: language = c++
+# cython: language_level = 3
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
+
+
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q)
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc

common/util.cc

@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }
 
 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& path) -> bool {
+  auto verify_dir = [](const std::string& dir) -> bool {
     struct stat st = {};
-    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
   };
   // remove trailing /'s
   while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
-  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
 
   if (!pipe) {
     return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
 
 bool system_time_valid() {
   // Default to August 26, 2024
-  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
+  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
   time_t min_date = mktime(&min_tm);
 
   struct stat st;

common/util.h

@@ -96,13 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
-inline void check_system(const std::string& cmd) {
-  int ret = std::system(cmd.c_str());
-  if (ret != 0) {
-    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
-  }
-}
-
 bool system_time_valid();
 
 inline void sleep_for(const int milliseconds) {

common/util.py

@@ -0,0 +1,46 @@
+import os
+import subprocess
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count

common/utils.py

@@ -7,82 +7,14 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
+from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
-class Timer:
-  """Simple lap timer for profiling sequential operations."""
-
-  def __init__(self):
-    self._start = self._lap = time.monotonic()
-    self._sections = {}
-
-  def lap(self, name):
-    now = time.monotonic()
-    self._sections[name] = now - self._lap
-    self._lap = now
-
-  @property
-  def total(self):
-    return time.monotonic() - self._start
-
-  def fmt(self, duration):
-    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
-    total = self.total
-    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
-    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
-
 
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
-
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -167,92 +99,6 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
       proc.kill()
 
 
-def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
-  rows = [list(row) for row in tabular_data]
-
-  def fmt(val):
-    if isinstance(val, str):
-      return val
-    if isinstance(val, (bool, int)):
-      return str(val)
-    try:
-      return format(val, floatfmt)
-    except (TypeError, ValueError):
-      return str(val)
-
-  formatted = [[fmt(c) for c in row] for row in rows]
-  hdrs = [str(h) for h in headers] if headers else None
-
-  ncols = max((len(r) for r in formatted), default=0)
-  if hdrs:
-    ncols = max(ncols, len(hdrs))
-  if ncols == 0:
-    return ""
-
-  for r in formatted:
-    r.extend([""] * (ncols - len(r)))
-  if hdrs:
-    hdrs.extend([""] * (ncols - len(hdrs)))
-
-  widths = [0] * ncols
-  if hdrs:
-    for i in range(ncols):
-      widths[i] = len(hdrs[i])
-  for row in formatted:
-    for i in range(ncols):
-      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
-
-  def _align(s, w):
-    if stralign == "center":
-      return s.center(w)
-    return s.ljust(w)
-
-  if tablefmt == "html":
-    parts = ["<table>"]
-    if hdrs:
-      parts.append("<thead>")
-      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
-      parts.append("</thead>")
-    parts.append("<tbody>")
-    for row in formatted:
-      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
-    parts.append("</tbody>")
-    parts.append("</table>")
-    return "\n".join(parts)
-
-  if tablefmt == "simple_grid":
-    def _sep(left, mid, right):
-      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
-
-    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
-
-    def _fmt_row(cells):
-      split = [c.split('\n') for c in cells]
-      nlines = max(len(s) for s in split)
-      for s in split:
-        s.extend([""] * (nlines - len(s)))
-      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
-
-    lines = [top]
-    if hdrs:
-      lines.extend(_fmt_row(hdrs))
-      lines.append(mid_sep)
-    for ri, row in enumerate(formatted):
-      lines.extend(_fmt_row(row))
-      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
-    return "\n".join(lines)
-
-  # simple
-  gap = "  "
-  lines = []
-  if hdrs:
-    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
-    lines.append(gap.join("-" * w for w in widths))
-  for row in formatted:
-    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
-  return "\n".join(lines)
-
-
 def retry(attempts=3, delay=1.0, ignore_failure=False):
   def decorator(func):
     @functools.wraps(func)
@@ -261,11 +107,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          print(f"{func.__name__} failed, trying again")
+          cloudlog.exception(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        print(f"{func.__name__} failed after retry")
+        cloudlog.error(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.0"
+#define COMMA_VERSION "0.10.3"

conftest.py

@@ -10,6 +10,7 @@ from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]

docs/CARS.md

@@ -4,23 +4,22 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 329 Supported Cars
+# 325 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,33 +31,33 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
 |Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -92,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -103,7 +102,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
@@ -165,7 +163,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -204,7 +201,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
@@ -220,19 +216,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -243,19 +239,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -301,42 +297,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />

docs/CONTRIBUTING.md

@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There are a lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/README.md

@@ -8,7 +8,7 @@ NOTE: Those commands must be run in the root directory of openpilot, **not /docs
 
 **1. Install the docs dependencies**
 ``` bash
-uv pip install .[docs]
+pip install .[docs]
 ```
 
 **2. Build the new site**

docs/car-porting/what-is-a-car-port.md

@@ -21,10 +21,10 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable
 
-## safety
+## panda
 
-* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
-* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
+* `board/safety/safety_[brand].h`: Brand-specific safety logic
+* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 

dragonpilot/dashy/LICENSE.md

@@ -0,0 +1,15 @@
+Copyright (c) 2025, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense, 
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in 
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to 
+  generate revenue) is prohibited without explicit written permission from 
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

dragonpilot/dashy/README.md

@@ -1,41 +1,46 @@
-"""
-Copyright (c) 2026, Rick Lan
+# Dashy Release Branch
+
+This is the production-ready release branch of Dashy - Dragonpilot's All-in-one System Hub for You.
+
+## 🚀 Quick Installation
+
+```bash
+git clone -b release https://github.com/efinilan/dashy
+cd dashy
+python3 backend/server.py
+```
+
+## 📁 What's Included
+
+- `backend/` - Python server with all dependencies included
+- `web/` - Pre-built web interface (minified and optimized)
+
+## 🌐 Access
+
+After starting the server, open Chrome browser and navigate to:
+```
+http://<device-ip>:5088
+```
+
+## 🔧 Requirements
+
+- Network connection
+- Port 5088 available
+
+## 📄 License
+
+Copyright (c) 2025, Rick Lan
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, and/or sublicense,
+to use, copy, modify, merge, publish, distribute, and/or sublicense, 
 for non-commercial purposes only, subject to the following conditions:
 
-- The above copyright notice and this permission notice shall be included in
+- The above copyright notice and this permission notice shall be included in 
   all copies or substantial portions of the Software.
-- Commercial use (e.g. use in a product, service, or activity intended to
-  generate revenue) is prohibited without explicit written permission from
+- Commercial use (e.g. use in a product, service, or activity intended to 
+  generate revenue) is prohibited without explicit written permission from 
   the copyright holder.
 
 THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-"""
-
-from cereal import log
-
-# Hysteresis thresholds (km/h -> m/s)
-APM_ACTIVATE_SPEED = 60 * 1000 / 3600    # 60 km/h — switch to aggressive below this
-APM_DEACTIVATE_SPEED = 70 * 1000 / 3600  # 70 km/h — restore user personality above this
-
-
-class APM:
-
-  def __init__(self):
-    self._active = False
-
-  def get_personality(self, v_ego, personality):
-    if self._active:
-      if v_ego > APM_DEACTIVATE_SPEED:
-        self._active = False
-    else:
-      if v_ego < APM_ACTIVATE_SPEED:
-        self._active = True
-
-    if self._active:
-      return log.LongitudinalPersonality.aggressive
-    return personality

dragonpilot/dashy/backend/.gitignore

@@ -0,0 +1 @@
+__pycache__

dragonpilot/dashy/backend/server.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 """
-Copyright (c) 2026, Rick Lan
+Copyright (c) 2025, Rick Lan
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -15,26 +15,11 @@ for non-commercial purposes only, subject to the following conditions:
   generate revenue) is prohibited without explicit written permission from
   the copyright holder.
 
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
-INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
-PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
-SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Dashy HTTP Server
-
-Provides REST API and static file serving for the dashy web UI.
-- Settings management (read/write params)
-- File browser for drive logs
-- Static file serving for web UI
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 """
 
 import argparse
-import ast
-import asyncio
 import json
-import operator
 import os
 import logging
 import time
@@ -42,39 +27,22 @@ from datetime import datetime
 from functools import wraps
 from urllib.parse import quote
 
-from aiohttp import web
-
-from cereal import messaging
+from aiohttp import web, ClientSession, ClientTimeout
 
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, HARDWARE
 from openpilot.system.ui.lib.multilang import multilang as base_multilang
 from dragonpilot.settings import SETTINGS
 
-try:
-    from openpilot.system.version import get_build_metadata as _get_build_metadata
-except Exception:
-    _get_build_metadata = None
-
 # --- Configuration ---
 DEFAULT_DIR = os.path.realpath(os.path.join(os.path.dirname(__file__), '..') if PC else '/data/media/0/realdata')
-WEB_DIST_PATH = os.path.join(os.path.dirname(__file__), "web", "dist")
+WEB_DIST_PATH = os.path.join(os.path.dirname(__file__), "..", "web", "dist")
+WEBRTC_TIMEOUT = ClientTimeout(total=10)
 CAR_PARAMS_CACHE_TTL = 30  # seconds
 
 logger = logging.getLogger("dashy")
 
 
-class MockParams:
-    """In-memory params mock for dev mode."""
-    _store = {}
-    def get(self, key, default=None): return self._store.get(key, default)
-    def get_bool(self, key, default=False): return bool(self._store.get(key)) if key in self._store else default
-    def put(self, key, value): self._store[key] = value
-    def put_bool(self, key, value): self._store[key] = value
-    def remove(self, key): self._store.pop(key, None)
-    def check_key(self, key): return True
-
-
 # --- Caching Layer ---
 class AppCache:
     """Centralized cache for expensive operations."""
@@ -85,18 +53,12 @@ class AppCache:
         self._car_params_time = 0
         self._context = None
         self._context_time = 0
-        self._settings_cache = None
-        self._settings_cache_time = 0
 
     @property
-    def params(self):
-        """Get shared Params instance (or mock if unavailable)."""
+    def params(self) -> Params:
+        """Get shared Params instance."""
         if self._params is None:
-            try:
-                self._params = Params()
-            except Exception as e:
-                logger.warning(f"Params unavailable, using mock: {e}")
-                self._params = MockParams()
+            self._params = Params()
         return self._params
 
     def get_car_params(self):
@@ -130,10 +92,7 @@ class AppCache:
                 'brand': car_params['brand'],
                 'openpilotLongitudinalControl': car_params['openpilot_longitudinal_control'],
                 'LITE': os.getenv("LITE") is not None,
-                'MICI': self._check_mici(),
-                # Upstream-mirror items gate on these.
-                'DASHY': True,
-                'IS_RELEASE': self._is_release_channel(),
+                'MICI': self._check_mici()
             }
             self._context_time = now
         return self._context
@@ -145,14 +104,6 @@ class AppCache:
         except Exception:
             return False
 
-    def _is_release_channel(self):
-        if _get_build_metadata is None:
-            return False
-        try:
-            return bool(_get_build_metadata().release_channel)
-        except Exception:
-            return False
-
     def get_bool_safe(self, key, default=False):
         """Safely get a boolean param with default."""
         try:
@@ -164,7 +115,6 @@ class AppCache:
         """Invalidate all caches."""
         self._car_params = None
         self._context = None
-        self._settings_cache = None
 
 
 # --- Helper Functions ---
@@ -191,54 +141,12 @@ def get_safe_path(requested_path):
     return None
 
 
-_CMP_OPS = {
-    ast.Eq: operator.eq,
-    ast.NotEq: operator.ne,
-    ast.Lt: operator.lt,
-    ast.LtE: operator.le,
-    ast.Gt: operator.gt,
-    ast.GtE: operator.ge,
-}
-
-
-def _eval_node(node, context):
-    """Evaluate a tightly restricted AST node against a context dict.
-
-    Only the operators that SETTINGS conditions actually use are supported:
-    Name lookup, literal Constants, and / or / not, and the six numeric
-    comparisons. No function calls, attribute access, subscripts, or
-    arithmetic — those would re-open the eval-sandbox escape paths.
-    """
-    if isinstance(node, ast.Expression):
-        return _eval_node(node.body, context)
-    if isinstance(node, ast.Constant):
-        return node.value
-    if isinstance(node, ast.Name):
-        return context.get(node.id, False)
-    if isinstance(node, ast.UnaryOp) and isinstance(node.op, ast.Not):
-        return not _eval_node(node.operand, context)
-    if isinstance(node, ast.BoolOp):
-        values = [_eval_node(v, context) for v in node.values]
-        if isinstance(node.op, ast.And):
-            return all(values)
-        if isinstance(node.op, ast.Or):
-            return any(values)
-    if isinstance(node, ast.Compare) and len(node.ops) == 1 and len(node.comparators) == 1:
-        op_type = type(node.ops[0])
-        if op_type in _CMP_OPS:
-            left = _eval_node(node.left, context)
-            right = _eval_node(node.comparators[0], context)
-            return _CMP_OPS[op_type](left, right)
-    raise ValueError(f"Unsupported node: {type(node).__name__}")
-
-
 def eval_condition(condition, context):
-    """Evaluate a SETTINGS condition expression in a sandboxed AST walker."""
+    """Safely evaluate a condition string."""
     if not condition:
         return True
     try:
-        tree = ast.parse(condition, mode='eval')
-        return bool(_eval_node(tree, context))
+        return eval(condition, {"__builtins__": {}}, context)
     except Exception as e:
         logger.debug(f"Condition evaluation failed: {condition}, error: {e}")
         return False
@@ -249,49 +157,19 @@ def resolve_value(value):
     return value() if callable(value) else value
 
 
-# Map of settings-declared param keys to their setting dict.
-# Used as an allowlist for /api/settings/params/{name} read/write so
-# LAN clients can only touch keys that the UI knowingly exposes.
-def _build_param_setting_map():
-    out = {}
-    for section in SETTINGS:
-        for setting in section.get('settings', []):
-            key = setting.get('key')
-            if not key:
-                continue
-            # action_item entries use `key` as the action name, not a real
-            # param — skip so they don't leak into the param read/write
-            # allowlist.
-            if setting.get('type') == 'action_item':
-                continue
-            out[key] = setting
-    return out
-
-
-_PARAM_SETTINGS = _build_param_setting_map()
-
-# Control-tab / one-off params the UI legitimately reads or writes that
-# are not part of the SETTINGS schema. Kept as an explicit allowlist so
-# the broader 'unknown param' guard still blocks arbitrary writes.
-_CONTROL_PARAMS = {
-    'dp_dev_go_off_road',   # Controls tab: force-offroad toggle
-    'DoReboot',             # Controls tab: reboot button
-    'ExperimentalMode',     # Tesla HUD: tap set-speed circle to toggle
-}
-
-
-def _param_allowed(key):
-    return key in _PARAM_SETTINGS or key in _CONTROL_PARAMS
-
-
 # --- API Endpoints ---
 @api_handler
 async def init_api(request):
     """Provide initial data to the client."""
     cache: AppCache = request.app['cache']
+    car_params = cache.get_car_params()
+
     return web.json_response({
+        'is_metric': cache.get_bool_safe("IsMetric"),
         'dp_dev_dashy': cache.get_bool_safe("dp_dev_dashy", True),
-        'isOffroad': cache.get_bool_safe("IsOffroad", False),
+        'openpilot_longitudinal_control': car_params['openpilot_longitudinal_control'],
+        'ublox_available': cache.get_bool_safe("UbloxAvailable", True),
+        'dp_lat_alka': cache.get_bool_safe("dp_lat_alka", False),
     })
 
 
@@ -307,12 +185,6 @@ async def list_files_api(request):
     items = []
     for entry in os.listdir(safe_path):
         full_path = os.path.join(safe_path, entry)
-        # Skip entries whose real target escapes DEFAULT_DIR (e.g., symlinks).
-        # get_safe_path only validates the requested directory itself; each
-        # child has to be re-checked to prevent listing files outside the tree.
-        real_full = os.path.realpath(full_path)
-        if os.path.commonpath((real_full, DEFAULT_DIR)) != DEFAULT_DIR:
-            continue
         try:
             stat = os.stat(full_path)
             is_dir = os.path.isdir(full_path)
@@ -342,8 +214,6 @@ async def serve_player_api(request):
     file_path = request.query.get('file')
     if not file_path:
         return web.Response(text="File parameter is required.", status=400)
-    if get_safe_path(file_path) is None:
-        return web.Response(text="Invalid file path.", status=400)
 
     player_html_path = os.path.join(WEB_DIST_PATH, 'pages', 'player.html')
     try:
@@ -352,7 +222,7 @@ async def serve_player_api(request):
     except FileNotFoundError:
         return web.Response(text="Player HTML not found.", status=500)
 
-    html = html_template.replace('{{FILE_PATH}}', quote(file_path, safe=''))
+    html = html_template.replace('{{FILE_PATH}}', quote(file_path))
     return web.Response(text=html, content_type='text/html')
 
 
@@ -362,8 +232,6 @@ async def serve_manifest_api(request):
     file_path = request.query.get('file', '').lstrip('/')
     if not file_path:
         return web.Response(text="File parameter is required.", status=400)
-    if get_safe_path(file_path) is None:
-        return web.Response(text="Invalid file path.", status=400)
 
     encoded_path = quote(file_path)
     manifest = f"#EXTM3U\n#EXT-X-VERSION:3\n#EXT-X-TARGETDURATION:60\n#EXT-X-PLAYLIST-TYPE:VOD\n#EXTINF:60.0,\n/media/{encoded_path}\n#EXT-X-ENDLIST\n"
@@ -374,12 +242,6 @@ async def serve_manifest_api(request):
 async def get_settings_config_api(request):
     """Get the settings configuration from settings.py."""
     cache: AppCache = request.app['cache']
-
-    # Return cached settings if fresh (2 second TTL)
-    now = time.time()
-    if cache._settings_cache is not None and (now - cache._settings_cache_time) < 2:
-        return web.json_response(cache._settings_cache)
-
     params = cache.params
 
     # Update language if changed
@@ -423,10 +285,7 @@ async def get_settings_config_api(request):
             section_copy['settings'] = settings_list
             settings_with_values.append(section_copy)
 
-    response_data = {'settings': settings_with_values}
-    cache._settings_cache = response_data
-    cache._settings_cache_time = now
-    return web.json_response(response_data)
+    return web.json_response({'settings': settings_with_values})
 
 
 def _get_setting_value(params, setting):
@@ -441,15 +300,6 @@ def _get_setting_value(params, setting):
         elif setting_type == 'double_spin_button_item':
             value = params.get(key)
             return float(value) if value is not None else float(default)
-        elif setting_type in ('text_input_item', 'text_display_item'):
-            value = params.get(key)
-            if value is None:
-                return ''
-            return value.decode('utf-8', errors='replace') if isinstance(value, bytes) else str(value)
-        elif setting_type == 'action_item':
-            # Pure action buttons have no stored value; return None so the
-            # UI treats it as display-only.
-            return None
         else:  # spin_button_item, text_spin_button_item
             value = params.get(key)
             return int(value) if value is not None else int(default)
@@ -459,10 +309,6 @@ def _get_setting_value(params, setting):
             return False
         elif setting_type == 'double_spin_button_item':
             return float(default)
-        elif setting_type in ('text_input_item', 'text_display_item'):
-            return ''
-        elif setting_type == 'action_item':
-            return None
         return int(default)
 
 
@@ -476,12 +322,6 @@ async def save_param_api(request):
     param_name = request.match_info.get('param_name')
     if not param_name:
         return web.json_response({'error': 'param_name is required'}, status=400)
-    if not _param_allowed(param_name):
-        return web.json_response({'error': 'Unknown param'}, status=403)
-
-    setting = _PARAM_SETTINGS.get(param_name)
-    if setting is not None and setting.get('type') == 'text_display_item':
-        return web.json_response({'error': 'Read-only param'}, status=403)
 
     cache: AppCache = request.app['cache']
     params = cache.params
@@ -491,7 +331,6 @@ async def save_param_api(request):
         return web.json_response({'error': 'value is required in body'}, status=400)
 
     _save_param(params, param_name, data['value'])
-    cache.invalidate()
     logger.info(f"Param saved: {param_name}={data['value']}")
 
     return web.json_response({'status': 'success', 'key': param_name, 'value': data['value']})
@@ -520,17 +359,16 @@ def _save_param(params, key, value):
 
 
 def _get_param_value(params, key):
-    """Get a single param value via its declared setting type, or as a
-    bool for control-only params that have no SETTINGS entry."""
-    setting = _PARAM_SETTINGS.get(key)
-    if setting is not None:
-        return _get_setting_value(params, setting)
-    if key in _CONTROL_PARAMS:
-        try:
-            return params.get_bool(key)
-        except Exception:
-            return False
-    return None
+    """Get a single param value with proper type handling."""
+    try:
+        return params.get_bool(key)
+    except Exception:
+        raw_value = params.get(key)
+        if raw_value is None:
+            return None
+        elif isinstance(raw_value, bytes):
+            return raw_value.decode('utf-8')
+        return raw_value
 
 
 @api_handler
@@ -539,130 +377,26 @@ async def get_param_api(request):
     param_name = request.match_info.get('param_name')
     if not param_name:
         return web.json_response({'error': 'param_name is required'}, status=400)
-    if not _param_allowed(param_name):
-        return web.json_response({'error': 'Unknown param'}, status=403)
 
     cache: AppCache = request.app['cache']
-    try:
-        value = _get_param_value(cache.params, param_name)
-    except Exception:
-        value = None
+    params = cache.params
+    value = _get_param_value(params, param_name)
 
     return web.json_response({'key': param_name, 'value': value})
 
 
-# --- Action endpoints ---
-# Named side-effectful operations declared by settings items via the
-# `action` field (text_input_item / action_item). Each handler receives
-# the parsed JSON body and the AppCache; it returns a dict that is
-# serialized as the JSON response. Errors should be raised — the wrapper
-# converts them to 502/500 responses.
-SSH_KEY_FETCH_TIMEOUT_S = 10
-SSH_KEY_MAX_BYTES = 16 * 1024  # plenty for any realistic ~/.ssh/authorized_keys
-GITHUB_USERNAME_MAX_LEN = 39   # github's own limit
-
-
-def _validate_github_username(username):
-    """GitHub username: 1-39 chars, alnum or single hyphen, no leading/trailing hyphen."""
-    if not username or len(username) > GITHUB_USERNAME_MAX_LEN:
-        return False
-    if username.startswith('-') or username.endswith('-'):
-        return False
-    if '--' in username:
-        return False
-    return all(c.isalnum() or c == '-' for c in username)
-
-
-async def _fetch_github_ssh_keys(username):
-    """Fetch https://github.com/{username}.keys. Returns the body text on
-    HTTP 200; raises web.HTTPException with an upstream-derived status on
-    failure so the action endpoint surfaces the real reason."""
-    import aiohttp
-    url = f"https://github.com/{quote(username, safe='')}.keys"
-    timeout = aiohttp.ClientTimeout(total=SSH_KEY_FETCH_TIMEOUT_S)
-    async with aiohttp.ClientSession(timeout=timeout) as session:
-        async with session.get(url) as resp:
-            if resp.status == 404:
-                raise web.HTTPNotFound(reason=f"GitHub user '{username}' not found")
-            if resp.status != 200:
-                raise web.HTTPBadGateway(reason=f"github.com returned HTTP {resp.status}")
-            body = await resp.content.read(SSH_KEY_MAX_BYTES + 1)
-            if len(body) > SSH_KEY_MAX_BYTES:
-                raise web.HTTPBadGateway(reason="SSH key response too large")
-            return body.decode('utf-8', errors='replace')
-
-
-async def _action_ssh_key_set(request, payload, cache):
-    """Fetch the user's GitHub SSH keys and write both params atomically.
-    Body: { "value": "<github-username>" }. On success the device's
-    sshd_config drop-in is updated by openpilot's own SSH manager."""
-    username = (payload.get('value') or '').strip()
-    if not _validate_github_username(username):
-        raise web.HTTPBadRequest(reason="Invalid GitHub username")
-
-    keys_body = await _fetch_github_ssh_keys(username)
-    if not keys_body.strip():
-        raise web.HTTPBadRequest(reason=f"GitHub user '{username}' has no public SSH keys")
-
-    params = cache.params
-    # Write keys first; only commit the username if keys were stored
-    # successfully — keeps the two params consistent.
-    params.put('GithubSshKeys', keys_body)
-    params.put('GithubUsername', username)
-    cache.invalidate()
-    logger.info(f"SSH keys set from github.com/{username} ({len(keys_body)} bytes)")
-    return {'status': 'ok', 'username': username, 'key_bytes': len(keys_body)}
-
-
-async def _action_ssh_key_clear(request, payload, cache):
-    params = cache.params
-    params.put('GithubSshKeys', '')
-    params.put('GithubUsername', '')
-    cache.invalidate()
-    logger.info("SSH keys cleared")
-    return {'status': 'ok'}
-
-
-_ACTION_HANDLERS = {
-    'ssh_key_set': _action_ssh_key_set,
-    'ssh_key_clear': _action_ssh_key_clear,
-}
-
-
-@api_handler
-async def run_action_api(request):
-    """Dispatch /api/action/{name} → registered handler."""
-    name = request.match_info.get('name', '')
-    handler = _ACTION_HANDLERS.get(name)
-    if handler is None:
-        return web.json_response({'error': f'Unknown action: {name}'}, status=404)
-
-    try:
-        payload = await request.json()
-    except Exception:
-        payload = {}
-
-    cache: AppCache = request.app['cache']
-    result = await handler(request, payload, cache)
-    return web.json_response(result)
-
-
 @api_handler
 async def get_model_list_api(request):
     """Get the model list and current selection."""
     cache: AppCache = request.app['cache']
     params = cache.params
 
-    # Get model list. JSON-typed params come back already-parsed in
-    # newer dragonpilot; older builds returned bytes/str — handle both.
+    # Get model list
     model_list = {}
     try:
-        raw = params.get("dp_dev_model_list")
-        if raw:
-            if isinstance(raw, (bytes, str)):
-                model_list = json.loads(raw)
-            elif isinstance(raw, dict):
-                model_list = raw
+        model_list_raw = params.get("dp_dev_model_list")
+        if model_list_raw:
+            model_list = json.loads(model_list_raw)
     except Exception as e:
         logger.debug(f"Could not parse dp_dev_model_list: {e}")
 
@@ -700,82 +434,35 @@ async def save_model_selection_api(request):
     return web.json_response({'status': 'success'})
 
 
-# --- WebSocket endpoint for data streaming ---
-# One shared publisher task polls the dashyState SubMaster and fans out
-# to every connected client. The previous per-connection design ran
-# blocking ZMQ I/O on the event loop, which starved every other request
-# under multi-client load.
-async def _publisher_loop(app):
-    # IMPORTANT: ZMQ sockets are thread-affined. Construct the SubMaster on
-    # the asyncio main thread and call update() on the same thread — using
-    # asyncio.to_thread bounces between worker threads and silently breaks
-    # the receive. The 0-timeout update is cheap enough on the event loop;
-    # the per-client send is what we actually need to be async for.
-    try:
-        sm = messaging.SubMaster(['dashyState'])
-    except Exception as e:
-        logger.warning(f"Publisher disabled (SubMaster init failed): {e}")
-        return
+@api_handler
+async def webrtc_stream_proxy(request):
+    """Proxy WebRTC stream requests to webrtcd."""
+    host = request.host.split(':')[0]
+    body = await request.read()
+    session: ClientSession = request.app['http_session']
 
-    logger.info("dashyState publisher loop started")
-
-    while True:
-        try:
-            sm.update(0)
-            if sm.updated['dashyState']:
-                json_data = sm['dashyState'].json
-                if isinstance(json_data, bytes):
-                    json_data = json_data.decode('utf-8')
-
-                clients = list(app['ws_clients'])
-                for ws in clients:
-                    if ws.closed:
-                        app['ws_clients'].discard(ws)
-                        continue
-                    try:
-                        await ws.send_str(json_data)
-                    except Exception as e:
-                        logger.debug(f"WebSocket send failed, dropping client: {e}")
-                        app['ws_clients'].discard(ws)
-
-            await asyncio.sleep(0.01)
-        except asyncio.CancelledError:
-            raise
-        except Exception as e:
-            # Don't let a transient error tear down the loop silently.
-            logger.exception(f"Publisher loop error: {e}")
-            await asyncio.sleep(0.1)
+    async with session.post(
+        f'http://{host}:5001/stream',
+        data=body,
+        headers={'Content-Type': 'application/json'}
+    ) as resp:
+        response_body = await resp.read()
+        return web.Response(
+            body=response_body,
+            status=resp.status,
+            content_type=resp.content_type
+        )
 
 
-async def websocket_handler(request):
-    """WebSocket endpoint for data-only connections - streams dashyState directly."""
-    ws = web.WebSocketResponse()
-    await ws.prepare(request)
-
-    logger.info("WebSocket client connected")
-    request.app['ws_clients'].add(ws)
-
-    try:
-        # Wait until the client disconnects; no inbound traffic expected.
-        async for _ in ws:
-            pass
-    except Exception as e:
-        logger.warning(f"WebSocket error: {e}")
-    finally:
-        request.app['ws_clients'].discard(ws)
-        logger.info("WebSocket client disconnected")
-
-    return ws
-
-
-# --- No-cache middleware for web assets ---
-# Dashy is a same-origin LAN app; no CORS headers are emitted so that
-# browsers will block cross-origin JS from mutating settings via the
-# JSON endpoints (the preflight will fail for non-simple requests).
+# --- CORS Middleware ---
 @web.middleware
-async def no_cache_middleware(request, handler):
+async def cors_middleware(request, handler):
     response = await handler(request)
+    response.headers['Access-Control-Allow-Origin'] = '*'
+    response.headers['Access-Control-Allow-Methods'] = 'GET, POST, PUT, DELETE, OPTIONS'
+    response.headers['Access-Control-Allow-Headers'] = 'Content-Type, Authorization'
 
+    # Disable caching for web assets
     path = request.path.lower()
     if path.endswith(('.html', '.js', '.css')) or path == '/':
         response.headers['Cache-Control'] = 'no-cache, no-store, must-revalidate'
@@ -785,24 +472,26 @@ async def no_cache_middleware(request, handler):
     return response
 
 
+async def handle_cors_preflight(request):
+    return web.Response(status=200, headers={
+        'Access-Control-Allow-Origin': '*',
+        'Access-Control-Allow-Methods': 'GET, POST, PUT, DELETE, OPTIONS',
+        'Access-Control-Allow-Headers': 'Content-Type, Authorization',
+        'Access-Control-Max-Age': '86400',
+    })
+
+
 # --- Application Setup ---
 async def on_startup(app):
     """Initialize app-level resources."""
     app['cache'] = AppCache()
-    app['ws_clients'] = set()
-    app['publisher_task'] = asyncio.create_task(_publisher_loop(app))
+    app['http_session'] = ClientSession(timeout=WEBRTC_TIMEOUT)
     logger.info("Dashy server started")
 
 
 async def on_cleanup(app):
     """Cleanup app-level resources."""
-    task = app.get('publisher_task')
-    if task and not task.done():
-        task.cancel()
-        try:
-            await task
-        except (asyncio.CancelledError, Exception):
-            pass
+    await app['http_session'].close()
     logger.info("Dashy server stopped")
 
 
@@ -812,7 +501,8 @@ def setup_aiohttp_app(host: str, port: int, debug: bool):
         format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
     )
 
-    app = web.Application(middlewares=[no_cache_middleware])
+    app = web.Application(middlewares=[cors_middleware])
+    app['port'] = port
 
     # API routes
     app.router.add_get("/api/init", init_api)
@@ -824,8 +514,8 @@ def setup_aiohttp_app(host: str, port: int, debug: bool):
     app.router.add_post("/api/settings/params/{param_name}", save_param_api)
     app.router.add_get("/api/models", get_model_list_api)
     app.router.add_post("/api/models/select", save_model_selection_api)
-    app.router.add_post("/api/action/{name}", run_action_api)
-    app.router.add_get("/api/ws", websocket_handler)  # WebSocket for data streaming
+    app.router.add_post("/api/stream", webrtc_stream_proxy)
+    app.router.add_route('OPTIONS', '/{tail:.*}', handle_cors_preflight)
 
     # Static files
     app.router.add_static('/media', path=DEFAULT_DIR, name='media', show_index=False, follow_symlinks=False)

dragonpilot/dashy/dashyd.py

@@ -1,545 +0,0 @@
-#!/usr/bin/env python3
-"""
-Copyright (c) 2026, Rick Lan
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, and/or sublicense,
-for non-commercial purposes only, subject to the following conditions:
-
-- The above copyright notice and this permission notice shall be included in
-  all copies or substantial portions of the Software.
-- Commercial use (e.g. use in a product, service, or activity intended to
-  generate revenue) is prohibited without explicit written permission from
-  the copyright holder.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
-INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
-PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
-SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Dashy State Aggregation Daemon
-
-Aggregates all cereal topics needed by dashy UI into a single dashyState message.
-serverd then forwards that one message over WebSocket, avoiding per-topic
-serialization for every connected client.
-
-All display formatting (units, distances, times) is done here so the frontend
-can be a pure display layer with no conversion logic.
-
-Publishes: dashyState (pre-serialized JSON at 15Hz)
-"""
-import json
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.swaglog import cloudlog
-from opendbc.car.common.conversions import Conversions
-
-# Main loop rate
-LOOP_RATE = 15  # Hz
-
-# Downsample factor for modelV2 arrays (33 points -> 17 points)
-DOWNSAMPLE_FACTOR = 2
-
-# Unit conversion constants
-M_TO_FT = 3.28084
-
-# Global state (refreshed periodically)
-_is_metric = True
-_params = None
-_car_params_cache = None
-
-
-def _ensure_params():
-    """Ensure Params instance exists."""
-    global _params
-    if _params is None:
-        _params = Params()
-    return _params
-
-
-def refresh_metric_preference():
-    """Refresh metric preference from params (called periodically)."""
-    global _is_metric
-    try:
-        _is_metric = _ensure_params().get_bool("IsMetric")
-    except Exception:
-        _is_metric = True
-
-
-def get_car_params_from_params():
-    """Read carParams from Params storage (for immediate availability at startup)."""
-    global _car_params_cache
-    if _car_params_cache is not None:
-        return _car_params_cache
-    try:
-        from cereal import car
-        cp_bytes = _ensure_params().get("CarParams")
-        if cp_bytes:
-            with car.CarParams.from_bytes(cp_bytes) as cp:
-                _car_params_cache = {
-                    'openpilotLongitudinalControl': bool(cp.openpilotLongitudinalControl),
-                }
-                return _car_params_cache
-    except Exception:
-        pass
-    return {'openpilotLongitudinalControl': False}
-
-
-def format_speed(speed_ms: float) -> str:
-    """Format speed for display (m/s -> km/h or mph)."""
-    if _is_metric:
-        return f"{max(0, speed_ms * Conversions.MS_TO_KPH):.0f}"
-    return f"{max(0, speed_ms * Conversions.MS_TO_MPH):.0f}"
-
-
-def get_speed_unit() -> str:
-    """Get current speed unit string."""
-    return "km/h" if _is_metric else "mph"
-
-
-def get_distance_unit() -> str:
-    """Get current distance unit string."""
-    return "km" if _is_metric else "mi"
-
-
-SET_SPEED_NA = 255
-
-
-def get_cruise_speed(v_cruise_cluster: float) -> int:
-    """Get cruise speed value for display.
-
-    Returns the set speed in display units (km/h or mph), or 255 if not set.
-    """
-    if not (0 < v_cruise_cluster < SET_SPEED_NA):
-        return SET_SPEED_NA
-
-    set_speed = v_cruise_cluster
-    if not _is_metric:
-        set_speed *= Conversions.KPH_TO_MPH
-
-    return round(set_speed)
-
-
-def downsample(arr):
-    """Downsample list by factor."""
-    if not arr:
-        return []
-    return list(arr[::DOWNSAMPLE_FACTOR])
-
-
-def safe_get(obj, attr, default=None):
-    """Safely get attribute from object."""
-    try:
-        return getattr(obj, attr, default)
-    except Exception:
-        return default
-
-
-def extract_car_state(sm):
-    """Extract carState fields used by dashy."""
-    cs = sm['carState']
-    v_ego = float(cs.vEgo)
-    v_ego_cluster = float(cs.vEgoCluster)
-
-    # Set speed: prefer the modern carState.vCruiseCluster; only fall back
-    # to controlsState.vCruiseDEPRECATED if the cluster value isn't populated.
-    v_cruise = float(cs.vCruiseCluster)
-    if not (0 < v_cruise < SET_SPEED_NA) and 'controlsState' in sm.updated and sm.updated['controlsState']:
-        try:
-            v_cruise = float(sm['controlsState'].vCruiseDEPRECATED)
-        except Exception:
-            pass
-    set_speed = get_cruise_speed(v_cruise)
-
-    return {
-        'vEgo': v_ego,
-        'vEgoCluster': v_ego_cluster,
-        'gearShifter': str(cs.gearShifter),
-        'aEgo': float(cs.aEgo),
-        'steeringAngleDeg': float(cs.steeringAngleDeg),
-        'steeringPressed': bool(cs.steeringPressed),
-        'gasPressed': bool(cs.gasPressed),
-        'leftBlinker': bool(cs.leftBlinker),
-        'rightBlinker': bool(cs.rightBlinker),
-        'leftBlindspot': bool(cs.leftBlindspot),
-        'rightBlindspot': bool(cs.rightBlindspot),
-        'cruiseEnabled': bool(cs.cruiseState.enabled),
-        # Pre-formatted display values
-        'speedDisplay': format_speed(v_ego),
-        'speedClusterDisplay': format_speed(v_ego_cluster) if v_ego_cluster > 0 else format_speed(v_ego),
-        'setSpeed': set_speed,  # 255 = not set, otherwise display value
-        'speedUnit': get_speed_unit(),
-    }
-
-
-def extract_selfdrive_state(sm):
-    """Extract selfdriveState fields used by dashy."""
-    ss = sm['selfdriveState']
-    return {
-        'enabled': bool(ss.enabled),
-        'activeOverride': int(safe_get(ss, 'activeOverride', 0)),
-        'experimentalMode': bool(ss.experimentalMode),
-        'alertText1': str(ss.alertText1),
-        'alertText2': str(ss.alertText2),
-        'alertSize': str(ss.alertSize),
-        'alertStatus': str(ss.alertStatus),
-    }
-
-
-def extract_device_state(sm):
-    """Extract deviceState fields used by dashy."""
-    ds = sm['deviceState']
-    temp_c = float(safe_get(ds, 'maxTempC', 0))
-    # Pre-format temperature for display
-    if _is_metric:
-        temp_display = f"{temp_c:.0f}°" if temp_c > 0 else "--"
-    else:
-        temp_f = temp_c * 9 / 5 + 32
-        temp_display = f"{temp_f:.0f}°" if temp_c > 0 else "--"
-    return {
-        'cpuUsagePercent': list(ds.cpuUsagePercent) if ds.cpuUsagePercent else [],
-        'gpuUsagePercent': int(ds.gpuUsagePercent),
-        'memoryUsagePercent': int(ds.memoryUsagePercent),
-        'freeSpacePercent': float(ds.freeSpacePercent),
-        'maxTempC': temp_c,
-        'thermalStatus': str(ds.thermalStatus),  # 'green' | 'yellow' | 'red' | 'danger'
-        'fanSpeedPercentDesired': int(ds.fanSpeedPercentDesired),
-        'powerDrawW': float(safe_get(ds, 'powerDrawW', 0)),
-        'deviceType': str(ds.deviceType),
-        'tempDisplay': temp_display,
-    }
-
-
-def extract_lead(lead, sm):
-    """Extract lead vehicle data."""
-    d_rel = float(lead.dRel)
-    v_rel = float(lead.vRel)
-    y_rel = float(lead.yRel)
-    has_lead = bool(lead.status)
-
-    # Pre-format lead display values. Each metric ships as a
-    # (value, unit) pair so the HUD can tabular-align numbers without
-    # regex-parsing on the JS side.
-    dist_value = "--"
-    dist_unit = ""
-    speed_value = "--"
-    speed_unit_str = ""
-    ttc_value = "—"
-    ttc_unit = "s"
-    ttc_urgent = False
-    if has_lead:
-        speed_unit_str = "km/h" if _is_metric else "mph"
-        dist_unit = "m" if _is_metric else "ft"
-        conv = Conversions.MS_TO_KPH if _is_metric else Conversions.MS_TO_MPH
-        dist_value = f"{d_rel:.1f}" if _is_metric else f"{d_rel * M_TO_FT:.1f}"
-        v_ego = float(sm['carState'].vEgo) if sm.valid['carState'] else 0
-        # Lead's absolute speed = ego + relative (clamped to 0).
-        lead_speed_disp = max(0.0, v_ego + v_rel) * conv
-        speed_value = f"{lead_speed_disp:.1f}"
-        if v_ego > 0:
-            ttc = d_rel / v_ego
-            if ttc < 5.0:
-                ttc_value = f"{ttc:.1f}"
-                ttc_urgent = True
-
-    return {
-        'status': has_lead,
-        'dRel': d_rel,
-        'yRel': y_rel,
-        'vRel': v_rel,
-        'distValue': dist_value,
-        'distUnit': dist_unit,
-        'speedValue': speed_value,
-        'speedUnit': speed_unit_str,
-        'ttcValue': ttc_value,
-        'ttcUnit': ttc_unit,
-        'ttcUrgent': ttc_urgent,
-    }
-
-
-def extract_radar_state(sm):
-    """Extract radarState fields used by dashy."""
-    rs = sm['radarState']
-    return {
-        'leadOne': extract_lead(rs.leadOne, sm),
-        'leadTwo': extract_lead(rs.leadTwo, sm),
-    }
-
-
-def extract_live_tracks(sm):
-    """Extract liveTracks radar points for bird's eye view.
-
-    Filters out tracks that are already shown as leadOne or leadTwo.
-    Uses radarTrackId matching: when radarState matches a liveTrack to a lead,
-    radarTrackId changes from -1 (vision-only) to the track's ID.
-    """
-    try:
-        lt = sm['liveTracks']
-        points = []
-
-        # Get lead vehicle radar track IDs to filter them out
-        # radarTrackId = -1 means vision-only (no radar match)
-        # radarTrackId >= 0 means matched to a radar track
-        lead_track_ids = set()
-        if sm.valid.get('radarState', False):
-            rs = sm['radarState']
-            if rs.leadOne.status and rs.leadOne.radarTrackId >= 0:
-                lead_track_ids.add(rs.leadOne.radarTrackId)
-            if rs.leadTwo.status and rs.leadTwo.radarTrackId >= 0:
-                lead_track_ids.add(rs.leadTwo.radarTrackId)
-
-        if hasattr(lt, 'points'):
-            for pt in lt.points:
-                # Skip if this track is already shown as a lead vehicle
-                if pt.trackId in lead_track_ids:
-                    continue
-                # Drop stale tracks — radar's predicting, not measuring
-                if not pt.measured:
-                    continue
-                # Drop stationary clutter (sign posts, guardrails,
-                # parked cars). |vRel| < 0.5 m/s ≈ standing still
-                # relative to ego; not relevant traffic.
-                if abs(pt.vRel) < 0.5:
-                    continue
-
-                points.append({
-                    'd': float(pt.dRel),
-                    'y': float(pt.yRel),
-                    'v': float(pt.vRel),
-                    'm': bool(pt.measured),
-                })
-        return {'points': points}
-    except Exception as e:
-        cloudlog.warning(f"extract_live_tracks error: {e}")
-        return {'points': []}
-
-
-def extract_model_v2(sm):
-    """Extract modelV2 fields used by dashy (downsampled)."""
-    model = sm['modelV2']
-
-    # Position
-    pos = model.position
-    position = {
-        'x': downsample(list(pos.x)),
-        'y': downsample(list(pos.y)),
-        'z': downsample(list(pos.z)),
-    }
-
-    # Lane lines (4 lines)
-    lane_lines = []
-    for line in model.laneLines:
-        lane_lines.append({
-            'x': downsample(list(line.x)),
-            'y': downsample(list(line.y)),
-            'z': downsample(list(line.z)),
-        })
-
-    # Road edges (2 edges)
-    road_edges = []
-    for edge in model.roadEdges:
-        road_edges.append({
-            'x': downsample(list(edge.x)),
-            'y': downsample(list(edge.y)),
-            'z': downsample(list(edge.z)),
-        })
-
-    return {
-        'position': position,
-        'laneLines': lane_lines,
-        'laneLineProbs': list(model.laneLineProbs) if hasattr(model, 'laneLineProbs') else [0, 0, 0, 0],
-        'roadEdges': road_edges,
-        'roadEdgeStds': list(model.roadEdgeStds) if hasattr(model, 'roadEdgeStds') else [1, 1],
-    }
-
-
-def extract_live_calibration(sm):
-    """Extract liveCalibration fields used by dashy."""
-    cal = sm['liveCalibration']
-    return {
-        'rpyCalib': list(cal.rpyCalib) if hasattr(cal, 'rpyCalib') and cal.rpyCalib else [],
-        'calStatus': str(cal.calStatus) if hasattr(cal, 'calStatus') else 'uncalibrated',
-        'height': list(cal.height) if hasattr(cal, 'height') else [],
-    }
-
-
-def extract_longitudinal_plan(sm):
-    """Extract longitudinalPlan fields used by dashy."""
-    lp = sm['longitudinalPlan']
-    return {
-        'allowThrottle': bool(safe_get(lp, 'allowThrottle', True)),
-    }
-
-
-def extract_controls_state_ext(sm):
-    """Extract controlsStateExt fields used by dashy."""
-    cse = sm['controlsStateExt']
-    return {
-        'alkaActive': bool(safe_get(cse, 'alkaActive', False)),
-    }
-
-
-def extract_car_params(sm):
-    """Extract carParams fields used by dashy."""
-    cp = sm['carParams']
-    return {
-        'openpilotLongitudinalControl': bool(safe_get(cp, 'openpilotLongitudinalControl', False)),
-    }
-
-
-# =============================================================================
-# TOPIC CONFIGURATION
-# =============================================================================
-# Single source of truth for all subscribed topics.
-# Comment out a line to disable that topic entirely.
-#
-# Fields:
-#   extractor: function(sm) -> dict, extracts data from message
-#   rate: 'fast' = every frame when updated
-#         number = slow poll divider (e.g., LOOP_RATE = 1Hz)
-#         'valid' = just track valid state, no extraction
-#         'subscribe' = subscribed but extracted within other extractors
-#   default: initial cache value (None if not specified)
-# =============================================================================
-TOPICS = {
-    # Fast topics - extract every frame when updated
-    'carState':         {'extractor': extract_car_state,         'rate': 'fast'},
-    'selfdriveState':   {'extractor': extract_selfdrive_state,   'rate': 'fast'},
-    'radarState':       {'extractor': extract_radar_state,       'rate': 'fast'},
-    'liveTracks':       {'extractor': extract_live_tracks,       'rate': 'fast'},
-    'modelV2':          {'extractor': extract_model_v2,          'rate': 'fast'},
-    'longitudinalPlan': {'extractor': extract_longitudinal_plan, 'rate': 'fast'},
-
-    # Slow topics - poll at fixed intervals
-    'deviceState':      {'extractor': extract_device_state,      'rate': LOOP_RATE // 2},
-    'liveCalibration':  {'extractor': extract_live_calibration,  'rate': LOOP_RATE},
-    'carParams':        {'extractor': extract_car_params,        'rate': LOOP_RATE * 2},
-
-    # Valid-only topics - just track valid state
-    'roadCameraState':  {'rate': 'valid', 'default': False},
-
-    # Subscribe-only topics - subscribed but extracted within other extractors
-    'controlsState':    {'rate': 'subscribe'},
-
-    # Optional/dragonpilot-specific topics - comment out to disable
-    'controlsStateExt': {'extractor': extract_controls_state_ext, 'rate': 'fast', 'default': {'alkaActive': False}},
-}
-
-
-def _available_topics(topics_cfg):
-    """Filter TOPICS to only services this cereal schema knows about.
-
-    Lets dragonpilot-specific topics like controlsStateExt drop out
-    cleanly on a vanilla openpilot schema instead of crashing SubMaster.
-    Topics that drop out keep their default cache value (see 'default'
-    in the TOPICS entry), which the frontend already null-checks.
-    """
-    try:
-        from cereal.services import SERVICE_LIST as _services
-    except ImportError:
-        try:
-            from cereal.services import services as _services
-        except ImportError:
-            return topics_cfg
-
-    out = {}
-    for name, cfg in topics_cfg.items():
-        if name in _services:
-            out[name] = cfg
-        else:
-            cloudlog.info(f"dashyd: cereal service '{name}' not available, skipping")
-    return out
-
-
-def main():
-    cloudlog.info("dashyd: starting")
-
-    # Initialize metric preference
-    refresh_metric_preference()
-
-    topics = _available_topics(TOPICS)
-
-    # Derive services list from filtered topics
-    services = list(topics.keys())
-    sm = messaging.SubMaster(services)
-    pm = messaging.PubMaster(['dashyState'])
-    rk = Ratekeeper(LOOP_RATE)
-
-    # Initialize cache from TOPICS defaults (always include all topics so
-    # the frontend gets default values for dropped optional ones too).
-    cache = {t: cfg.get('default') for t, cfg in TOPICS.items() if cfg.get('rate') != 'subscribe'}
-    cache['carParams'] = get_car_params_from_params()  # special: init from Params
-
-    # Build topic lists from the filtered topics (only subscribed ones run their extractors)
-    fast_topics = {t: cfg['extractor'] for t, cfg in topics.items() if cfg.get('rate') == 'fast'}
-    slow_topics = {t: (cfg['extractor'], cfg['rate']) for t, cfg in topics.items()
-                   if isinstance(cfg.get('rate'), int)}
-    valid_topics = [t for t, cfg in topics.items() if cfg.get('rate') == 'valid']
-
-    cache_dirty = True
-    frame_count = 0
-
-    while True:
-        sm.update(0)
-        frame_count += 1
-
-        # Refresh metric preference every ~2 seconds
-        if frame_count % (LOOP_RATE * 2) == 0:
-            refresh_metric_preference()
-            cache_dirty = True  # Force re-format with new units
-
-        # Fast topics - extract when updated
-        for topic, extractor in fast_topics.items():
-            if sm.updated[topic]:
-                cache[topic] = extractor(sm)
-                cache_dirty = True
-
-        # Slow topics - extract at fixed intervals (ignore sm.updated)
-        for topic, (extractor, divider) in slow_topics.items():
-            if frame_count % divider == 0:
-                cache[topic] = extractor(sm)
-                cache_dirty = True
-
-        # Valid-only topics - just track valid state
-        for topic in valid_topics:
-            if sm.updated[topic]:
-                new_val = sm.valid[topic]
-                if cache[topic] != new_val:
-                    cache[topic] = new_val
-                    cache_dirty = True
-
-        # Only serialize and publish if something changed
-        if cache_dirty:
-            # Only publish when critical openpilot data exists
-            critical_ready = (
-                cache.get('carState') is not None and
-                cache.get('modelV2') is not None and
-                cache.get('selfdriveState') is not None
-            )
-
-            if critical_ready:
-                state = {
-                    'ts': sm.logMonoTime['carState'],
-                    'display': {
-                        'isMetric': _is_metric,
-                        'speedUnit': get_speed_unit(),
-                        'distanceUnit': get_distance_unit(),
-                    },
-                    **cache,  # include all cached topics
-                }
-                msg = messaging.new_message('dashyState')
-                msg.dashyState.json = json.dumps(state).encode()
-                pm.send('dashyState', msg)
-
-            cache_dirty = False
-
-        rk.keep_time()
-
-
-if __name__ == "__main__":
-    main()

dragonpilot/dashy/web/dist/index.html

@@ -2,7 +2,7 @@
 <html lang="en" data-theme="dark">
 <head>
     <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no, viewport-fit=cover">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no">
     <meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate">
     <meta http-equiv="Pragma" content="no-cache">
     <meta http-equiv="Expires" content="0">
@@ -14,21 +14,74 @@
 
     <div id="app-container" class="w-full h-full">
 
-        <!-- Loading Overlay (shown when server is unreachable, hidden by JS when connected) -->
-        <div id="loading-screen" style="display: flex" class="fixed inset-0 z-[400] flex-col items-center justify-center bg-black/95">
-            <img src="/icons/dashy.png" alt="Dashy" class="w-24 h-24 mb-6">
-            <span class="loading loading-spinner loading-lg text-primary mb-4"></span>
-            <div id="loading-status" class="text-white/70 text-sm">Connecting to device...</div>
-        </div>
-
         <!-- HUD Page (full-screen, default when enabled) -->
         <div id="hud-page" class="hud-page">
             <div id="hud-page-content" class="relative w-full h-full">
-                <!-- Video element created dynamically by theme if needed -->
+                <video id="videoPlayer" class="absolute inset-0 w-full h-full object-cover" autoplay playsinline muted></video>
                 <canvas id="uiCanvas" class="absolute inset-0 w-full h-full pointer-events-none z-10"></canvas>
             </div>
         </div>
 
+        <!-- Panel Backdrop -->
+        <div id="panel-backdrop" class="panel-backdrop"></div>
+
+        <!-- Slide-up Panel -->
+        <div id="panel" class="panel">
+            <!-- Panel Header with Tabs -->
+            <div class="panel-header">
+                <div class="panel-handle"></div>
+                <div class="flex items-center justify-between w-full gap-2">
+                    <div class="join flex-1 max-w-sm">
+                        <button id="panel-tab-controls" class="join-item btn btn-primary btn-sm sm:btn-md flex-1">Controls</button>
+                        <button id="panel-tab-settings" class="join-item btn btn-ghost btn-sm sm:btn-md flex-1">Settings</button>
+                        <button id="panel-tab-files" class="join-item btn btn-ghost btn-sm sm:btn-md flex-1">Files</button>
+                    </div>
+                    <button id="panel-close" class="btn btn-circle btn-ghost btn-sm sm:btn-md shrink-0" aria-label="Close panel">
+                        <svg width="20" height="20" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round">
+                            <line x1="18" y1="6" x2="6" y2="18"></line>
+                            <line x1="6" y1="6" x2="18" y2="18"></line>
+                        </svg>
+                    </button>
+                </div>
+            </div>
+
+            <!-- Panel Content -->
+            <div class="panel-content">
+                <!-- Controls Tab -->
+                <div id="controls-content" class="panel-page active">
+                    <div class="max-w-2xl landscape:max-w-5xl mx-auto space-y-4">
+                        <div id="controls-content-inner"></div>
+                    </div>
+                </div>
+
+                <!-- Settings Tab -->
+                <div id="settings-content" class="panel-page">
+                    <div class="max-w-2xl landscape:max-w-5xl mx-auto">
+                        <div id="local-settings-content" class="space-y-6"></div>
+                    </div>
+                </div>
+
+                <!-- Files Tab -->
+                <div id="files-content" class="panel-page">
+                    <div id="files-breadcrumbs" class="breadcrumbs text-sm mb-4">
+                        <ul></ul>
+                    </div>
+                    <div class="overflow-x-auto">
+                        <table id="files-table" class="table table-zebra w-full">
+                            <thead>
+                                <tr>
+                                    <th class="w-12"></th>
+                                    <th>Name</th>
+                                    <th>Last Modified</th>
+                                    <th class="text-right">Size</th>
+                                </tr>
+                            </thead>
+                            <tbody></tbody>
+                        </table>
+                    </div>
+                </div>
+            </div>
+        </div>
     </div>
 
     <!-- Main app -->

dragonpilot/dashy/web/dist/js/library-loader.js

@@ -0,0 +1,15 @@
+
+// Dynamic Library Loader
+window.loadLibrary = function(name) {
+  if (name === 'hls') {
+    return new Promise((resolve, reject) => {
+      const script = document.createElement('script');
+      script.src = '/lib/' + name + '.min.js';
+      script.onload = resolve;
+      script.onerror = reject;
+      document.head.appendChild(script);
+    });
+  }
+};
+
+window.loadHls = function() { return window.loadLibrary('hls'); };

dragonpilot/dashy/web/dist/js/themes/flight.js

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2025, Rick Lan
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, and/or sublicense,
+ * for non-commercial purposes only, subject to the following conditions:
+ *
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - Commercial use (e.g. use in a product, service, or activity intended to
+ *   generate revenue) is prohibited without explicit written permission from
+ *   the copyright holder.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+var C=Object.defineProperty;var B=(w,p,d)=>p in w?C(w,p,{enumerable:!0,configurable:!0,writable:!0,value:d}):w[p]=d;var _=(w,p,d)=>B(w,typeof p!="symbol"?p+"":p,d);(function(){"use strict";class w extends ModelRenderer{static getTopics(){return["modelV2","liveCalibration","carParams","longitudinalPlan","radarState"]}constructor(){super(),this._tunnelOffset=0}_draw_lane_lines(){}_draw_path(t){const h=this._path;if(!h||!h.raw_points||h.raw_points.length<4)return;const e=this.ctx,i=this._car_space_transform,R=this._path_offset_z,b=6,l=100,r=t.longitudinalPlan&&t.longitudinalPlan.allowThrottle||!this._longitudinal_control?{r:13,g:248,b:122}:{r:242,g:242,b:242};e.lineCap="round",e.lineJoin="round";const a=h.raw_points,f=1.2,v=.8,M=a[a.length-1][0];let g=Math.max(b,Math.min(l,M));const P=t.radarState,T=P?P.leadOne:null;if(T&&T.status){const c=T.dRel*2;g=Math.max(0,Math.min(c-Math.min(c*.35,10),g))}const S=10,k=b;if(g<=k)return;const F=(g-k)/S,W=t.carState?t.carState.vEgo:0;for(this._tunnelOffset+=W*.015;this._tunnelOffset>=F;)this._tunnelOffset-=F;const $=[];for(let c=0;c<S;c++){let o=k+c*F-this._tunnelOffset;o<k-1&&(o+=F*S);let m=null;for(let s=0;s<a.length-1;s++)if(a[s][0]<=o&&a[s+1][0]>=o){const D=(o-a[s][0])/(a[s+1][0]-a[s][0]);m=[o,a[s][1]+D*(a[s+1][1]-a[s][1]),a[s][2]+D*(a[s+1][2]-a[s][2])];break}if(!m)continue;const L=m[2]+R,u=L-v*3,A=[[o,m[1]-f,L],[o,m[1]+f,L],[o,m[1]-f,u],[o,m[1]+f,u]].map(s=>{const D=i[0][0]*s[0]+i[0][1]*s[1]+i[0][2]*s[2],O=i[1][0]*s[0]+i[1][1]*s[1]+i[1][2]*s[2],E=i[2][0]*s[0]+i[2][1]*s[1]+i[2][2]*s[2];return Math.abs(E)<1e-6?null:[D/E,O/E]});if(A.some(s=>!s))continue;const y=Math.max(0,1-(o-k)/(g-k));$.push({bottomLeft:A[0],bottomRight:A[1],topLeft:A[2],topRight:A[3],distFactor:y})}for(let c=$.length-1;c>=0;c--){const o=$[c],m=.2+o.distFactor*.5,L=1.5+o.distFactor*2;if(e.strokeStyle=`rgba(${r.r}, ${r.g}, ${r.b}, ${m})`,e.lineWidth=L,e.beginPath(),e.moveTo(o.bottomLeft[0],o.bottomLeft[1]),e.lineTo(o.bottomRight[0],o.bottomRight[1]),e.lineTo(o.topRight[0],o.topRight[1]),e.lineTo(o.topLeft[0],o.topLeft[1]),e.closePath(),e.stroke(),c<$.length-1){const u=$[c+1],I=m*.4;e.strokeStyle=`rgba(${r.r}, ${r.g}, ${r.b}, ${I})`,e.lineWidth=L*.5,e.beginPath(),e.moveTo(o.bottomLeft[0],o.bottomLeft[1]),e.lineTo(u.bottomLeft[0],u.bottomLeft[1]),e.stroke(),e.beginPath(),e.moveTo(o.bottomRight[0],o.bottomRight[1]),e.lineTo(u.bottomRight[0],u.bottomRight[1]),e.stroke(),e.beginPath(),e.moveTo(o.topLeft[0],o.topLeft[1]),e.lineTo(u.topLeft[0],u.topLeft[1]),e.stroke(),e.beginPath(),e.moveTo(o.topRight[0],o.topRight[1]),e.lineTo(u.topRight[0],u.topRight[1]),e.stroke()}}}_draw_lead_indicator(){const t=this.ctx,h=Date.now(),e=this._sm&&this._sm.radarState;this._lead_vehicles.forEach((i,R)=>{if(!i.chevron||i.chevron.length<3)return;const b=i.chevron[1][0],l=Math.abs(i.chevron[0][0]-i.chevron[2][0]),n=Math.abs(i.chevron[0][1]-i.chevron[1][1]),r=Math.max(l,n)*.8,a=i.chevron[1][1]-r*.6,f=e?R===0?e.leadOne:e.leadTwo:null,v=f?f.vRel:0,M=f?f.dRel:100;let g;v<-5?g="#ff3333":v<-2?g="#ffaa00":g="#00ff88";const P=1e3+M/100*3e3,T=.7+.3*Math.sin(h/P*Math.PI*2);this._drawTargetBrackets(t,b,a,r,g,T),this._drawTargetInfo(t,b,a+r*.7,M,v,g)})}_drawTargetInfo(t,h,e,i,R,b){var T,S;t.save(),t.font="bold 16px Arial",t.textAlign="center",t.textBaseline="top";const l=SmUtils.isMetric(),n=l?`${i.toFixed(1)}m`:`${(i*3.28084).toFixed(1)}ft`,a=(((S=(T=this._sm)==null?void 0:T.carState)==null?void 0:S.vEgo)||0)+R,f=Math.max(0,l?a*3.6:a*2.237),v=`${Math.round(f)}`,M=120,g=22,P=6;t.fillStyle="rgba(0, 0, 0, 0.5)",t.beginPath(),t.roundRect(h-M/2,e-2,M,g,4),t.fill(),t.fillStyle=b,t.fillText(`${n}  ${v}`,h,e),t.restore()}_drawTargetBrackets(t,h,e,i,R,b){const l=i*.35,n=i*.5;t.strokeStyle=R,t.lineWidth=3,t.lineCap="square",t.save(),t.translate(h,e),t.beginPath(),t.moveTo(-n,-n+l),t.lineTo(-n,-n),t.lineTo(-n+l,-n),t.stroke(),t.beginPath(),t.moveTo(n-l,-n),t.lineTo(n,-n),t.lineTo(n,-n+l),t.stroke(),t.beginPath(),t.moveTo(n,n-l),t.lineTo(n,n),t.lineTo(n-l,n),t.stroke(),t.beginPath(),t.moveTo(-n+l,n),t.lineTo(-n,n),t.lineTo(-n,n-l),t.stroke();const r=i*.12;t.lineWidth=2,t.globalAlpha=b,t.beginPath(),t.moveTo(-r,0),t.lineTo(r,0),t.stroke(),t.beginPath(),t.moveTo(0,-r),t.lineTo(0,r),t.stroke(),t.globalAlpha=1,t.restore()}}window.FlightModelRenderer=w;class p extends HudRenderer{render(t,h,e){return!t||t.width<=0||t.height<=0||(window.EdgeIndicators&&EdgeIndicators.draw(e,t,h),window.FlightHud&&FlightHud.draw(e,t,h)),!1}}window.FlightHudRenderer=p;class d extends BaseTheme{}_(d,"layout",Layouts.fullResponsive),_(d,"requiresVideo",!0),_(d,"modules",["FlightHud","NavMap","EdgeIndicators"]),_(d,"layers",[]),_(d,"minimapConfig",{useGrid:!1,options:{responsiveThird:!0,zoom:16,interactive:!0,scale:1.5}}),_(d,"modelRenderer","FlightModelRenderer"),_(d,"hudRenderer","FlightHudRenderer"),window.FlightPanel=d})();

dragonpilot/dashy/web/dist/js/themes/nav_free.js

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2025, Rick Lan
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, and/or sublicense,
+ * for non-commercial purposes only, subject to the following conditions:
+ *
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - Commercial use (e.g. use in a product, service, or activity intended to
+ *   generate revenue) is prohibited without explicit written permission from
+ *   the copyright holder.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+var v=Object.defineProperty;var w=(t,i,e)=>i in t?v(t,i,{enumerable:!0,configurable:!0,writable:!0,value:e}):t[i]=e;var l=(t,i,e)=>w(t,typeof i!="symbol"?i+"":i,e);var u=(t,i,e)=>new Promise((a,o)=>{var s=d=>{try{r(e.next(d))}catch(c){o(c)}},n=d=>{try{r(e.throw(d))}catch(c){o(c)}},r=d=>d.done?a(d.value):Promise.resolve(d.value).then(s,n);r((e=e.apply(t,i)).next())});(function(){"use strict";class t extends BaseTheme{constructor(){super(),this._mapReady=!1}init(e,a){return u(this,null,function*(){this._canvas=e,this._ctx=a,this._enabled=!0;const o=document.getElementById("videoPlayer");if(o&&(o.style.display="none"),window.NavMap&&NavMap.destroy(),window.NavigationFree&&NavigationFree.init(),window.NavMap){yield NavMap.init();const n=document.getElementById("hud-page-content");n&&(NavMap.show(n,{fullscreen:!0,scale:1.5,interactive:!0,enableRouting:!0,autoTileCache:!0,followResumeDelay:3e3}),this._mapReady=!0)}const s=document.getElementById("hud-page-content");return s&&window.NavSearch&&NavSearch.show(s),!0})}update(e){var s;const a=SmUtils.gps(e),o=SmUtils.speedKmh(e);if(this._mapReady&&window.NavMap&&a.lat!==0&&NavMap.setPosition(a.lat,a.lon,a.heading,o),window.NavSearch&&NavSearch.updatePosition(a.lat,a.lon),(s=window.NavigationFree)!=null&&s.isNavigating()){NavigationFree.updatePosition(a.lat,a.lon,a.heading);const n=NavigationFree.getRoute();n&&window.NavMap&&NavMap.setRoute(n)}}render(e,a,o){if(!this._enabled)return!1;e.clearRect(0,0,a,o);const s=window.sm||{};for(const n of this.constructor.layers){const r=window[n.module];if(r!=null&&r.draw){const d=this._layout.getRect(n.region||"full",a,o);r.draw(e,d,s)}}return!1}destroy(){this._enabled=!1,window.NavMap&&NavMap.destroy(),window.NavigationFree&&NavigationFree.clearRoute(),window.NavSearch&&NavSearch.hide();const e=document.getElementById("videoPlayer");e&&(e.style.display=""),this._mapReady=!1}}l(t,"layout",Layouts.full),l(t,"requiresVideo",!1),l(t,"modules",["NavSidebar","NavHud","NavMap","EdgeIndicators"]),l(t,"layers",[{module:"NavSidebar",region:"full"},{module:"NavHud",region:"full"},{module:"EdgeIndicators",region:"full"}]),window.NavFreeTheme=t})();

dragonpilot/dashy/web/dist/js/themes/op_split.js

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2025, Rick Lan
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, and/or sublicense,
+ * for non-commercial purposes only, subject to the following conditions:
+ *
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - Commercial use (e.g. use in a product, service, or activity intended to
+ *   generate revenue) is prohibited without explicit written permission from
+ *   the copyright holder.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+var c=Object.defineProperty;var _=(s,r,t)=>r in s?c(s,r,{enumerable:!0,configurable:!0,writable:!0,value:t}):s[r]=t;var l=(s,r,t)=>_(s,typeof r!="symbol"?r+"":r,t);var p=(s,r,t)=>new Promise((e,n)=>{var d=a=>{try{i(t.next(a))}catch(h){n(h)}},o=a=>{try{i(t.throw(a))}catch(h){n(h)}},i=a=>a.done?e(a.value):Promise.resolve(a.value).then(d,o);i((t=t.apply(s,r)).next())});(function(){"use strict";class s extends BaseTheme{constructor(){super(),this._splitContainer=null,this._mapContainer=null,this._videoContainer=null,this._videoCanvas=null,this._videoCtx=null,this._opModel=null,this._minimapReady=!1,this._isPortrait=!1,this._resizeHandler=null}init(t,e){return p(this,null,function*(){return this._canvas=t,this._ctx=e,this._enabled=!0,window.Minimap&&Minimap.destroy(),window.NavMap&&NavMap.destroy(),this._createSplitLayout(),yield this._initMap(),this._resizeHandler=()=>this._handleResize(),window.addEventListener("resize",this._resizeHandler),!0})}_handleResize(){const t=window.innerWidth,e=window.innerHeight,n=this._isPortrait;this._isPortrait=this._layout.isPortrait(t,e),n!==this._isPortrait&&this._rebuildLayout()}_rebuildLayout(){const t=this._minimapReady;this._minimapReady&&window.NavMap&&NavMap.destroy(),this._minimapReady=!1;const e=document.getElementById("videoPlayer"),n=document.getElementById("hud-page-content");e&&this._videoContainer&&n&&(e.style.cssText="",n.insertBefore(e,this._videoContainer),this._videoContainer.remove()),this._splitContainer&&this._splitContainer.remove(),this._createSplitLayout(),t&&this._initMap()}_createSplitLayout(){const t=document.getElementById("hud-page-content");if(!t)return;const e=t.offsetWidth||window.innerWidth,n=t.offsetHeight||window.innerHeight;this._isPortrait=this._layout.isPortrait(e,n);const d=this._layout.getRegionRect("primary",e,n),o=this._layout.getRegionRect("secondary",e,n),i=60;this._splitContainer=document.createElement("div"),this._splitContainer.id="op-split-container",this._splitContainer.style.cssText=`
+            position: absolute; top: 0; left: 0; width: 100%; height: 100%;
+            display: flex; pointer-events: none; z-index: 1;
+            flex-direction: ${this._isPortrait?"column-reverse":"row-reverse"};
+        `,this._mapContainer=document.createElement("div"),this._mapContainer.id="op-split-map",this._isPortrait?this._mapContainer.style.cssText=`
+                width: ${d.width}px; height: ${d.height}px;
+                position: relative; pointer-events: auto;
+                -webkit-mask-image: linear-gradient(to top, black 0%, black calc(100% - ${i}px), transparent 100%);
+                mask-image: linear-gradient(to top, black 0%, black calc(100% - ${i}px), transparent 100%);
+            `:this._mapContainer.style.cssText=`
+                width: ${d.width}px; height: ${d.height}px;
+                position: relative; pointer-events: auto;
+                -webkit-mask-image: linear-gradient(to left, black 0%, black calc(100% - ${i}px), transparent 100%);
+                mask-image: linear-gradient(to left, black 0%, black calc(100% - ${i}px), transparent 100%);
+            `,this._splitContainer.appendChild(this._mapContainer),t.appendChild(this._splitContainer);const a=document.getElementById("videoPlayer");a&&(this._videoContainer=document.createElement("div"),this._videoContainer.id="op-split-video",this._isPortrait?this._videoContainer.style.cssText=`
+                    position: absolute; left: ${o.x}px; top: 0;
+                    width: ${o.width}px; height: ${o.height+i}px;
+                    overflow: hidden;
+                    -webkit-mask-image: linear-gradient(to top, transparent 0%, black ${i}px, black 100%);
+                    mask-image: linear-gradient(to top, transparent 0%, black ${i}px, black 100%);
+                `:this._videoContainer.style.cssText=`
+                    position: absolute; left: 0; top: ${o.y}px;
+                    width: ${o.width+i}px; height: ${o.height}px;
+                    overflow: hidden;
+                    -webkit-mask-image: linear-gradient(to left, transparent 0%, black ${i}px, black 100%);
+                    mask-image: linear-gradient(to left, transparent 0%, black ${i}px, black 100%);
+                `,a.parentNode.insertBefore(this._videoContainer,a),this._videoContainer.appendChild(a),a.style.cssText=`
+                position: absolute; top: 0; left: 0;
+                width: 100%; height: 100%;
+                object-fit: cover;
+            `,this._videoCanvas=document.createElement("canvas"),this._videoCanvas.width=o.width,this._videoCanvas.height=o.height,this._videoCanvas.style.cssText=`
+                position: absolute; top: 0; left: 0;
+                width: 100%; height: 100%; pointer-events: none;
+            `,this._videoContainer.appendChild(this._videoCanvas),this._videoCtx=this._videoCanvas.getContext("2d"),window.OpModel&&(this._opModel=OpModel.create()))}_initMap(){return p(this,null,function*(){!this._mapContainer||!window.NavMap||(NavMap.destroy(),yield NavMap.init(),NavMap.show(this._mapContainer,{fullscreen:!0,scale:1.5,zoom:16,interactive:!0}),this._minimapReady=!0)})}update(t){if(this._minimapReady&&window.NavMap&&NavMap.isVisible()){const e=SmUtils.gps(t);e.lat!==0&&NavMap.setPosition(e.lat,e.lon,e.heading,SmUtils.speedKmh(t))}}render(t,e,n){if(!this._enabled)return!1;const d=window.sm||{};this._opModel&&this._videoCtx&&(this._videoCtx.clearRect(0,0,this._videoCanvas.width,this._videoCanvas.height),this._opModel.draw(this._videoCtx,{x:0,y:0,width:this._videoCanvas.width,height:this._videoCanvas.height},d));for(const o of this.constructor.layers){const i=window[o.module];if(!(i!=null&&i.draw))continue;let a;o.region==="hud"?this._isPortrait?a={x:0,y:0,width:e,height:n*.5}:a={x:0,y:0,width:e*.5,height:n}:a={x:0,y:0,width:e,height:n},i.draw(t,a,d)}return!1}destroy(){this._enabled=!1,this._resizeHandler&&(window.removeEventListener("resize",this._resizeHandler),this._resizeHandler=null),this._minimapReady&&window.NavMap&&NavMap.destroy(),this._opModel&&this._opModel.destroy();const t=document.getElementById("videoPlayer"),e=document.getElementById("hud-page-content");t&&this._videoContainer&&e&&(t.style.cssText="",t.className="absolute inset-0 w-full h-full object-cover",e.insertBefore(t,this._videoContainer),this._videoContainer.remove()),this._splitContainer&&this._splitContainer.remove(),this._splitContainer=null,this._mapContainer=null,this._videoContainer=null,this._videoCanvas=null,this._videoCtx=null,this._opModel=null,this._minimapReady=!1,this._isPortrait=!1}}l(s,"layout",Layouts.splitResponsive),l(s,"requiresVideo",!0),l(s,"handlesOwnRendering",!0),l(s,"modules",["NavSidebar","NavMap","OpModel","OpBorder","OpAlerts","EdgeIndicators"]),l(s,"layers",[{module:"NavSidebar",region:"hud"},{module:"OpBorder",region:"full"},{module:"EdgeIndicators",region:"full"},{module:"OpAlerts",region:"full"}]),window.OpSplitTheme=s})();

dragonpilot/dashy/web/dist/js/themes/openpilot.js

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2025, Rick Lan
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, and/or sublicense,
+ * for non-commercial purposes only, subject to the following conditions:
+ *
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - Commercial use (e.g. use in a product, service, or activity intended to
+ *   generate revenue) is prohibited without explicit written permission from
+ *   the copyright holder.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+var n=Object.defineProperty;var u=(r,e,d)=>e in r?n(r,e,{enumerable:!0,configurable:!0,writable:!0,value:d}):r[e]=d;var s=(r,e,d)=>u(r,typeof e!="symbol"?e+"":e,d);(function(){"use strict";class r extends HudRenderer{render(t,i,a){return super.render(t,i,a),window.EdgeIndicators&&EdgeIndicators.draw(a,t,i),!1}}window.OpenpilotHudRenderer=r;class e extends BaseTheme{}s(e,"layout",Layouts.fullResponsive),s(e,"requiresVideo",!0),s(e,"modules",["OpHud","OpBorder","OpAlerts","NavMap","EdgeIndicators"]),s(e,"layers",[]),s(e,"minimapConfig",{useGrid:!1,options:{responsiveThird:!0,zoom:16,interactive:!0,scale:1.5}}),s(e,"hudRenderer","OpenpilotHudRenderer"),window.OpenpilotTheme=e})();

dragonpilot/dashy/web/dist/sw-tiles.js

@@ -0,0 +1,101 @@
+/**
+ * Tile Cache Service Worker
+ * Caches map tiles from OpenFreeMap for offline use
+ */
+
+const CACHE_NAME = 'dashy-map-tiles-v1';
+const TILE_HOSTS = ['tiles.openfreemap.org'];
+const MAX_CACHE_SIZE = 2000; // Max tiles to cache
+const TRIM_INTERVAL = 60000; // Only trim cache every 60 seconds
+
+// Debug mode - can be set via message from main thread
+let _debug = false;
+let _lastTrimTime = 0;
+
+function debugLog(...args) {
+    if (_debug) console.log(...args);
+}
+
+// Listen for debug toggle from main thread
+self.addEventListener('message', (event) => {
+    if (event.data && event.data.type === 'SET_DEBUG') {
+        _debug = event.data.value;
+    }
+});
+
+self.addEventListener('install', (event) => {
+    self.skipWaiting();
+});
+
+self.addEventListener('activate', (event) => {
+    event.waitUntil(
+        caches.keys().then((cacheNames) => {
+            return Promise.all(
+                cacheNames.map((cacheName) => {
+                    if (cacheName.startsWith('dashy-map-tiles-') && cacheName !== CACHE_NAME) {
+                        debugLog('[TileCache SW] Deleting old cache:', cacheName);
+                        return caches.delete(cacheName);
+                    }
+                })
+            );
+        })
+    );
+    self.clients.claim();
+});
+
+self.addEventListener('fetch', (event) => {
+    const url = new URL(event.request.url);
+
+    // Only cache tile requests from OpenFreeMap
+    const isTileRequest = TILE_HOSTS.some(host => url.hostname.includes(host));
+    if (!isTileRequest) return;
+
+    event.respondWith(
+        caches.open(CACHE_NAME).then((cache) => {
+            return cache.match(event.request).then((cachedResponse) => {
+                if (cachedResponse) {
+                    // Return cached, but also update cache in background
+                    fetchAndCache(event.request, cache);
+                    return cachedResponse;
+                }
+
+                return fetchAndCache(event.request, cache);
+            });
+        })
+    );
+});
+
+async function fetchAndCache(request, cache) {
+    try {
+        const networkResponse = await fetch(request);
+        if (networkResponse.ok) {
+            cache.put(request, networkResponse.clone());
+            trimCache(cache);
+        }
+        return networkResponse;
+    } catch (e) {
+        // Return cached version if offline
+        const cached = await cache.match(request);
+        if (cached) return cached;
+        throw e;
+    }
+}
+
+async function trimCache(cache) {
+    // Only trim every TRIM_INTERVAL to avoid constant overhead
+    const now = Date.now();
+    if (now - _lastTrimTime < TRIM_INTERVAL) {
+        return;
+    }
+    _lastTrimTime = now;
+
+    const keys = await cache.keys();
+    if (keys.length > MAX_CACHE_SIZE) {
+        // Delete oldest entries
+        const toDelete = keys.slice(0, keys.length - MAX_CACHE_SIZE);
+        for (const key of toDelete) {
+            await cache.delete(key);
+        }
+        debugLog('[TileCache SW] Trimmed', toDelete.length, 'old tiles');
+    }
+}

dragonpilot/selfdrive/controls/lib/aem.py

@@ -21,9 +21,8 @@ import numpy as np
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 # Cooldown times (how long to stay in experimental mode after trigger)
+AEM_COOLDOWN_STOP = 0.5      # seconds - for stop sign/light detection
 AEM_COOLDOWN_TTC = 3.0       # seconds - for lead TTC events
-AEM_DECEL_FOR_STOP = 2.5     # m/s² - assumed deceleration for stop cooldown calc
-AEM_STOP_BUFFER = 2.0        # seconds - extra buffer for model latency
 
 # Stop sign/light detection thresholds
 SLOW_DOWN_BP = [0., 2.78, 5.56, 8.34, 11.12, 13.89, 15.28]
@@ -60,7 +59,7 @@ class AEM:
     # Uses max() so it can't shorten an existing longer cooldown
     if len(model_msg.orientation.x) == len(model_msg.position.x) == ModelConstants.IDX_N and \
       model_msg.position.x[ModelConstants.IDX_N - 1] < np.interp(v_ego, SLOW_DOWN_BP, SLOW_DOWN_DIST):
-      self._perform_experimental_mode(v_ego / AEM_DECEL_FOR_STOP + AEM_STOP_BUFFER)
+      self._perform_experimental_mode(AEM_COOLDOWN_STOP)
 
     # TTC-based triggering - lead car braking hard
     if v_ego > MIN_SPEED_FOR_TTC and radar_msg.leadOne.status:
@@ -71,4 +70,5 @@ class AEM:
         if d_rel > 0:
           ttc = d_rel / closing_speed
           if ttc < TTC_THRESHOLD:
-            self._perform_experimental_mode(AEM_COOLDOWN_TTC)
+            self._perform_experimental_mode(AEM_COOLDOWN_TTC)
+

dragonpilot/selfdrive/controls/lib/dtsc.py

@@ -0,0 +1,145 @@
+"""
+Copyright (c) 2025, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+"""
+
+import numpy as np
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
+from openpilot.common.swaglog import cloudlog
+
+# Physics constants
+COMFORT_LAT_G = 0.2  # g units - universal human comfort threshold
+BASE_LAT_ACC = COMFORT_LAT_G * 9.81  # ~2.0 m/s^2
+SAFETY_FACTOR = 0.9  # 10% safety margin on calculated speeds
+MIN_CURVE_DISTANCE = 5.0  # meters - minimum distance to react to curves
+MAX_DECEL = -2.0  # m/s^2 - maximum comfortable deceleration
+
+
+class DTSC:
+  """
+  Dynamic Turn Speed Controller - Predictive curve speed management via MPC constraints.
+
+  Core physics: v_max = sqrt(lateral_acceleration / curvature) * safety_factor
+
+  Operation:
+  1. Scans predicted path for curvature (up to ~10 seconds ahead)
+  2. Calculates safe speed for each point using physics + comfort limits
+  3. Identifies critical points where current speed would exceed safe speed
+  4. Calculates required deceleration to reach safe speed at critical point
+  5. Provides deceleration as MPC constraint for smooth trajectory planning
+  """
+
+  def __init__(self, aggressiveness=1.0):
+    """
+    Initialize DTSC with user-adjustable aggressiveness.
+
+    Args:
+      aggressiveness: Factor to adjust lateral acceleration limit
+                     0.7 = 30% more conservative (slower in curves)
+                     1.0 = default balanced behavior
+                     1.3 = 30% more aggressive (faster in curves)
+    """
+    self.aggressiveness = np.clip(aggressiveness, 0.5, 1.5)
+    self.active = False
+    self.debug_msg = ""
+    cloudlog.info(f"DTSC: Initialized with aggressiveness {self.aggressiveness:.2f}")
+
+  def set_aggressiveness(self, value):
+    """Update aggressiveness factor (0.5 to 1.5)."""
+    self.aggressiveness = np.clip(value, 0.5, 1.5)
+    cloudlog.info(f"DTSC: Aggressiveness updated to {self.aggressiveness:.2f}")
+
+  def get_mpc_constraints(self, model_msg, v_ego, base_a_min, base_a_max):
+    """
+    Calculate MPC acceleration constraints based on predicted path curvature.
+
+    Args:
+      model_msg: ModelDataV2 containing predicted path
+      v_ego: Current vehicle speed (m/s)
+      base_a_min: Default minimum acceleration constraint
+      base_a_max: Default maximum acceleration constraint
+
+    Returns:
+      (a_min_array, a_max_array): Modified constraints for each MPC timestep
+    """
+
+    # Initialize with base constraints
+    a_min = np.ones(len(T_IDXS_MPC)) * base_a_min
+    a_max = np.ones(len(T_IDXS_MPC)) * base_a_max
+
+    # Validate model data
+    if not self._is_model_data_valid(model_msg):
+      self.active = False
+      return a_min, a_max
+
+    # Extract predictions for MPC horizon
+    v_pred = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
+    turn_rates = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.orientationRate.z)
+    positions = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+
+    # Calculate curvature (turn_rate / velocity)
+    curvatures = np.abs(turn_rates / np.clip(v_pred, 1.0, 100.0))
+
+    # Calculate safe speeds
+    lat_acc_limit = BASE_LAT_ACC * self.aggressiveness
+    safe_speeds = np.sqrt(lat_acc_limit / (curvatures + 1e-6)) * SAFETY_FACTOR
+
+    # Find speed violations
+    speed_excess = v_pred - safe_speeds
+    if np.all(speed_excess <= 0):
+      self._deactivate()
+      return a_min, a_max
+
+    # Find critical point (maximum speed excess)
+    critical_idx = np.argmax(speed_excess)
+    critical_distance = positions[critical_idx]
+    critical_safe_speed = safe_speeds[critical_idx]
+
+    # Only act if we have sufficient distance
+    if critical_distance <= MIN_CURVE_DISTANCE:
+      self._deactivate()
+      return a_min, a_max
+
+    # Calculate required deceleration: a = (v_f^2 - v_i^2) / (2*d)
+    required_decel = (critical_safe_speed**2 - v_ego**2) / (2 * critical_distance)
+    required_decel = max(required_decel, MAX_DECEL)
+
+    # Apply constraint progressively until critical point
+    for i in range(len(T_IDXS_MPC)):
+      t = T_IDXS_MPC[i]
+      distance_at_t = v_ego * t + 0.5 * required_decel * t**2
+
+      if distance_at_t < critical_distance:
+        a_max[i] = min(a_max[i], required_decel)
+
+    # Update status
+    self.active = True
+    self.debug_msg = f"Curve in {critical_distance:.0f}m → {critical_safe_speed*3.6:.0f} km/h"
+    cloudlog.info(f"DTSC: {self.debug_msg} (aggr={self.aggressiveness:.1f})")
+
+    return a_min, a_max
+
+  def _is_model_data_valid(self, model_msg):
+    """Check if model message contains valid prediction data."""
+    return (len(model_msg.position.x) == ModelConstants.IDX_N and
+            len(model_msg.velocity.x) == ModelConstants.IDX_N and
+            len(model_msg.orientationRate.z) == ModelConstants.IDX_N)
+
+  def _deactivate(self):
+    """Clear active state and debug message."""
+    self.active = False
+    self.debug_msg = ""

dragonpilot/selfdrive/gpsd/gpsd.py

@@ -0,0 +1,463 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+GPS Location Service - Fuses GPS with livePose for smooth position output.
+
+States:
+  INITIALIZING: Waiting for first GPS fix
+  CALIBRATING: Collecting yaw offset samples (need to be moving > 5 m/s)
+  RUNNING: Outputting calibrated dead-reckoned position
+  RECALIBRATING: Drift detected, blending back to GPS
+"""
+import json
+import numpy as np
+from enum import Enum
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.coordinates import geodetic2ecef, ecef2geodetic, LocalCoord
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
+
+
+class State(Enum):
+  INITIALIZING = 0
+  CALIBRATING = 1
+  RUNNING = 2
+  RECALIBRATING = 3
+
+
+class LiveGPS:
+  # Calibration
+  CALIB_MIN_SPEED = 5.0       # m/s - need speed for reliable GPS bearing
+  CALIB_MIN_SAMPLES = 5       # yaw samples needed
+  CALIB_MAX_TIME = 30.0       # seconds before timeout
+
+  # Recalibration triggers
+  RECALIB_POS_ERROR = 30.0    # meters - triggers gradual recalib
+  RECALIB_POS_HARD = 500.0    # meters - triggers hard reset
+  RECALIB_YAW_ERROR = 0.785   # 45 degrees in radians
+  RECALIB_YAW_HARD = 1.571    # 90 degrees in radians
+  RECALIB_GPS_LOST = 10.0     # seconds
+
+  # GPS quality
+  GPS_MAX_ACCURACY = 30.0     # meters - reject worse
+  GPS_MAX_JUMP = 50.0         # meters - reject jumps
+  GPS_MAX_SPEED = 100.0       # m/s (~360 km/h)
+
+  # Smoothing
+  MAX_POS_CORRECTION = 10.0   # m/s max correction rate
+  MAX_YAW_CORRECTION = 0.524  # 30 deg/s in radians
+  STATIONARY_SPEED = 0.5      # m/s
+
+  def __init__(self):
+    self.state = State.INITIALIZING
+
+    # GPS raw data
+    self.last_gps_pos = None    # [lat, lon, alt]
+    self.gps_speed = 0.0
+    self.gps_bearing = 0.0
+    self.gps_accuracy_h = 100.0
+    self.gps_accuracy_v = 100.0
+    self.gps_quality = 1.0      # 0-1 weight
+    self.unix_timestamp_millis = 0
+
+    # Position tracking (NED frame)
+    self.local_coord = None
+    self.pos_ned = np.zeros(3)
+    self.pos_error = np.zeros(3)
+    self.target_pos = np.zeros(3)
+
+    # livePose data
+    self.orientation_ned = np.zeros(3)
+    self.vel_device = np.zeros(3)
+
+    # Yaw calibration
+    self.yaw_offset = 0.0
+    self.yaw_offset_valid = False
+    self.yaw_samples = []
+    self.target_yaw = 0.0
+
+    # Timing
+    self.last_t = None
+    self.last_gps_t = 0.0
+    self.calib_start_t = 0.0
+
+  def get_yaw(self):
+    """Get calibrated absolute yaw."""
+    if self.yaw_offset_valid:
+      return (self.orientation_ned[2] + self.yaw_offset) % (2 * np.pi)
+    return np.radians(self.gps_bearing)
+
+  def _check_gps_valid(self, gps):
+    """Check if GPS data is usable."""
+    if abs(gps.latitude) < 0.1 or abs(gps.longitude) < 0.1:
+      return False
+    if abs(gps.latitude) > 90 or abs(gps.longitude) > 180:
+      return False
+    return gps.hasFix or gps.unixTimestampMillis > 0
+
+  def _check_gps_quality(self, t, gps):
+    """Check quality and detect jumps. Returns (accept, weight)."""
+    # Unknown accuracy = assume decent
+    accuracy = gps.horizontalAccuracy if gps.horizontalAccuracy > 0 else 8.0
+
+    # Reject known bad accuracy
+    if gps.horizontalAccuracy > self.GPS_MAX_ACCURACY:
+      return False, 0.0
+
+    # Jump detection
+    if self.last_gps_pos is not None and self.last_gps_t > 0:
+      dt = t - self.last_gps_t
+      if dt > 0.01:
+        last_ecef = geodetic2ecef(self.last_gps_pos)
+        curr_ecef = geodetic2ecef([gps.latitude, gps.longitude, gps.altitude])
+        distance = np.linalg.norm(np.array(curr_ecef) - np.array(last_ecef))
+        if distance > max(self.GPS_MAX_JUMP, self.GPS_MAX_SPEED * dt):
+          return False, 0.0
+
+    # Weight by accuracy (5m = 1.0, 30m = 0.17)
+    weight = min(1.0, 5.0 / max(accuracy, 1.0))
+    return True, max(0.1, weight)
+
+  def handle_gps(self, t, gps):
+    """Process GPS update."""
+    if not self._check_gps_valid(gps):
+      return
+
+    accept, weight = self._check_gps_quality(t, gps)
+
+    # Always store for display (even if rejected)
+    self.last_gps_pos = [gps.latitude, gps.longitude, gps.altitude]
+    self.gps_speed = gps.speed
+    self.gps_bearing = gps.bearingDeg
+
+    if not accept:
+      # Allow poor GPS for initialization only
+      if self.state == State.INITIALIZING:
+        weight = 0.1
+      else:
+        return
+
+    # Store quality data
+    self.gps_accuracy_h = gps.horizontalAccuracy if gps.horizontalAccuracy > 0 else 10.0
+    self.gps_accuracy_v = gps.verticalAccuracy if gps.verticalAccuracy > 0 else 20.0
+    self.gps_quality = weight
+    self.last_gps_t = t
+    self.unix_timestamp_millis = gps.unixTimestampMillis
+
+    # State machine
+    if self.state == State.INITIALIZING:
+      self._init_position(gps)
+      self.state = State.CALIBRATING
+      self.calib_start_t = t
+      self.yaw_samples = []
+      cloudlog.info("LiveGPS: GPS acquired, calibrating")
+
+    elif self.state == State.CALIBRATING:
+      self._calibrate(t, gps)
+
+    elif self.state == State.RUNNING:
+      self._update_running(t, gps)
+
+    elif self.state == State.RECALIBRATING:
+      self._recalibrate(t, gps)
+
+  def _init_position(self, gps):
+    """Initialize local coordinate frame."""
+    self.local_coord = LocalCoord.from_geodetic([gps.latitude, gps.longitude, gps.altitude])
+    self.pos_ned = np.zeros(3)
+    self.pos_error = np.zeros(3)
+
+  def _collect_yaw_sample(self, gps):
+    """Collect yaw calibration sample if conditions met."""
+    if gps.speed > self.CALIB_MIN_SPEED and self.gps_quality > 0.3:
+      gps_yaw = np.radians(gps.bearingDeg)
+      pose_yaw = self.orientation_ned[2]
+      offset = np.arctan2(np.sin(gps_yaw - pose_yaw), np.cos(gps_yaw - pose_yaw))
+      self.yaw_samples.append(offset)
+
+  def _calibrate(self, t, gps):
+    """Calibration state: collect yaw samples."""
+    self._collect_yaw_sample(gps)
+
+    if len(self.yaw_samples) >= self.CALIB_MIN_SAMPLES:
+      self.yaw_offset = float(np.median(self.yaw_samples))
+      self.yaw_offset_valid = True
+      self._init_position(gps)
+      self.state = State.RUNNING
+      cloudlog.info(f"LiveGPS: calibrated, yaw_offset={np.degrees(self.yaw_offset):.1f}deg")
+
+    elif t - self.calib_start_t > self.CALIB_MAX_TIME:
+      if self.yaw_samples:
+        self.yaw_offset = float(np.median(self.yaw_samples))
+        self.yaw_offset_valid = True
+      self._init_position(gps)
+      self.state = State.RUNNING
+      cloudlog.warning("LiveGPS: calibration timeout")
+
+  def _update_running(self, t, gps):
+    """Running state: update position error and check for drift."""
+    gps_ecef = geodetic2ecef([gps.latitude, gps.longitude, gps.altitude])
+    gps_ned = self.local_coord.ecef2ned(gps_ecef)
+    self.pos_error = gps_ned - self.pos_ned
+
+    pos_error_mag = np.linalg.norm(self.pos_error[:2])
+    gps_age = t - self.last_gps_t
+
+    # Check for hard reset conditions
+    if pos_error_mag > self.RECALIB_POS_HARD or gps_age > self.RECALIB_GPS_LOST * 3:
+      cloudlog.warning(f"LiveGPS: hard reset, error={pos_error_mag:.1f}m")
+      self._init_position(gps)
+      self.yaw_offset_valid = False
+      self.state = State.CALIBRATING
+      self.calib_start_t = t
+      self.yaw_samples = []
+      return
+
+    # Check yaw drift
+    if gps.speed > self.CALIB_MIN_SPEED and self.gps_quality > 0.3:
+      gps_yaw = np.radians(gps.bearingDeg)
+      new_offset = np.arctan2(np.sin(gps_yaw - self.orientation_ned[2]),
+                              np.cos(gps_yaw - self.orientation_ned[2]))
+      diff = abs(np.arctan2(np.sin(new_offset - self.yaw_offset),
+                            np.cos(new_offset - self.yaw_offset)))
+
+      if diff > self.RECALIB_YAW_HARD:
+        cloudlog.warning(f"LiveGPS: yaw reset, diff={np.degrees(diff):.1f}deg")
+        self.yaw_offset = new_offset
+        self._init_position(gps)
+      elif diff > self.RECALIB_YAW_ERROR:
+        cloudlog.warning(f"LiveGPS: yaw drift, diff={np.degrees(diff):.1f}deg")
+        self.state = State.RECALIBRATING
+        self.calib_start_t = t
+        self.yaw_samples = []
+        self.target_yaw = new_offset
+        self.target_pos = gps_ned
+      else:
+        # Slow adaptation
+        alpha = 0.1 * self.gps_quality
+        self.yaw_offset += alpha * np.arctan2(np.sin(new_offset - self.yaw_offset),
+                                               np.cos(new_offset - self.yaw_offset))
+
+    # Check position drift
+    if pos_error_mag > self.RECALIB_POS_ERROR:
+      cloudlog.warning(f"LiveGPS: pos drift, error={pos_error_mag:.1f}m")
+      self.state = State.RECALIBRATING
+      self.calib_start_t = t
+      self.yaw_samples = []
+      self.target_pos = gps_ned
+
+    # Reset anchor if drifted too far
+    if np.linalg.norm(self.pos_ned[:2]) > 100:
+      self._init_position(gps)
+
+  def _recalibrate(self, t, gps):
+    """Recalibrating state: blend back to GPS."""
+    gps_ecef = geodetic2ecef([gps.latitude, gps.longitude, gps.altitude])
+    self.target_pos = self.local_coord.ecef2ned(gps_ecef)
+
+    self._collect_yaw_sample(gps)
+    if len(self.yaw_samples) >= 3:
+      self.target_yaw = float(np.median(self.yaw_samples[-10:]))
+
+    # Check if done
+    pos_error = np.linalg.norm(self.target_pos - self.pos_ned)
+    if pos_error < 5.0 and len(self.yaw_samples) >= self.CALIB_MIN_SAMPLES:
+      self.yaw_offset = self.target_yaw
+      self.state = State.RUNNING
+      cloudlog.info(f"LiveGPS: recalibrated, error={pos_error:.1f}m")
+    elif t - self.calib_start_t > self.CALIB_MAX_TIME:
+      if self.yaw_samples:
+        self.yaw_offset = float(np.median(self.yaw_samples))
+      self.state = State.RUNNING
+      cloudlog.warning(f"LiveGPS: recalib timeout, error={pos_error:.1f}m")
+
+  def handle_pose(self, t, pose):
+    """Process livePose update - dead-reckon position."""
+    if pose.orientationNED.valid:
+      self.orientation_ned = np.array([pose.orientationNED.x, pose.orientationNED.y, pose.orientationNED.z])
+    if pose.velocityDevice.valid:
+      self.vel_device = np.array([pose.velocityDevice.x, pose.velocityDevice.y, pose.velocityDevice.z])
+
+    if self.state not in (State.RUNNING, State.RECALIBRATING) or self.local_coord is None:
+      self.last_t = t
+      return
+
+    if self.last_t is None:
+      self.last_t = t
+      return
+
+    dt = t - self.last_t
+    if dt <= 0 or dt > 1.0:
+      self.last_t = t
+      return
+
+    # Stationary detection
+    speed = np.linalg.norm(self.vel_device[:2])
+    is_stationary = speed < self.STATIONARY_SPEED and self.gps_speed < self.STATIONARY_SPEED
+
+    # Yaw blending during recalibration
+    if self.state == State.RECALIBRATING and self.yaw_samples:
+      yaw_diff = np.arctan2(np.sin(self.target_yaw - self.yaw_offset),
+                            np.cos(self.target_yaw - self.yaw_offset))
+      yaw_rate = 0.9 if abs(yaw_diff) > 0.5 else 0.5
+      correction = np.clip(yaw_rate * dt * yaw_diff, -self.MAX_YAW_CORRECTION * dt, self.MAX_YAW_CORRECTION * dt)
+      self.yaw_offset += correction
+
+    # Transform velocity to NED
+    yaw = self.get_yaw()
+    cos_yaw, sin_yaw = np.cos(yaw), np.sin(yaw)
+    vel_ned = np.array([
+      cos_yaw * self.vel_device[0] - sin_yaw * self.vel_device[1],
+      sin_yaw * self.vel_device[0] + cos_yaw * self.vel_device[1],
+      self.vel_device[2]
+    ])
+
+    # Integrate position (skip if stationary)
+    if not is_stationary:
+      self.pos_ned += vel_ned * dt
+
+    # Position correction
+    if is_stationary:
+      correction = self.pos_error * 0.05 * dt
+    elif self.state == State.RECALIBRATING:
+      error = self.target_pos - self.pos_ned
+      rate = 0.95 if np.linalg.norm(error[:2]) > 50 else 0.4
+      correction = error * rate * self.gps_quality * dt
+    else:
+      correction = self.pos_error * 0.8 * self.gps_quality * dt
+
+    # Cap correction
+    mag = np.linalg.norm(correction[:2])
+    max_corr = self.MAX_POS_CORRECTION * dt
+    if mag > max_corr:
+      correction *= max_corr / mag
+
+    self.pos_ned += correction
+    if self.state == State.RUNNING:
+      self.pos_error -= correction
+
+    self.last_t = t
+
+  def get_msg(self, log_mono_time):
+    """Build liveGPS message."""
+    msg = messaging.new_message('liveGPS')
+    msg.logMonoTime = log_mono_time
+    gps = msg.liveGPS
+
+    t = log_mono_time * 1e-9
+    gps_age = t - self.last_gps_t
+    is_valid = self.state in (State.RUNNING, State.RECALIBRATING)
+    gps_ok = is_valid and gps_age < 5.0
+
+    if is_valid and self.local_coord is not None:
+      pos_ecef = self.local_coord.ned2ecef(self.pos_ned)
+      geodetic = ecef2geodetic(pos_ecef)
+      gps.latitude = float(geodetic[0])
+      gps.longitude = float(geodetic[1])
+      gps.altitude = float(geodetic[2])
+      gps.bearingDeg = float(np.degrees(self.get_yaw()) % 360)
+      gps.speed = float(np.linalg.norm(self.vel_device[:2]))
+      gps.horizontalAccuracy = float(self.gps_accuracy_h + np.linalg.norm(self.pos_ned[:2]) * 0.1)
+      gps.verticalAccuracy = float(self.gps_accuracy_v)
+      gps.status = 'valid' if gps_ok else ('recalibrating' if self.state == State.RECALIBRATING else 'gpsStale')
+
+    elif self.last_gps_pos is not None:
+      gps.latitude = float(self.last_gps_pos[0])
+      gps.longitude = float(self.last_gps_pos[1])
+      gps.altitude = float(self.last_gps_pos[2])
+      gps.speed = float(self.gps_speed)
+      gps.bearingDeg = float(self.gps_bearing)
+      gps.horizontalAccuracy = float(self.gps_accuracy_h) if self.gps_accuracy_h > 0 else 50.0
+      gps.verticalAccuracy = float(self.gps_accuracy_v) if self.gps_accuracy_v > 0 else 50.0
+      gps.status = 'calibrating' if self.state == State.CALIBRATING else 'initializing'
+
+    else:
+      gps.latitude = 0.0
+      gps.longitude = 0.0
+      gps.altitude = 0.0
+      gps.speed = 0.0
+      gps.bearingDeg = 0.0
+      gps.horizontalAccuracy = 100.0
+      gps.verticalAccuracy = 100.0
+      gps.status = 'noGps'
+
+    gps.gpsOK = gps_ok
+    gps.unixTimestampMillis = self.unix_timestamp_millis
+    gps.lastGpsTimestamp = int(self.last_gps_t * 1e9) if self.last_gps_t > 0 else 0
+
+    return msg
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_service = get_gps_location_service(params)
+  cloudlog.info(f"LiveGPS: using {gps_service}")
+
+  pm = messaging.PubMaster(['liveGPS'])
+  sm = messaging.SubMaster([gps_service, 'livePose'], poll='livePose', ignore_alive=[gps_service])
+
+  gps = LiveGPS()
+
+  # Load last GPS position or default to Taipei 101
+  try:
+    last_pos = params.get("LastGPSPosition")
+    if last_pos:
+      pos_data = json.loads(last_pos)
+      gps.last_gps_pos = [pos_data['latitude'], pos_data['longitude'], pos_data['altitude']]
+      cloudlog.info(f"LiveGPS: loaded last position: {gps.last_gps_pos}")
+    else:
+      raise ValueError("No saved position")
+  except Exception:
+    gps.last_gps_pos = [25.033976, 121.564472, 10.0]  # Taipei 101
+    cloudlog.info("LiveGPS: using default position (Taipei 101)")
+
+  while True:
+    sm.update()
+
+    if sm.updated[gps_service] and sm.valid[gps_service]:
+      gps.handle_gps(sm.logMonoTime[gps_service] * 1e-9, sm[gps_service])
+
+    if sm.updated['livePose']:
+      if sm.valid['livePose']:
+        gps.handle_pose(sm.logMonoTime['livePose'] * 1e-9, sm['livePose'])
+
+      msg = gps.get_msg(sm.logMonoTime['livePose'])
+      pm.send('liveGPS', msg)
+
+      # Save position periodically
+      if sm.frame % 1200 == 0 and gps.state == State.RUNNING and gps.last_gps_pos:
+        if (sm.logMonoTime['livePose'] * 1e-9 - gps.last_gps_t) < 5.0:
+          params.put("LastGPSPosition", json.dumps({
+            'latitude': gps.last_gps_pos[0],
+            'longitude': gps.last_gps_pos[1],
+            'altitude': gps.last_gps_pos[2]
+          }))
+
+
+if __name__ == "__main__":
+  main()

dragonpilot/selfdrive/ui/layouts/settings/dragonpilot.py

@@ -1,20 +1,3 @@
-# Copyright (c) 2026, Rick Lan
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, and/or sublicense,
-# for non-commercial purposes only, subject to the following conditions:
-#
-# - The above copyright notice and this permission notice shall be included in
-#   all copies or substantial portions of the Software.
-# - Commercial use (e.g. use in a product, service, or activity intended to
-#   generate revenue) is prohibited without explicit written permission from
-#   the copyright holder.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-import ast
 import os
 
 from openpilot.system.ui.widgets import Widget, DialogResult
@@ -25,7 +8,7 @@ from openpilot.system.ui.widgets.list_view import toggle_item, simple_item, butt
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.hardware import HARDWARE
-from dragonpilot.settings import SETTINGS, extract_depends_on_refs
+from dragonpilot.settings import SETTINGS
 
 LITE = os.getenv("LITE") is not None
 MICI = HARDWARE.get_device_type() == "mici"
@@ -39,8 +22,6 @@ class DragonpilotLayout(Widget):
 
     self._toggles = {}
     self._toggle_metadata = {}
-    self._defaults: dict[str, str] = {}                          # key -> default value (fallback when param unset)
-    self._reverse_deps: dict[str, list[tuple[str, str]]] = {}    # parent_key -> [(child_key, expr), ...]
     self._item_factories = {
       "toggle_item": toggle_item,
       "spin_button_item": spin_button_item,
@@ -66,26 +47,14 @@ class DragonpilotLayout(Widget):
 
   def _load_settings(self):
     settings_data = SETTINGS
-    self._build_dependency_maps(settings_data)
 
     for i, section in enumerate(settings_data):
-      if not self._check_condition(section.get("condition")):
-        continue
-
-      title_key = f"title_{i}"
-      self._toggles[title_key] = simple_item(title=f"### {section['title']} ###")
-      count_after_title = len(self._toggles)
-
-      for setting in section.get("settings", []):
-        if self._check_condition(setting.get("condition")) and self._check_brands(setting.get("brands")):
-          self._create_item(setting)
-
-      # Drop the header if nothing rendered under it: all items filtered out
-      # (brand/condition) or no device widget factory for the item type
-      # (e.g. dashy-only text_display/text_input/action items). Avoids an
-      # orphan "### Section ###" with no controls.
-      if len(self._toggles) == count_after_title:
-        del self._toggles[title_key]
+      if self._check_condition(section.get("condition")):
+        formatted_title = f"### {section['title']} ###"
+        self._toggles[f"title_{i}"] = simple_item(title=formatted_title)
+        for setting in section.get("settings", []):
+          if self._check_condition(setting.get("condition")) and self._check_brands(setting.get("brands")):
+            self._create_item(setting)
 
   def _check_condition(self, condition):
     if not condition:
@@ -108,45 +77,6 @@ class DragonpilotLayout(Widget):
     """Resolve callable values (lambdas) to their actual values."""
     return value() if callable(value) else value
 
-  def _build_dependency_maps(self, settings_data):
-    """Collect every UI item's default and invert depends_on into a reverse map."""
-    for section in settings_data:
-      for item in section.get("settings", []):
-        if "key" in item and "default" in item:
-          self._defaults[item["key"]] = str(item["default"])
-
-    for section in settings_data:
-      for item in section.get("settings", []):
-        expr = item.get("depends_on")
-        if not expr:
-          continue
-        refs = extract_depends_on_refs(expr)
-        if not refs:
-          continue
-        for parent_key in refs:
-          self._reverse_deps.setdefault(parent_key, []).append((item["key"], expr))
-
-  def _eval_depends_on(self, expr):
-    """Evaluate a depends_on expression against current param-store values.
-    Returns True on any eval error so we fail open (item stays enabled)."""
-    refs = extract_depends_on_refs(expr)
-    if refs is None:
-      return True
-    bindings: dict = {}
-    for ref in refs:
-      raw = ui_state.params.get(ref)
-      val = raw.decode() if isinstance(raw, bytes) else raw
-      if val is None or val == "":
-        val = self._defaults.get(ref, "0")
-      try:
-        bindings[ref] = ast.literal_eval(val)
-      except (ValueError, SyntaxError):
-        bindings[ref] = val
-    try:
-      return bool(eval(expr, bindings))
-    except Exception:
-      return True
-
   def _create_item(self, setting):
     key = setting["key"]
     item_type = setting["type"]
@@ -177,9 +107,24 @@ class DragonpilotLayout(Widget):
       else: # spin_button_item
         args["initial_value"] = int(initial_val)
 
-    # Initial enabled state from depends_on
-    if "depends_on" in setting:
-      args["enabled"] = self._eval_depends_on(setting["depends_on"])
+    # Handle initial enabled state
+    if "initially_enabled_by" in setting:
+      enabled_by = setting["initially_enabled_by"]
+      source_param = enabled_by["param"]
+      source_val_raw = ui_state.params.get(source_param)
+      source_val = source_val_raw.decode() if isinstance(source_val_raw, bytes) else source_val_raw
+      if source_val is None:
+        source_val = enabled_by.get("default")
+
+      if source_val is not None:
+        condition_str = enabled_by["condition"]
+        try:
+          is_enabled = eval(condition_str, {"value": int(source_val)})
+          args["enabled"] = is_enabled
+        except Exception:
+          args["enabled"] = True
+      else:
+        args["enabled"] = True
 
     # Handle callback creation
     primary_action = None
@@ -191,16 +136,30 @@ class DragonpilotLayout(Widget):
       else: # spin_button_item, text_spin_button_item
         primary_action = lambda val, p=param_name: ui_state.params.put(p, int(val))
 
-    # When this item changes, re-evaluate every child that depends on it
-    parent_deps = self._reverse_deps.get(key, [])
+    side_effects = []
+    if "on_change" in setting:
+      for effect in setting["on_change"]:
+        target_key = effect.get("target")
+        action = effect.get("action")
+        condition_str = effect.get("condition")
 
-    def combined_callback(val, deps=parent_deps):
+        if target_key and action == "set_enabled" and condition_str:
+          def create_side_effect(tk=target_key, cs=condition_str):
+            def side_effect_action(val):
+              if tk in self._toggles:
+                try:
+                  is_enabled = eval(cs, {"value": val})
+                  self._toggles[tk].action_item.set_enabled(is_enabled)
+                except Exception:
+                  pass
+            return side_effect_action
+          side_effects.append(create_side_effect())
+
+    def combined_callback(val):
       if primary_action:
         primary_action(val)
-      for child_key, expr in deps:
-        widget = self._toggles.get(child_key)
-        if widget is not None:
-          widget.action_item.set_enabled(self._eval_depends_on(expr))
+      for effect in side_effects:
+        effect(val)
 
     if "callback" in setting and setting["callback"]:
       args["callback"] = getattr(self, setting["callback"])
@@ -236,8 +195,8 @@ class DragonpilotLayout(Widget):
       ui_state.params.put_bool("dp_dev_reset_conf", True)
       ui_state.params.put_bool("DoReboot", True)
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reset ALL DP SETTINGS to default?"), tr("Reset"), callback=reset_dp_conf)
-    gui_app.push_widget(dialog)
+    dialog = ConfirmDialog(tr("Are you sure you want to reset ALL DP SETTINGS to default?"), tr("Reset"))
+    gui_app.set_modal_overlay(dialog, callback=reset_dp_conf)
 
   def show_event(self):
     self._scroller.show_event()
@@ -275,6 +234,8 @@ class DragonpilotLayout(Widget):
           widget.action_item.set_value(int(val_str))
         elif item_type == "text_spin_button_item":
           widget.action_item.set_index(int(val_str))
+        else:  # spin_button_item and text_spin_button_item
+          pass
 
   def _render(self, rect):
     self._scroller.render(rect)

dragonpilot/selfdrive/ui/mici/layouts/dashy_qrcode.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.label import MiciLabel
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from dragonpilot.selfdrive.ui.dashy_qr import DashyQR
@@ -11,14 +11,14 @@ class DashyQRCode(Widget):
     super().__init__()
     self._qr = DashyQR()
 
-    self._title_label = UnifiedLabel(tr("scan to access"), font_size=32, font_weight=FontWeight.BOLD,
-                                  text_color=rl.WHITE, wrap_text=True)
-    self._subtitle_label = UnifiedLabel("dashy", font_size=48, font_weight=FontWeight.DISPLAY,
-                                     text_color=rl.WHITE)
-    self._or_label = UnifiedLabel(tr("or open browser"), font_size=24, font_weight=FontWeight.NORMAL,
-                               text_color=rl.GRAY)
-    self._url_label = UnifiedLabel("", font_size=24, font_weight=FontWeight.NORMAL,
-                                text_color=rl.GRAY, wrap_text=True)
+    self._title_label = MiciLabel(tr("scan to access"), font_size=32, font_weight=FontWeight.BOLD,
+                                  color=rl.WHITE, wrap_text=True)
+    self._subtitle_label = MiciLabel("dashy", font_size=48, font_weight=FontWeight.DISPLAY,
+                                     color=rl.WHITE)
+    self._or_label = MiciLabel(tr("or open browser"), font_size=24, font_weight=FontWeight.NORMAL,
+                               color=rl.GRAY)
+    self._url_label = MiciLabel("", font_size=24, font_weight=FontWeight.NORMAL,
+                                color=rl.GRAY, wrap_text=True)
 
   def show_event(self):
     self._qr.force_update()
@@ -42,7 +42,7 @@ class DashyQRCode(Widget):
     text_width = int(rect.width - text_x)
 
     # Title: "scan to access"
-    self._title_label.set_max_width(text_width)
+    self._title_label.set_width(text_width)
     self._title_label.set_position(text_x, rect.y)
     self._title_label.render()
 
@@ -55,6 +55,6 @@ class DashyQRCode(Widget):
     self._or_label.render()
 
     # URL
-    self._url_label.set_max_width(text_width)
+    self._url_label.set_width(text_width)
     self._url_label.set_position(text_x, rect.y + rect.height - 24)
     self._url_label.render()

dragonpilot/settings.py

@@ -0,0 +1,289 @@
+try:
+  from dragonpilot.system.ui.lib.multilang import tr
+except:
+  from openpilot.system.ui.lib.multilang import tr
+
+SETTINGS = [
+  {
+    "title": "Toyota / Lexus",
+    "condition": "brand == 'toyota'",
+    "settings": [
+      {
+        "key": "dp_toyota_door_auto_lock_unlock",
+        "type": "toggle_item",
+        "title": lambda: tr("Door Auto Lock/Unlock"),
+        "description": lambda: tr("Enable openpilot to auto-lock doors above 20 km/h and auto-unlock when shifting to Park."),
+      },
+      {
+        "key": "dp_toyota_tss1_sng",
+        "type": "toggle_item",
+        "title": lambda: tr("Enable TSS1 SnG Mod"),
+        "description": ""
+      },
+      {
+        "key": "dp_toyota_stock_lon",
+        "type": "toggle_item",
+        "title": lambda: tr("Use Stock Longitudinal Control"),
+        "description": ""
+      },
+
+    ],
+  },
+  {
+    "title": "VAG",
+    "condition": "brand == 'volkswagen'",
+    "settings": [
+      {
+        "key": "dp_vag_a0_sng",
+        "type": "toggle_item",
+        "title": lambda: tr("MQB A0 SnG Mod"),
+        "description": ""
+      },
+      {
+        "key": "dp_vag_pq_steering_patch",
+        "type": "toggle_item",
+        "title": lambda: tr("PQ Steering Patch"),
+        "description": "",
+      },
+      {
+        "key": "dp_vag_avoid_eps_lockout",
+        "type": "toggle_item",
+        "title": lambda: tr("Avoid EPS Lockout"),
+        "description": ""
+      },
+
+    ],
+  },
+  {
+    "title": "Mazda",
+    "condition": "brand == 'mazda'",
+    "settings": [
+
+    ],
+  },
+  {
+    "title": "Lateral",
+    "settings": [
+      {
+        "key": "dp_lat_alka",
+        "type": "toggle_item",
+        "title": lambda: tr("Always-on Lane Keeping Assist (ALKA)"),
+        "description": lambda: tr("Enable lateral control even when ACC/cruise is disengaged, using ACC Main or LKAS button to toggle. Vehicle must be moving."),
+        "brands": ["toyota", "hyundai", "honda", "volkswagen", "subaru", "mazda", "nissan", "ford"],
+      },
+      {
+        "key": "dp_lat_lca_speed",
+        "type": "spin_button_item",
+        "title": lambda: tr("Lane Change Assist At:"),
+        "description": lambda: tr("Off = Disable LCA.<br>1 mph = 1.2 km/h."),
+        "default": 20,
+        "min_val": 0,
+        "max_val": 100,
+        "step": 5,
+        "suffix": lambda: tr("mph"),
+        "special_value_text": lambda: tr("Off"),
+        "on_change": [{
+          "target": "dp_lat_lca_auto_sec",
+          "action": "set_enabled",
+          "condition": "value > 0"
+        }]
+      },
+      {
+        "key": "dp_lat_lca_auto_sec",
+        "type": "double_spin_button_item",
+        "title": lambda: tr("+ Auto Lane Change after:"),
+        "description": lambda: tr("Off = Disable Auto Lane Change."),
+        "default": 0.0,
+        "min_val": 0.0,
+        "max_val": 5.0,
+        "step": 0.5,
+        "suffix": lambda: tr("sec"),
+        "special_value_text": lambda: tr("Off"),
+        "initially_enabled_by": {
+          "param": "dp_lat_lca_speed",
+          "condition": "value > 0",
+          "default": 20
+        }
+      },
+      {
+        "key": "dp_lat_road_edge_detection",
+        "type": "toggle_item",
+        "title": lambda: tr("Road Edge Detection (RED)"),
+        "description": lambda: tr("Block lane change assist when the system detects the road edge.<br>NOTE: This will show 'Car Detected in Blindspot' warning."),
+      },
+      {
+        "key": "dp_lat_offset_cm",
+        "type": "spin_button_item",
+        "title": lambda: tr("Position Offset"),
+        "description": lambda: tr("Fine-tune where the car drives within the lane. Positive values move the car left, negative values move right.<br>Recommended to start with small values (±5cm) and adjust based on preference."),
+        "default": 0,
+        "min_val": -15,
+        "max_val": 15,
+        "step": 1,
+        "suffix": lambda: tr("cm"),
+      },
+
+    ],
+  },
+  {
+    "title": "Longitudinal",
+    "condition": "openpilotLongitudinalControl",
+    "settings": [
+      {
+        "key": "dp_lon_acm",
+        "type": "toggle_item",
+        "title": lambda: tr("Enable Adaptive Coasting Mode (ACM)"),
+        "description": lambda: tr("Adaptive Coasting Mode (ACM) reduces braking to allow smoother coasting when appropriate."),
+      },
+      {
+        "key": "dp_lon_aem",
+        "type": "toggle_item",
+        "title": lambda: tr("Adaptive Experimental Mode (AEM)"),
+        "description": lambda: tr("Adaptive mode switcher between ACC and Blended based on driving context."),
+      },
+      {
+        "key": "dp_lon_dtsc",
+        "type": "toggle_item",
+        "title": lambda: tr("Dynamic Turn Speed Control (DTSC)"),
+        "description": lambda: tr("DTSC automatically adjusts the vehicle's predicted speed based on upcoming road curvature and grip conditions.<br>Originally from the openpilot TACO branch."),
+      },
+
+    ],
+  },
+  {
+    "title": "UI",
+    "settings": [
+      {
+        "key": "dp_ui_display_mode",
+        "type": "text_spin_button_item",
+        "title": lambda: tr("Display Mode"),
+        "description": lambda: tr("Std.: Stock behavior.<br>MAIN+: ACC MAIN on = Display ON.<br>OP+: OP enabled = Display ON.<br>MAIN-: ACC MAIN on = Display OFF<br>OP-: OP enabled = Display OFF."),
+        "default": 0,
+        "options": [
+          lambda: tr("Std."),
+          lambda: tr("MAIN+"),
+          lambda: tr("OP+"),
+          lambda: tr("MAIN-"),
+          lambda: tr("OP-"),
+        ],
+        "condition": "not MICI",
+      },
+      {
+        "key": "dp_ui_hide_hud_speed_kph",
+        "type": "spin_button_item",
+        "title": lambda: tr("Hide HUD When Moves above:"),
+        "description": lambda: tr("To prevent screen burn-in, hide Speed, MAX Speed, and Steering/DM Icons when the car moves.<br>Off = Stock Behavior<br>1 km/h = 0.6 mph"),
+        "default": 0,
+        "min_val": 0,
+        "max_val": 120,
+        "step": 5,
+        "suffix": lambda: tr("km/h"),
+        "special_value_text": lambda: tr("Off"),
+      },
+      {
+        "key": "dp_ui_rainbow",
+        "type": "toggle_item",
+        "title": lambda: tr("Rainbow Driving Path like Tesla"),
+        "description": lambda: tr("Why not?"),
+        "condition": "not MICI",
+      },
+      {
+        "key": "dp_ui_lead",
+        "type": "text_spin_button_item",
+        "title": lambda: tr("Display Lead Stats"),
+        "description": lambda: tr("Display the statistics of lead car and/or radar tracking points.<br>Lead: Lead stats only<br>Radar: Radar tracking point stats only<br>All: Lead and Radar stats<br>NOTE: Radar option only works on certain vehicle models."),
+        "default": 0,
+        "options": [
+          lambda: tr("Off"),
+          lambda: tr("Lead"),
+          lambda: tr("Radar"),
+          lambda: tr("All"),
+        ],
+        "condition": "not MICI",
+      },
+      {
+        "key": "dp_ui_mici",
+        "type": "toggle_item",
+        "title": lambda: tr("Use MICI (comma four) UI"),
+        "description": lambda: tr("Why not?"),
+        "condition": "not MICI",
+      },
+
+    ],
+  },
+  {
+    "title": "Device",
+    "settings": [
+      {
+        "key": "dp_dev_is_rhd",
+        "type": "toggle_item",
+        "title": lambda: tr("Enable Right-Hand Drive Mode"),
+        "description": lambda: tr("Allow openpilot to obey right-hand traffic conventions on right driver seat."),
+        "condition": "LITE",
+      },
+      {
+        "key": "dp_dev_beep",
+        "type": "toggle_item",
+        "title": lambda: tr("Enable Beep (Warning)"),
+        "description": lambda: tr("Use Buzzer for audiable alerts."),
+        "condition": "LITE",
+      },
+      {
+        "key": "dp_lon_ext_radar",
+        "type": "toggle_item",
+        "title": lambda: tr("Use External Radar"),
+        "description": lambda: tr("See https://github.com/eFiniLan/openpilot-ext-radar-addon for more information."),
+      },
+      {
+        "key": "dp_dev_audible_alert_mode",
+        "type": "text_spin_button_item",
+        "title": lambda: tr("Audible Alert"),
+        "description": lambda: tr("Std.: Stock behaviour.<br>Warning: Only emits sound when there is a warning.<br>Off: Does not emit any sound at all."),
+        "default": 0,
+        "options": [
+          lambda: tr("Std."),
+          lambda: tr("Warning"),
+          lambda: tr("Off"),
+        ],
+        "condition": "not LITE",
+      },
+      {
+        "key": "dp_dev_auto_shutdown_in",
+        "type": "spin_button_item",
+        "title": lambda: tr("Auto Shutdown After"),
+        "description": lambda: tr("0 min = Immediately"),
+        "default": -5,
+        "min_val": -5,
+        "max_val": 300,
+        "step": 5,
+        "suffix": lambda: tr("min"),
+        "special_value_text": lambda: tr("Off"),
+      },
+      {
+        "key": "dp_dev_dashy",
+        "type": "toggle_item",
+        "title": lambda: tr("dashy HUD"),
+        "description": lambda: tr("dashy - dragonpilot's all-in-one system hub for you.<br><br>Visit http://<device_ip>:5088 to access.<br><br>Enable this to use HUD feature (live streaming)."),
+      },
+      {
+        "key": "dp_dev_delay_loggerd",
+        "type": "spin_button_item",
+        "title": lambda: tr("Delay Starting Loggerd for:"),
+        "description": lambda: tr("Delays the startup of loggerd and its related processes when the device goes on-road.<br>This prevents the initial moments of a drive from being recorded, protecting location privacy at the start of a trip."),
+        "default": 0,
+        "min_val": 0,
+        "max_val": 300,
+        "step": 5,
+        "suffix": lambda: tr("sec"),
+        "special_value_text": lambda: tr("Off"),
+      },
+      {
+        "key": "dp_dev_disable_connect",
+        "type": "toggle_item",
+        "title": lambda: tr("Disable Comma Connect"),
+        "description": lambda: tr("Disable Comma connect service if you do not wish to upload / being tracked by the service."),
+      },
+
+    ],
+  },
+]

dragonpilot/settings/__init__.py

@@ -1,190 +0,0 @@
-"""
-Copyright (c) 2026, Rick Lan
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, and/or sublicense,
-for non-commercial purposes only, subject to the following conditions:
-
-- The above copyright notice and this permission notice shall be included in
-  all copies or substantial portions of the Software.
-- Commercial use (e.g. use in a product, service, or activity intended to
-  generate revenue) is prohibited without explicit written permission from
-  the copyright holder.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Dragonpilot settings aggregator.
-
-Each feature branch drops a single `<branch>.py` in this directory. The module
-exposes ITEMS - a list of dicts where each dict carries both UI fields (for the
-dp settings panel) and param-storage fields (consumed at build time by
-generate_settings.py to produce common/params_keys.h).
-
-Param-only entries (no UI) just omit the UI fields - they still get picked up
-by the C++ generator but the aggregator skips them.
-
-At import time this module:
-  1. Globs every sibling *.py (except __init__.py)
-  2. Loads each via spec_from_file_location, collects ITEMS, validates shape
-  3. Groups UI items by their "section" field, orders sections per SECTION_ORDER
-  4. Exposes the result as SETTINGS, in the shape the UI panel expects
-
-A failing import is logged and skipped - other features still load.
-"""
-import ast
-import importlib.util
-import sys
-from pathlib import Path
-
-try:
-  from dragonpilot.system.ui.lib.multilang import tr  # noqa: F401  (re-export for feature files)
-except ImportError:
-  from openpilot.system.ui.lib.multilang import tr  # noqa: F401
-
-SECTION_ORDER = [
-  "Toyota / Lexus",
-  "Honda",
-  "HKG",
-  "VAG",
-  "Mazda",
-  "Lateral",
-  "Longitudinal",
-  "UI",
-  "Device",
-  # Upstream openpilot toggle mirrors (dashy-only, gated by `condition: "DASHY"`).
-  "Openpilot",
-  "Developer",
-]
-
-# Brand-gated sections: the whole header + its items are hidden when the
-# current car's brand doesn't match. Generic sections (Lateral/UI/...) are
-# unconditional.
-SECTION_CONDITIONS = {
-  "Toyota / Lexus": "brand == 'toyota'",
-  "Honda":          "brand == 'honda'",
-  "HKG":            "brand == 'hyundai'",
-  "VAG":            "brand == 'volkswagen'",
-  "Mazda":          "brand == 'mazda'",
-}
-
-_UI_REQUIRED_KEYS = {"section", "key", "type", "title"}
-_KNOWN_ITEM_KEYS = _UI_REQUIRED_KEYS | {
-  # UI-side optional fields
-  "description", "default", "min_val", "max_val", "step", "suffix",
-  "special_value_text", "options", "brands", "condition",
-  "depends_on", "param_name", "callback",
-  # Dashy-only fields (no factory on the device dp panel; web UI consumes them).
-  # text_display_item: read-only render of a param's value.
-  # text_input_item: text field that POSTs typed value to the named action endpoint.
-  # action_item: button that POSTs to the named action endpoint with no payload.
-  "action",
-  # Param-storage fields (consumed by generate_settings.py, ignored by UI)
-  "flags", "param_type",
-}
-
-
-def extract_depends_on_refs(expr):
-  """Pull referenced param keys out of a depends_on expression like 'dp_x > 0 and dp_y == 1'."""
-  try:
-    tree = ast.parse(expr, mode="eval")
-  except SyntaxError:
-    return None  # caller handles
-  return {n.id for n in ast.walk(tree) if isinstance(n, ast.Name)}
-
-
-def _validate_item(item, source):
-  """Validate an item for UI rendering. Returns True if the item should be rendered."""
-  key = item.get("key", "?")
-
-  unknown = item.keys() - _KNOWN_ITEM_KEYS
-  if unknown:
-    print(f"[dragonpilot.settings] {source}: item {key} has unknown keys {unknown}")
-
-  # Param-only entries (no "title") aren't rendered - skip silently.
-  if "title" not in item:
-    return False
-
-  missing = _UI_REQUIRED_KEYS - item.keys()
-  if missing:
-    print(f"[dragonpilot.settings] {source}: item {key} missing UI keys {missing}")
-    return False
-  if not callable(item["title"]):
-    print(f"[dragonpilot.settings] {source}: item {key} title must be callable, e.g. lambda: tr(...)")
-    return False
-  return True
-
-
-def _load_feature(py_file):
-  # Filenames mirror branch names (e.g. "min-feat.lat.alka-v2.py"); sanitize for sys.modules.
-  safe = py_file.stem.replace("-", "_").replace(".", "_")
-  module_name = f"_dp_feature_{safe}"
-  spec = importlib.util.spec_from_file_location(module_name, py_file)
-  mod = importlib.util.module_from_spec(spec)
-  sys.modules[module_name] = mod
-  spec.loader.exec_module(mod)
-  return getattr(mod, "ITEMS", [])
-
-
-def _check_dangling_refs(ui_items, all_keys):
-  """Warn loudly when a depends_on expression names a key that isn't declared anywhere.
-  The UI silently no-ops on missing refs, which lets typos hide forever."""
-  for source, item in ui_items:
-    expr = item.get("depends_on")
-    if not expr:
-      continue
-    key = item.get("key", "?")
-    refs = extract_depends_on_refs(expr)
-    if refs is None:
-      print(f"[dragonpilot.settings] {source}: {key}.depends_on {expr!r} is not valid Python")
-      continue
-    for ref in refs:
-      if ref not in all_keys:
-        print(f"[dragonpilot.settings] {source}: {key}.depends_on references {ref!r} "
-              f"which is not defined in any feature file")
-
-
-def _build_settings():
-  settings_dir = Path(__file__).parent
-  by_section: dict[str, list] = {}
-  all_keys: set[str] = set()
-  ui_items: list[tuple[str, dict]] = []  # (source filename, item) for cross-ref check
-
-  for py_file in sorted(settings_dir.glob("*.py")):
-    if py_file.name == "__init__.py":
-      continue
-    try:
-      items = _load_feature(py_file)
-    except Exception as e:
-      print(f"[dragonpilot.settings] Failed to load {py_file.name}: {e}")
-      continue
-
-    for item in items:
-      if "key" in item:
-        all_keys.add(item["key"])
-      if not _validate_item(item, py_file.name):
-        continue
-      ui_items.append((py_file.name, item))
-      by_section.setdefault(item["section"], []).append(item)
-
-  _check_dangling_refs(ui_items, all_keys)
-
-  def _section_entry(title, items):
-    entry = {"title": title, "settings": items}
-    cond = SECTION_CONDITIONS.get(title)
-    if cond:
-      entry["condition"] = cond
-    return entry
-
-  result = []
-  for section in SECTION_ORDER:
-    if section in by_section:
-      result.append(_section_entry(section, by_section[section]))
-  for section, items in by_section.items():
-    if section not in SECTION_ORDER:
-      result.append(_section_entry(section, items))
-  return result
-
-
-SETTINGS = _build_settings()

dragonpilot/settings/brand-honda-nidec-stock-long.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Honda",
-    "key": "dp_honda_nidec_stock_long",
-    "type": "toggle_item",
-    "title": lambda: tr("Use Stock Longitudinal (Nidec)"),
-    "description": lambda: tr("Let the Honda Nidec ACC handle gas and brake instead of openpilot. Lateral control (steering) still runs through openpilot."),
-    "brands": ["honda"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/brand-toyota-stock-lon.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Toyota / Lexus",
-    "key": "dp_toyota_stock_lon",
-    "type": "toggle_item",
-    "title": lambda: tr("Use Stock Longitudinal Control"),
-    "description": lambda: tr("Let the car's built-in ACC handle gas and brake instead of openpilot. Lateral control (steering) still runs through openpilot."),
-    "brands": ["toyota"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/brand-toyota-tss1-sng.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Toyota / Lexus",
-    "key": "dp_toyota_tss1_sng",
-    "type": "toggle_item",
-    "title": lambda: tr("Enable Stop-and-Go on TSS1"),
-    "description": lambda: tr("Restores stop-and-go behavior on Toyota Safety Sense 1.0 vehicles, allowing openpilot to resume from a full stop without driver intervention."),
-    "brands": ["toyota"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/brand-vag-a0-sng.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "VAG",
-    "key": "dp_vag_a0_sng",
-    "type": "toggle_item",
-    "title": lambda: tr("Enable Stop-and-Go on A0 Platform"),
-    "description": lambda: tr("Restores stop-and-go behavior on VAG A0 platform vehicles (Polo, Fabia, Ibiza, etc.), allowing openpilot to resume from a full stop without driver intervention."),
-    "brands": ["volkswagen"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/brand-vag-avoid-eps-lockout.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "VAG",
-    "key": "dp_vag_avoid_eps_lockout",
-    "type": "toggle_item",
-    "title": lambda: tr("Avoid EPS Lockout"),
-    "description": lambda: tr("Scale steering torque down at low speeds to avoid EPS lockout."),
-    "brands": ["volkswagen"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/brand.toyota.door-auto-lock-unlock.py

@@ -1,15 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Toyota / Lexus",
-    "key": "dp_toyota_door_auto_lock_unlock",
-    "type": "toggle_item",
-    "title": lambda: tr("Door Auto Lock/Unlock"),
-    "description": lambda: tr("Enable openpilot to auto-lock doors above 20 km/h and auto-unlock when shifting to Park."),
-    "brands": ["toyota"],
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/min-feat.dev.alert-mode.py

@@ -1,16 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Device",
-    "key": "dp_dev_audible_alert_mode",
-    "type": "text_spin_button_item",
-    "title": lambda: tr("Audible Alert"),
-    "description": lambda: tr("Std.: Stock behaviour.<br>Warning: Only emits sound when there is a warning.<br>Off: Does not emit any sound at all."),
-    "options": [lambda: tr("Std."), lambda: tr("Warning"), lambda: tr("Off")],
-    "default": "0",
-    "condition": "not LITE",
-    "flags": "PERSISTENT",
-    "param_type": "INT",
-  },
-]

dragonpilot/settings/min-feat.dev.alert-mode.yaml

@@ -1,14 +0,0 @@
-settings:
-  - key: dp_dev_audible_alert_mode
-    type: text_spin_button_item
-    title: "Audible Alert"
-    description: "Std.: Stock behaviour.<br>Warning: Only emits sound when there is a warning.<br>Off: Does not emit any sound at all."
-    category: "Device"
-    condition: "not LITE"
-    default: 0
-    options:
-      - "Std."
-      - "Warning"
-      - "Off"
-    flags: PERSISTENT
-    param_type: INT

dragonpilot/settings/min-feat.dev.auto-shutdown.py

@@ -1,20 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Device",
-    "key": "dp_dev_auto_shutdown_in",
-    "type": "spin_button_item",
-    "title": lambda: tr("Auto Shutdown After"),
-    "description": lambda: tr("0 min = Immediately"),
-    "default": "-5",
-    "min_val": -5,
-    "max_val": 300,
-    "step": 5,
-    "suffix": lambda: tr("min"),
-    "special_value_text": lambda: tr("Off"),
-    "condition": "not MICI",
-    "flags": "PERSISTENT",
-    "param_type": "INT",
-  },
-]

dragonpilot/settings/min-feat.dev.auto-shutdown.yaml

@@ -1,15 +0,0 @@
-settings:
-  - key: dp_dev_auto_shutdown_in
-    type: spin_button_item
-    title: "Auto Shutdown After"
-    description: "0 min = Immediately"
-    category: "Device"
-    condition: "not MICI"
-    default: -5
-    min_val: -5
-    max_val: 300
-    step: 5
-    suffix: "min"
-    special_value_text: "Off"
-    flags: PERSISTENT
-    param_type: INT

dragonpilot/settings/min-feat.dev.dashy-v2.py

@@ -1,14 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Device",
-    "key": "dp_dev_dashy",
-    "type": "toggle_item",
-    "title": lambda: tr("Enable dashy Visual"),
-    "description": lambda: tr("dashy - dragonpilot's all-in-one system hub.<br><br>Visit http://&lt;device_ip&gt;:5088 to access.<br><br>Enable this to use Tesla Visual/HUD."),
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]

dragonpilot/settings/min-feat.dev.dashy-v2.yaml

@@ -1,21 +0,0 @@
-settings:
-  - key: dp_dev_dashy
-    type: toggle_item
-    title: "dashy HUD"
-    description: "dashy - dragonpilot's all-in-one system hub for you.<br><br>Visit http://<device_ip>:5088 to access.<br><br>Enable this to use Tesla HUD."
-    category: "Device"
-    flags: PERSISTENT
-    param_type: BOOL
-    default: "0"
-  - key: dp_maa_route
-    category: "Device"
-    flags: CLEAR_ON_MANAGER_START
-    param_type: JSON
-  - key: dp_maa_destination
-    category: "Device"
-    flags: PERSISTENT
-    param_type: JSON
-  - key: dp_maa_places
-    category: "Device"
-    flags: PERSISTENT
-    param_type: JSON

dragonpilot/settings/min-feat.dev.delay-loggerd.py

@@ -1,19 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Device",
-    "key": "dp_dev_delay_loggerd",
-    "type": "spin_button_item",
-    "title": lambda: tr("Delay Starting Loggerd for:"),
-    "description": lambda: tr("Delays the startup of loggerd and its related processes when the device goes on-road.<br>This prevents the initial moments of a drive from being recorded, protecting location privacy at the start of a trip."),
-    "default": "0",
-    "min_val": 0,
-    "max_val": 300,
-    "step": 5,
-    "suffix": lambda: tr("sec"),
-    "special_value_text": lambda: tr("Off"),
-    "flags": "PERSISTENT",
-    "param_type": "INT",
-  },
-]

dragonpilot/settings/min-feat.dev.delay-loggerd.yaml

@@ -1,14 +0,0 @@
-settings:
-  - key: dp_dev_delay_loggerd
-    type: spin_button_item
-    title: "Delay Starting Loggerd for:"
-    description: "Delays the startup of loggerd and its related processes when the device goes on-road.<br>This prevents the initial moments of a drive from being recorded, protecting location privacy at the start of a trip."
-    category: "Device"
-    default: 0
-    min_val: 0
-    max_val: 300
-    step: 5
-    suffix: "sec"
-    special_value_text: "Off"
-    flags: PERSISTENT
-    param_type: INT

dragonpilot/settings/min-feat.dev.disable-connect.py

@@ -1,14 +0,0 @@
-from dragonpilot.settings import tr
-
-ITEMS = [
-  {
-    "section": "Device",
-    "key": "dp_dev_disable_connect",
-    "type": "toggle_item",
-    "title": lambda: tr("Disable Comma Connect"),
-    "description": lambda: tr("Disable Comma connect service if you do not wish to upload / being tracked by the service."),
-    "flags": "PERSISTENT",
-    "param_type": "BOOL",
-    "default": "0",
-  },
-]