Merge remote-tracking branch 'comma/master' into sync-20250531

# Conflicts:
#	.github/workflows/selfdrive_tests.yaml
#	common/params_keys.h
#	msgq_repo
#	opendbc_repo
#	panda
#	selfdrive/car/card.py
#	selfdrive/car/tests/test_car_interfaces.py
#	selfdrive/car/tests/test_models.py
#	selfdrive/test/process_replay/process_replay.py
#	selfdrive/ui/qt/offroad/settings.cc
#	selfdrive/ui/translations/main_ar.ts
#	selfdrive/ui/translations/main_es.ts
#	selfdrive/ui/translations/main_fr.ts
#	selfdrive/ui/translations/main_ja.ts
#	selfdrive/ui/translations/main_ko.ts
#	selfdrive/ui/translations/main_pt-BR.ts
#	selfdrive/ui/translations/main_th.ts
#	selfdrive/ui/translations/main_tr.ts
#	selfdrive/ui/translations/main_zh-CHS.ts
#	selfdrive/ui/translations/main_zh-CHT.ts

.github/workflows/release.yaml

@@ -8,8 +8,7 @@ jobs:
   build_masterci:
     name: build master-ci
     env:
-      TARGET_DIR: /tmp/openpilot
-      ImageOS: ubuntu20
+      ImageOS: ubuntu24
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
@@ -23,7 +22,7 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
+      if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
@@ -39,16 +38,5 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
-    - name: Build master-ci
-      run: |
-        release/build_devel.sh
-    - name: Run tests
-      run: |
-        export PYTHONPATH=$TARGET_DIR
-        cd $TARGET_DIR
-        scons -j$(nproc)
-        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
     - name: Push master-ci
-      run: |
-        unset TARGET_DIR
-        BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_devel.sh

RELEASES.md

@@ -3,6 +3,8 @@ Version 0.9.9 (2025-05-23)
 * New driving model
   * New training architecture using parts from MLSIM
 * Steering actuation delay is now learned online
+* Ford Escape 2023-24 support thanks to incognitojam!
+* Ford Kuga 2024 support thanks to incognitojam!
 * Hyundai Nexo 2021 support thanks to sunnyhaibin!
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
 * Lexus RC 2023 support thanks to nelsonjchen!

SConstruct

@@ -369,7 +369,6 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
-    'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 

common/SConscript

@@ -4,14 +4,10 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'i2c.cc',
   'watchdog.cc',
   'ratekeeper.cc'
 ]
 
-if arch != "Darwin":
-  common_libs.append('gpio.cc')
-
 _common = env.Library('common', common_libs, LIBS="json11")
 
 files = [

common/gpio.cc

@@ -1,84 +0,0 @@
-#include "common/gpio.h"
-
-#include <string>
-
-#ifdef __APPLE__
-int gpio_init(int pin_nr, bool output) {
-  return 0;
-}
-
-int gpio_set(int pin_nr, bool high) {
-  return 0;
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-  return 0;
-}
-
-#else
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <cstring>
-#include <linux/gpio.h>
-#include <sys/ioctl.h>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-int gpio_init(int pin_nr, bool output) {
-  char pin_dir_path[50];
-  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
-                           "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if (pin_dir_path_len <= 0) {
-    return -1;
-  }
-  const char *value = output ? "out" : "in";
-  return util::write_file(pin_dir_path, (void*)value, strlen(value));
-}
-
-int gpio_set(int pin_nr, bool high) {
-  char pin_val_path[50];
-  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
-                           "/sys/class/gpio/gpio%d/value", pin_nr);
-  if (pin_val_path_len <= 0) {
-    return -1;
-  }
-  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-
-  // Assumed that all interrupt pins are unexported and rights are given to
-  // read from gpiochip0.
-  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
-  int fd = open(gpiochip_path.c_str(), O_RDONLY);
-  if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd");
-    return -1;
-  }
-
-  // Setup event
-  struct gpioevent_request rq;
-  rq.lineoffset = pin_nr;
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
-
-  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
-     very short(75us) and is mostly detected as falling edge instead of rising.
-     So if it is detected as rising the following falling edge is skipped. */
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
-
-  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
-  int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
-  if (ret == -1) {
-    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
-    close(fd);
-    return -1;
-  }
-
-  close(fd);
-  return rq.fd;
-}
-
-#endif

common/gpio.h

@@ -1,33 +0,0 @@
-#pragma once
-
-// Pin definitions
-#ifdef QCOM2
-  #define GPIO_HUB_RST_N        30
-  #define GPIO_UBLOX_RST_N      32
-  #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        124
-  #define GPIO_STM_BOOT0        134
-  #define GPIO_BMX_ACCEL_INT    21
-  #define GPIO_BMX_GYRO_INT     23
-  #define GPIO_BMX_MAGN_INT     87
-  #define GPIO_LSM_INT          84
-  #define GPIOCHIP_INT          0
-#else
-  #define GPIO_HUB_RST_N        0
-  #define GPIO_UBLOX_RST_N      0
-  #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        0
-  #define GPIO_STM_BOOT0        0
-  #define GPIO_BMX_ACCEL_INT    0
-  #define GPIO_BMX_GYRO_INT     0
-  #define GPIO_BMX_MAGN_INT     0
-  #define GPIO_LSM_INT          0
-  #define GPIOCHIP_INT          0
-#endif
-
-int gpio_init(int pin_nr, bool output);
-int gpio_set(int pin_nr, bool high);
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);

common/gpio.py

@@ -1,4 +1,6 @@
 import os
+import fcntl
+import ctypes
 from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
       if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret
+
+# *** gpiochip ***
+
+class gpioevent_data(ctypes.Structure):
+  _fields_ = [
+    ("timestamp", ctypes.c_uint64),
+    ("id", ctypes.c_uint32),
+  ]
+
+class gpioevent_request(ctypes.Structure):
+  _fields_ = [
+    ("lineoffset", ctypes.c_uint32),
+    ("handleflags", ctypes.c_uint32),
+    ("eventflags", ctypes.c_uint32),
+    ("label", ctypes.c_char * 32),
+    ("fd", ctypes.c_int)
+  ]
+
+def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
+  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
+  GPIOHANDLE_REQUEST_INPUT = 0x1
+  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
+
+  rq = gpioevent_request()
+  rq.lineoffset = pin
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
+  rq.label = label.encode('utf-8')[:31] + b'\0'
+
+  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
+  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
+  os.close(fd)
+  return int(rq.fd)

common/i2c.cc

@@ -1,92 +0,0 @@
-#include "common/i2c.h"
-
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstdio>
-#include <stdexcept>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define UNUSED(x) (void)(x)
-
-#ifdef QCOM2
-// TODO: decide if we want to install libi2c-dev everywhere
-extern "C" {
-  #include <linux/i2c-dev.h>
-  #include <i2c/smbus.h>
-}
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  char bus_name[20];
-  snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
-
-  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if (i2c_fd < 0) {
-    throw std::runtime_error("Failed to open I2C bus");
-  }
-}
-
-I2CBus::~I2CBus() {
-  if (i2c_fd >= 0) {
-    close(i2c_fd);
-  }
-}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if ((ret < 0) || (ret != len)) { goto fail; }
-
-fail:
-  return ret;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if (ret < 0) { goto fail; }
-
-fail:
-  return ret;
-}
-
-#else
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  UNUSED(bus_id);
-  i2c_fd = -1;
-}
-
-I2CBus::~I2CBus() {}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(buffer);
-  UNUSED(len);
-  return -1;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(data);
-  return -1;
-}
-#endif

common/i2c.h

@@ -1,19 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <mutex>
-
-#include <sys/types.h>
-
-class I2CBus {
-  private:
-    int i2c_fd;
-    std::mutex m;
-
-  public:
-    I2CBus(uint8_t bus_id);
-    ~I2CBus();
-
-    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
-    int set_register(uint8_t device_address, uint register_address, uint8_t data);
-};

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Vegan Filet O Fish (Default)"
+#define DEFAULT_MODEL "Filet o Fish (Default)"

common/params_keys.h

@@ -93,6 +93,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

common/util.py

@@ -1,3 +1,25 @@
+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

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.2"
+  export AGNOS_VERSION="12.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

scripts/usb.sh

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+# testing the GPU box
+
+export XDG_CACHE_HOME=/data/tinycache
+mkdir -p $XDG_CACHE_HOME
+
+cd /data/openpilot/tinygrad_repo/examples
+while true; do
+  AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py
+  sleep 1
+done

selfdrive/car/card.py

@@ -87,6 +87,8 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
+    is_release = self.params.get_bool("IsReleaseBranch")
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -106,7 +108,7 @@ class Car:
 
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -134,7 +136,7 @@ class Car:
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+    if self.CP.secOcRequired and not is_release:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:

selfdrive/car/tests/test_car_interfaces.py

@@ -42,7 +42,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], docs=False)
+                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                alpha_long=args['alpha_long'], docs=False)
     car_params = car_params.as_reader()

selfdrive/car/tests/test_models.py

@@ -153,7 +153,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
     cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP_SP

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:abbb1f5a74a6d047ed4b7f376b19451a9443986660f136afd0f8d76fc254a579
-size 15976894
+oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
+size 15966721

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6dfffac033d7ae8e68aa5763bd9b5dd99ddc748f6a95523c84fc2523eefdec55
+oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
 size 34882971

selfdrive/selfdrived/events.py

@@ -192,6 +192,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
 
+def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Toggle stock LKAS on or off to engage"
+  if CP.brand == "tesla":
+    text = "Switch to Traffic-Aware Cruise Control to engage"
+  elif CP.brand == "mazda":
+    text = "Enable your car's LKAS to engage"
+  elif CP.brand == "nissan":
+    text = "Disable your car's stock LKAS to engage"
+  return NormalPermanentAlert("Invalid LKAS setting", text)
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -245,8 +255,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
-                                       "Toggle stock LKAS on or off to engage"),
+    ET.PERMANENT: invalid_lkas_setting_alert,
     ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 

selfdrive/selfdrived/selfdrived.py

@@ -544,6 +544,7 @@ class SelfdriveD(CruiseHelper):
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
+      self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()

selfdrive/test/process_replay/process_replay.py

@@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params)
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
   params.put("CarParams", CP.to_bytes())

selfdrive/test/test_onroad.py

@@ -40,14 +40,14 @@ PROCS = {
   "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
-  "./encoderd": 17.0,
+  "./encoderd": 13.0,
   "./camerad": 10.0,
-  "selfdrive.controls.plannerd": 9.0,
+  "selfdrive.controls.plannerd": 8.0,
   "./ui": 18.0,
-  "./sensord": 7.0,
+  "system.sensord.sensord": 13.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 21.0,
+  "selfdrive.modeld.dmonitoringmodeld": 18.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,

selfdrive/ui/SConscript

@@ -1,6 +1,5 @@
-import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -83,8 +82,15 @@ if GetOption('extras'):
 
   if arch != "Darwin":
     # build installers
-    senv = qt_env.Clone()
-    senv['LINKFLAGS'].append('-Wl,-strip-debug')
+    raylib_env = env.Clone()
+    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+
+    raylib_libs = common + ["raylib"]
+    if arch == "larch64":
+      raylib_libs += ["GLESv2", "wayland-client", "wayland-egl", "EGL"]
+    else:
+      raylib_libs += ["GL"]
 
     release = "release3"
     installers = [
@@ -94,17 +100,19 @@ if GetOption('extras'):
       ("openpilot_internal", "nightly-dev"),
     ]
 
-    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                        "ld -r -b binary -o $TARGET $SOURCE")
+    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                               "ld -r -b binary -o $TARGET $SOURCE")
     for name, branch in installers:
       d = {'BRANCH': f"'\"{branch}\"'"}
       if "internal" in name:
         d['INTERNAL'] = "1"
 
-      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
-      assert f[0].get_size() < 370*1e3
+      assert f[0].get_size() < 1300*1e3, f[0].get_size()
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):

selfdrive/ui/installer/installer.cc

@@ -1,19 +1,15 @@
-#include <unistd.h>
-
-#include <cstdlib>
+#include <array>
+#include <cassert>
 #include <fstream>
 #include <map>
-#include <string>
-
-#include <QDebug>
-#include <QDir>
-#include <QTimer>
-#include <QVBoxLayout>
 
+#include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/ui/installer/installer.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
+#include "third_party/raylib/include/raylib.h"
+
+int freshClone();
+int cachedFetch(const std::string &cache);
+int executeGitCommand(const std::string &cmd);
 
 std::string get_str(std::string const s) {
   std::string::size_type pos = s.find('?');
@@ -28,136 +24,108 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"
 
-const QString CACHE_PATH = "/data/openpilot.cache";
+const std::string CACHE_PATH = "/data/openpilot.cache";
 
 #define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
+extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
+extern const uint8_t inter_ttf_end[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_end");
+
+Font font;
 
 void run(const char* cmd) {
   int err = std::system(cmd);
   assert(err == 0);
 }
 
-Installer::Installer(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *layout = new QVBoxLayout(this);
-  layout->setContentsMargins(150, 290, 150, 150);
-  layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Installing..."));
-  title->setStyleSheet("font-size: 90px; font-weight: 600;");
-  layout->addWidget(title, 0, Qt::AlignTop);
-
-  layout->addSpacing(170);
-
-  bar = new QProgressBar();
-  bar->setRange(0, 100);
-  bar->setTextVisible(false);
-  bar->setFixedHeight(72);
-  layout->addWidget(bar, 0, Qt::AlignTop);
-
-  layout->addSpacing(30);
-
-  val = new QLabel("0%");
-  val->setStyleSheet("font-size: 70px; font-weight: 300;");
-  layout->addWidget(val, 0, Qt::AlignTop);
-
-  layout->addStretch();
-
-  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
-  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);
-
-  QTimer::singleShot(100, this, &Installer::doInstall);
-
-  setStyleSheet(R"(
-    * {
-      font-family: Inter;
-      color: white;
-      background-color: black;
-    }
-    QProgressBar {
-      border: none;
-      background-color: #292929;
-    }
-    QProgressBar::chunk {
-      background-color: #364DEF;
-    }
-  )");
+void renderProgress(int progress) {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    DrawTextEx(font, "Installing...", (Vector2){150, 290}, 110, 0, WHITE);
+    Rectangle bar = {150, 570, (float)GetScreenWidth() - 300, 72};
+    DrawRectangleRec(bar, (Color){41, 41, 41, 255});
+    progress = std::clamp(progress, 0, 100);
+    bar.width *= progress / 100.0f;
+    DrawRectangleRec(bar, (Color){70, 91, 234, 255});
+    DrawTextEx(font, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
+  EndDrawing();
 }
 
-void Installer::updateProgress(int percent) {
-  bar->setValue(percent);
-  val->setText(QString("%1%").arg(percent));
-  update();
-}
-
-void Installer::doInstall() {
+int doInstall() {
   // wait for valid time
   while (!util::system_time_valid()) {
-    usleep(500 * 1000);
-    qDebug() << "Waiting for valid time";
+    util::sleep_for(500);
+    LOGD("Waiting for valid time");
   }
 
   // cleanup previous install attempts
   run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
 
   // do the install
-  if (QDir(CACHE_PATH).exists()) {
-    cachedFetch(CACHE_PATH);
+  if (util::file_exists(CACHE_PATH)) {
+    return cachedFetch(CACHE_PATH);
   } else {
-    freshClone();
+    return freshClone();
   }
 }
 
-void Installer::freshClone() {
-  qDebug() << "Doing fresh clone";
-  proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(),
-                     "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
+int freshClone() {
+  LOGD("Doing fresh clone");
+  std::string cmd = util::string_format("git clone --progress %s -b %s --depth=1 --recurse-submodules %s 2>&1",
+                                        GIT_URL.c_str(), BRANCH_STR.c_str(), TMP_INSTALL_PATH);
+  return executeGitCommand(cmd);
 }
 
-void Installer::cachedFetch(const QString &cache) {
-  qDebug() << "Fetching with cache: " << cache;
+int cachedFetch(const std::string &cache) {
+  LOGD("Fetching with cache: %s", cache.c_str());
 
-  run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str());
-  int err = chdir(TMP_INSTALL_PATH);
-  assert(err == 0);
-  run(("git remote set-branches --add origin " + BRANCH_STR).c_str());
+  run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, BRANCH_STR.c_str()).c_str());
 
-  updateProgress(10);
+  renderProgress(10);
 
-  proc.setWorkingDirectory(TMP_INSTALL_PATH);
-  proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()});
+  return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, BRANCH_STR.c_str()));
 }
 
-void Installer::readProgress() {
-  const QVector<QPair<QString, int>> stages = {
+int executeGitCommand(const std::string &cmd) {
+  static const std::array stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    std::pair{"Receiving objects: ", 91},
+    std::pair{"Resolving deltas: ", 2},
+    std::pair{"Updating files: ", 7},
   };
 
-  auto line = QString(proc.readAllStandardError());
+  FILE *pipe = popen(cmd.c_str(), "r");
+  if (!pipe) return -1;
 
-  int base = 0;
-  for (const QPair kv : stages) {
-    if (line.startsWith(kv.first)) {
-      auto perc = line.split(kv.first)[1].split("%")[0];
-      int p = base + int(perc.toFloat() / 100. * kv.second);
-      updateProgress(p);
-      break;
+  char buffer[512];
+  while (fgets(buffer, sizeof(buffer), pipe) != nullptr) {
+    std::string line(buffer);
+    int base = 0;
+    for (const auto &[text, weight] : stages) {
+      if (line.find(text) != std::string::npos) {
+        size_t percentPos = line.find("%");
+        if (percentPos != std::string::npos && percentPos >= 3) {
+          int percent = std::stoi(line.substr(percentPos - 3, 3));
+          int progress = base + int(percent / 100. * weight);
+          renderProgress(progress);
+        }
+        break;
+      }
+      base += weight;
     }
-    base += kv.second;
   }
+  return pclose(pipe);
 }
 
-void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
-  qDebug() << "git finished with " << exitCode;
+void cloneFinished(int exitCode) {
+  LOGD("git finished with %d", exitCode);
   assert(exitCode == 0);
 
-  updateProgress(100);
+  renderProgress(100);
 
   // ensure correct branch is checked out
   int err = chdir(TMP_INSTALL_PATH);
@@ -203,13 +171,17 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
+  util::sleep_for(60 * 1000);
 }
 
 int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Installer installer;
-  setMainWindow(&installer);
-  return a.exec();
+  InitWindow(2160, 1080, "Installer");
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
+  renderProgress(0);
+  int result = doInstall();
+  cloneFinished(result);
+  CloseWindow();
+  UnloadFont(font);
+  return 0;
 }

selfdrive/ui/installer/installer.h

@@ -1,28 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QProcess>
-#include <QProgressBar>
-#include <QWidget>
-
-class Installer : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Installer(QWidget *parent = 0);
-
-private slots:
-  void updateProgress(int percent);
-
-  void readProgress();
-  void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus);
-
-private:
-  QLabel *val;
-  QProgressBar *bar;
-  QProcess proc;
-
-  void doInstall();
-  void freshClone();
-  void cachedFetch(const QString &cache);
-};

selfdrive/ui/installer/inter-ascii.ttf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef26a4099ef867f3493389379d882381a2491cdbfa41a086be8899a2154dcb3
+size 26160

selfdrive/ui/qt/network/networking.cc

@@ -190,7 +190,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   // Wi-Fi metered toggle
   std::vector<QString> metered_button_texts{tr("default"), tr("metered"), tr("unmetered")};
-  wifiMeteredToggle = new MultiButtonControl(tr("Wi-Fi Network Metered"), tr("Prevent large data uploads when on a metered Wi-FI connection"), "", metered_button_texts);
+  wifiMeteredToggle = new MultiButtonControl(tr("Wi-Fi Network Metered"), tr("Prevent large data uploads when on a metered Wi-Fi connection"), "", metered_button_texts);
   QObject::connect(wifiMeteredToggle, &MultiButtonControl::buttonClicked, [=](int id) {
     wifiMeteredToggle->setEnabled(false);
     MeteredType metered = MeteredType::UNKNOWN;

selfdrive/ui/qt/offroad/settings.cc

@@ -17,55 +17,63 @@
 #include "selfdrive/ui/qt/offroad/firehose.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+  // param, title, desc, icon, restart needed
+  std::vector<std::tuple<QString, QString, QString, QString, bool>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
       tr("Enable sunnypilot"),
-      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
+      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature."),
       "../assets/icons/chffr_wheel.png",
+      true,
     },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
       "",
       "../assets/icons/experimental_white.svg",
+      false,
     },
     {
       "DynamicExperimentalControl",
       tr("Enable Dynamic Experimental Control"),
       tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
       "../assets/offroad/icon_blank.png",
+      false,
     },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
       tr("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
       "../assets/icons/disengage_on_accelerator.svg",
+      false,
     },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),
       tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/icons/warning.png",
+      false,
     },
     {
       "AlwaysOnDM",
       tr("Always-On Driver Monitoring"),
       tr("Enable driver monitoring even when sunnypilot is not engaged."),
       "../assets/icons/monitoring.png",
+      false,
     },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
       tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/icons/monitoring.png",
+      true,
     },
     {
       "IsMetric",
       tr("Use Metric System"),
       tr("Display speed in km/h instead of mph."),
       "../assets/icons/metric.png",
+      false,
     },
   };
 
@@ -81,12 +89,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
-  for (auto &[param, title, desc, icon] : toggle_defs) {
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
     bool locked = params.getBool((param + "Lock").toStdString());
     toggle->setEnabled(!locked);
 
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControl::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
 
@@ -205,12 +225,20 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
-      params.remove("CalibrationParams");
-      params.remove("LiveTorqueParameters");
-      params.remove("LiveParameters");
-      params.remove("LiveParametersV2");
-      params.remove("LiveDelay");
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("CalibrationParams");
+          params.remove("LiveTorqueParameters");
+          params.remove("LiveParameters");
+          params.remove("LiveParametersV2");
+          params.remove("LiveDelay");
+          params.putBool("OnroadCycleRequested", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert(tr("Disengage to Reset Calibration"), this);
     }
   });
   addItem(resetCalibBtn);
@@ -249,7 +277,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
-      if (btn != pair_device) {
+      if (btn != pair_device && btn != resetCalibBtn) {
         btn->setEnabled(offroad);
       }
     }
@@ -305,6 +333,7 @@ void DevicePanel::updateCalibDescription() {
       qInfo() << "invalid CalibrationParams";
     }
   }
+  desc += tr(" Resetting calibration will restart openpilot if the car is powered on.");
   qobject_cast<ButtonControl *>(sender())->setDescription(desc);
 }
 

selfdrive/ui/translations/main_ar.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>محدود بالاتصال الخلوي</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>شبكة مخفية</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>من أجل &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>وضع المناورة الطولية</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي sunnypilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي في sunnypilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>في هذه السيارة يعمل sunnypilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من sunnypilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>تمكين ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>إقران</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -530,6 +550,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -548,13 +611,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>جارٍ التثبيت...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -588,6 +644,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -615,10 +687,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -628,12 +696,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -925,6 +1160,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -970,14 +1229,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>إغلاق</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1138,6 +1389,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1429,108 +1688,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">اختيار</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">اختر فرعاً</translation>
     </message>
 </context>
 <context>
@@ -1834,10 +2005,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>قد يتم الحصول على التحكم الطولي في sunnypilot في عمليات التحديث المستقبلية.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>يمكن اختبار نسخة ألفا من التحكم الطولي من sunnypilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة.</translation>
@@ -1875,8 +2042,16 @@ This may take up to a minute.</source>
         <translation>تمكين sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام sunnypilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_es.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Plano de datos limitado</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Red Oculta</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>para &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo de maniobra longitudinal</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de sunnypilot (fase experimental)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: el control longitudinal de sunnypilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>En este automóvil, sunnypilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de sunnypilot. Habilita esta opción para cambiar al control longitudinal de sunnypilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de sunnypilot (aún en fase experimental).</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Disengage to Power Off</source>
         <translation>Desactivar para apagar</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Salir</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,14 @@ Esto puede tardar un minuto.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1668,20 @@ Esto puede tardar un minuto.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECCIONAR</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Formatear Calibración</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione una rama</translation>
     </message>
 </context>
 <context>
@@ -1830,10 +2001,6 @@ Esto puede tardar un minuto.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>El control longitudinal de sunnypilot podrá llegar en futuras actualizaciones.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Se puede probar una versión experimental del control longitudinal sunnypilot, junto con el modo Experimental, en ramas no liberadas.</translation>
@@ -1855,8 +2022,16 @@ Esto puede tardar un minuto.</translation>
         <translation>Activar sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema sunnypilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_fr.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Connexion cellulaire limitée</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Éviter les transferts de données importants sur une connexion limitée</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Réseau Caché</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>pour &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Mode manœuvre longitudinale</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Contrôle longitudinal sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, sunnypilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;sunnypilot. Activez ceci pour passer au contrôle longitudinal sunnypilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal sunnypilot alpha.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>ASSOCIER</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installation...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuer</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Quitter</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1668,20 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SÉLECTIONNER</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Réinitialiser la calibration</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuer</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Sélectionner une branche</translation>
     </message>
 </context>
 <context>
@@ -1810,10 +1981,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d&apos;origine est utilisé pour le contrôle longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>Le contrôle longitudinal sunnypilot pourrait être disponible dans une future mise à jour.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
@@ -1855,8 +2022,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Activer sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilisez le système sunnypilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ja.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>従量制通信設定</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>大量のデータのアップロードを防止する</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>ネットワーク非表示</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>[%1]</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>アクセル制御マニューバー</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilotアクセル制御(Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>この車ではsunnypilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>この車では、sunnypilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、sunnypilotのアクセル制御は無効化されています。アクセル制御をsunnypilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADBを有効にする</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>OK</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最大速度</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>インストール中...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選択</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">続ける</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>閉じる</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1663,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選択</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">キャリブレーションリセット</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">続ける</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">ブランチを選択</translation>
     </message>
 </context>
 <context>
@@ -1809,10 +1980,6 @@ This may take up to a minute.</source>
         <source>End-to-End Longitudinal Control</source>
         <translation>End-to-Endアクセル制御</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilotのアクセル制御は将来のアップデートで利用できる可能性があります。</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>sunnypilotのアルファ版アクセル制御は、Experimentalモードと共に非リリースのブランチでテストすることができます。</translation>
@@ -1850,8 +2017,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot を有効化</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>sunnypilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ko.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>데이터 요금제</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>숨겨진 네트워크</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>롱컨 제어 모드</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 가감속 제어 (알파)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: sunnypilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>이 차량에서 sunnypilot은 sunnypilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. sunnypilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. sunnypilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADB 사용</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>동기화</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>설치 중...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선택</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">캘리브레이션</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">계속</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>종료</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1663,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">선택</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">캘리브레이션</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">계속</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">브랜치 선택</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1960,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>공격적</translation>
@@ -1850,8 +2017,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot 사용</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 sunnypilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Plano de Dados Limitado</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Rede Oculta</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>para &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal sunnypilot (Embrionário)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal sunnypilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Neste carro, o sunnypilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do sunnypilot. Habilite isso para alternar para o controle longitudinal sunnypilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal sunnypilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>Habilitar ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>PAREAR</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>LIMITE</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Reinicializar Calibragem</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Sair</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,14 @@ Isso pode levar até um minuto.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1668,20 @@ Isso pode levar até um minuto.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECIONE</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Reinicializar Calibragem</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione uma branch</translation>
     </message>
 </context>
 <context>
@@ -1794,10 +1965,6 @@ Isso pode levar até um minuto.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal sunnypilot poderá vir em uma atualização futura.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>Disputa</translation>
@@ -1855,8 +2022,16 @@ Isso pode levar até um minuto.</translation>
         <translation>Ativar sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Use o sistema sunnypilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_th.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>ลดการส่งข้อมูลผ่านเซลลูล่าร์</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>เครือข่ายที่ซ่อนอยู่</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย sunnypilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ sunnypilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย sunnypilot เปิดสวิตซ์นี้เพื่อให้ sunnypilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ sunnypilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>จับคู่</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>สูงสุด</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>กำลังติดตั้ง...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือก</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">ดำเนินการต่อ</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ยกเลิก</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>ปิด</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1663,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">เลือก</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">ดำเนินการต่อ</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ยกเลิก</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">เลือก Branch</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1960,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>ระบบควบคุมการเร่ง/เบรคโดย sunnypilot อาจมาในการอัปเดตในอนาคต</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>ดุดัน</translation>
@@ -1850,8 +2017,16 @@ This may take up to a minute.</source>
         <translation>เปิดใช้งาน sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>ใช้ระบบ sunnypilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_tr.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation type="unfinished"></translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation type="unfinished">için &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Yükleniyor...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,10 +686,177 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Devam et</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -914,6 +1149,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -959,14 +1218,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Çık</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1111,6 +1362,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1402,107 +1661,19 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Devam et</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
+        <source>Select a branch</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1807,10 +1978,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
@@ -1848,8 +2015,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot&apos;u aktifleştir</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için sunnypilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>按流量计费的手机移动网络</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>当使用按流量计费的连接时，避免上传大流量数据</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>隐藏的网络</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>网络名称：&quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>纵向操控测试模式</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot纵向控制（Alpha 版）</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此车辆的 sunnypilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在这辆车上，sunnypilot 默认使用车辆内建的主动巡航控制（ACC），而非 sunnypilot 的纵向控制。启用此项功能可切换至 sunnypilot 的纵向控制。当启用 sunnypilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>启用 ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>配对</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高定速</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>正在安装……</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">重置设备校准</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">继续</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>退出</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1663,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">选择</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重置设备校准</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">继续</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">选择分支</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1960,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot纵向控制可能会在未来的更新中提供。</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>积极</translation>
@@ -1850,8 +2017,16 @@ This may take up to a minute.</source>
         <translation>启用sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用sunnypilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>行動網路</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>防止使用行動網路上傳大量的數據</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>隱藏的網路</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>給 &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>縱向操控測試模式</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 縱向控制 (Alpha 版)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 sunnypilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在這輛車上，sunnypilot 預設使用車輛內建的主動巡航控制（ACC），而非 sunnypilot 的縱向控制。啟用此項功能可切換至 sunnypilot 的縱向控制。當啟用 sunnypilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>啟用 ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>配對</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>安裝中…</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選取</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">重設校準</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">繼續</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>離開</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,14 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1663,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選取</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重設校準</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">繼續</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">選取一個分支</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1960,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 縱向控制可能會在未來的更新中提供。</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>積極</translation>
@@ -1850,8 +2017,16 @@ This may take up to a minute.</source>
         <translation>啟用 sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用 sunnypilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/ui.cc

@@ -91,6 +91,11 @@ void UIState::updateStatus() {
     }
   }
 
+  if (engaged() != engaged_prev) {
+    engaged_prev = engaged();
+    emit engagedChanged(engaged());
+  }
+
   // Handle onroad/offroad transition
   if (scene.started != started_prev || sm->frame == 1) {
     if (scene.started) {

selfdrive/ui/ui.h

@@ -85,6 +85,7 @@ public:
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
+  void engagedChanged(bool engaged);
 
 protected slots:
   virtual void update();
@@ -94,6 +95,7 @@ protected:
 
 private:
   bool started_prev = false;
+  bool engaged_prev = false;
 };
 
 #ifndef SUNNYPILOT

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-bfbbf61606dad5d9349db246ad51a3468490d756bc61106a63fb5a220af4cdc6
+dec34c57c4131f6fca5d1035201d1afbf43e5250cede7bfdc798371af008afad

system/hardware/base.py

@@ -210,6 +210,9 @@ class HardwareBase(ABC):
   def configure_modem(self):
     pass
 
+  def reboot_modem(self):
+    pass
+
   @abstractmethod
   def get_networks(self):
     pass

system/hardware/esim.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import argparse
-
+import time
 from openpilot.system.hardware import HARDWARE
 
 
@@ -14,14 +14,16 @@ if __name__ == '__main__':
   parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
   args = parser.parse_args()
 
+  mutated = False
   lpa = HARDWARE.get_sim_lpa()
   if args.switch:
     lpa.switch_profile(args.switch)
+    mutated = True
   elif args.delete:
     confirm = input('are you sure you want to delete this profile? (y/N) ')
     if confirm == 'y':
       lpa.delete_profile(args.delete)
-      print('deleted profile, please restart device to apply changes')
+      mutated = True
     else:
       print('cancelled')
       exit(0)
@@ -32,6 +34,11 @@ if __name__ == '__main__':
   else:
     parser.print_help()
 
+  if mutated:
+    HARDWARE.reboot_modem()
+    # eUICC needs a small delay post-reboot before querying profiles
+    time.sleep(.5)
+
   profiles = lpa.list_profiles()
   print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
   for p in profiles:

system/hardware/hardwared.py

@@ -34,6 +34,7 @@ CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -170,6 +171,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    "not_onroad_cycle": True,
   }
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
@@ -195,6 +197,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   should_start_prev = False
   in_car = False
   engaged_prev = False
+  offroad_cycle_count = 0
 
   params = Params()
   power_monitor = PowerMonitoring()
@@ -211,6 +214,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
+    # handle requests to cycle system started state
+    if params.get_bool("OnroadCycleRequested"):
+      params.put_bool("OnroadCycleRequested", False)
+      offroad_cycle_count = sm.frame
+    onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
+
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
@@ -231,7 +240,7 @@ def hardware_thread(end_event, hw_queue) -> None:
         cloudlog.error("panda timed out onroad")
 
     # Run at 2Hz, plus either edge of ignition
-    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
+    ign_edge = (started_ts is not None) != all(onroad_conditions.values())
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 

system/hardware/tici/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968.img.xz",
-    "hash": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968",
-    "hash_raw": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42.img.xz",
+    "hash": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
+    "hash_raw": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "800868bd9d340f1fdf8340924caca374409624658324607621663fc5c7d10d4f"
+    "ondevice_hash": "6b7b3371100ad36d8a5a9ff19a1663b9b9e2d5e99cbe3cf9255e9c3017291ce3"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1.img.xz",
-    "hash": "226794914e9d157b34cc86f1fbe1f2827a9a9919dbe560021b61573a7e5d3101",
-    "hash_raw": "4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img.xz",
+    "hash": "993d6a1cd2b684e2b1cf6ff840f8996f02a529011372d9c1471e4c80719e7da9",
+    "hash_raw": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "236890f04ee21b7eb92a59bc47971bd96cad5a4381ed8935eb4be0cb5a4cf48b",
+    "ondevice_hash": "59db25651da977eeb16a1af741fd01fc3d6b50d21544b1a7428b7c86b2cdef2d",
     "alt": {
-      "hash": "4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1.img",
+      "hash": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img",
       "size": 5368709120
     }
   }

system/hardware/tici/all-partitions.json

@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968.img.xz",
-    "hash": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968",
-    "hash_raw": "eb0dd0a8ffdc1c03aa28d055788d70be885a00f523b552d7acf79b954838e968",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42.img.xz",
+    "hash": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
+    "hash_raw": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "800868bd9d340f1fdf8340924caca374409624658324607621663fc5c7d10d4f"
+    "ondevice_hash": "6b7b3371100ad36d8a5a9ff19a1663b9b9e2d5e99cbe3cf9255e9c3017291ce3"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1.img.xz",
-    "hash": "226794914e9d157b34cc86f1fbe1f2827a9a9919dbe560021b61573a7e5d3101",
-    "hash_raw": "4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img.xz",
+    "hash": "993d6a1cd2b684e2b1cf6ff840f8996f02a529011372d9c1471e4c80719e7da9",
+    "hash_raw": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "236890f04ee21b7eb92a59bc47971bd96cad5a4381ed8935eb4be0cb5a4cf48b",
+    "ondevice_hash": "59db25651da977eeb16a1af741fd01fc3d6b50d21544b1a7428b7c86b2cdef2d",
     "alt": {
-      "hash": "4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-4c3fa88833a8a3876653fa53a658769ecc64be8fc6f6a28ce520ef79bf3061c1.img",
+      "hash": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img",
       "size": 5368709120
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f6d24876234f6bea9cc753892eea99ac4b0c8646e93b93d76fc5dddce67347f1.img.xz",
-    "hash": "2485459e9fbfc0d88a59a017bfa193d97b80afed30d6f59db711e53f62a21c72",
-    "hash_raw": "f6d24876234f6bea9cc753892eea99ac4b0c8646e93b93d76fc5dddce67347f1",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-89a161f17b86637413fe10a641550110b626b699382f5138c02267b7866a8494.img.xz",
+    "hash": "99d9e6cf6755581c6879bbf442bd62212beb8a04116e965ab987135b8842188b",
+    "hash_raw": "89a161f17b86637413fe10a641550110b626b699382f5138c02267b7866a8494",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "893cfb3e95d6025b9fa6a5c8c3b97bf2abc4ff036c3da846a07536653dbb3a1d"
+    "ondevice_hash": "24ea29ab9c4ecec0568a4aa83e38790fedfce694060e90f4bde725931386ff41"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-14f0f02e53ce62a79b337d7b3174dcaffebaa4130264bb5ed9105d942338230b.img.xz",
-    "hash": "9222aebb280531b7015ee9bab3848dd195567d075b6f37f74d4cd0186685a11f",
-    "hash_raw": "14f0f02e53ce62a79b337d7b3174dcaffebaa4130264bb5ed9105d942338230b",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-cdd3401168819987c4840765bba1aa2217641b1a6a4165c412f44cac14ccfcbf.img.xz",
+    "hash": "5fbfa008a7f6b58ab01d4d171f3185924d4c9db69b54f4bfc0f214c6f17c2435",
+    "hash_raw": "cdd3401168819987c4840765bba1aa2217641b1a6a4165c412f44cac14ccfcbf",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "a5459ec858d39e3d0709a09af430cb644fe640f92e0cd216b138f01401e4e17e"
+    "ondevice_hash": "c07dc2e883a23d4a24d976cdf53a767a2fd699c8eeb476d60cdf18e84b417a52"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-180ad331538f20c00218d41591afed3a25bb0f76fa30b1a665cad102cf6c9f7d.img.xz",
-    "hash": "7fc09317f005676150bfcced43ebb1aa919d854c2511d547a588a35c1122bfe3",
-    "hash_raw": "180ad331538f20c00218d41591afed3a25bb0f76fa30b1a665cad102cf6c9f7d",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd.img.xz",
+    "hash": "b3bc293c9c5e0480ef663e980c8ccb2fb83ffd230c85f8797830fb61b8f59360",
+    "hash_raw": "2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "1a2f2d14c922bd2895073446460a0bd680711a7b14318a4402631635e6d133b3"
+    "ondevice_hash": "8dae1cda089828c750d1d646337774ccd9432f567ecefde19a06dc7feeda9cd3"
   }
 ]

system/hardware/tici/esim.nmconnection

@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]

system/hardware/tici/esim.py

@@ -54,15 +54,10 @@ class TiciLPA(LPABase):
     self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
 
   def switch_profile(self, iccid: str) -> None:
-    self._enable_profile(iccid)
-
-  def _enable_profile(self, iccid: str) -> None:
     self._validate_profile_exists(iccid)
     latest = self.get_active_profile()
-    if latest:
-      if latest.iccid == iccid:
-        return
-      self._validate_successful(self._invoke('profile', 'disable', latest.iccid))
+    if latest and latest.iccid == iccid:
+      return
     self._validate_successful(self._invoke('profile', 'enable', iccid))
     self._process_notifications()
 

system/hardware/tici/hardware.py

@@ -3,12 +3,12 @@ import math
 import os
 import subprocess
 import time
-import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
+from openpilot.common.util import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
@@ -62,25 +62,6 @@ MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
-def sudo_write(val, path):
-  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 ""
-
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
   if len(irqs) == 0:
@@ -518,18 +499,19 @@ class Tici(HardwareBase):
       except Exception:
         pass
 
-    # eSIM prime
+    # we use the lte connection built into AGNOS. cleanup esim connection if it exists
     dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
+    if os.path.exists(dest):
+      os.system(f"sudo nmcli con delete {dest}")
+      self.reboot_modem()
 
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
+  def reboot_modem(self):
+    modem = self.get_modem()
+    for state in (0, 1):
+      try:
+        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
 
   def get_networks(self):
     r = {}

system/manager/process_config.py

@@ -108,7 +108,7 @@ procs = [
   PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
-  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
+  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),

system/sensord/.gitignore

@@ -1 +0,0 @@
-sensord

system/sensord/SConscript

@@ -1,17 +0,0 @@
-Import('env', 'arch', 'common', 'messaging')
-
-sensors = [
-  'sensors/i2c_sensor.cc',
-  'sensors/bmx055_accel.cc',
-  'sensors/bmx055_gyro.cc',
-  'sensors/bmx055_magn.cc',
-  'sensors/bmx055_temp.cc',
-  'sensors/lsm6ds3_accel.cc',
-  'sensors/lsm6ds3_gyro.cc',
-  'sensors/lsm6ds3_temp.cc',
-  'sensors/mmc5603nj_magn.cc',
-]
-libs = [common, messaging, 'pthread']
-if arch == "larch64":
-  libs.append('i2c')
-env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)

system/sensord/sensord.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+import os
+import time
+import ctypes
+import select
+import threading
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import sudo_write
+from openpilot.common.realtime import config_realtime_process, Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
+
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
+from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
+from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
+from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
+
+I2C_BUS_IMU = 1
+
+def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
+  pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
+
+  # Requesting both edges as the data ready pulse from the lsm6ds sensor is
+  # very short (75us) and is mostly detected as falling edge instead of rising.
+  # So if it is detected as rising the following falling edge is skipped.
+  fd = gpiochip_get_ro_value_fd("sensord", 0, 84)
+
+  # Configure IRQ affinity
+  irq_path = "/proc/irq/336/smp_affinity_list"
+  if not os.path.exists(irq_path):
+    irq_path = "/proc/irq/335/smp_affinity_list"
+  if os.path.exists(irq_path):
+    sudo_write('1\n', irq_path)
+
+  offset = time.time_ns() - time.monotonic_ns()
+
+  poller = select.poll()
+  poller.register(fd, select.POLLIN | select.POLLPRI)
+  while not event.is_set():
+    events = poller.poll(100)
+    if not events:
+      cloudlog.error("poll timed out")
+      continue
+    if not (events[0][1] & (select.POLLIN | select.POLLPRI)):
+      cloudlog.error("no poll events set")
+      continue
+
+    dat = os.read(fd, ctypes.sizeof(gpioevent_data)*16)
+    evd = gpioevent_data.from_buffer_copy(dat)
+
+    cur_offset = time.time_ns() - time.monotonic_ns()
+    if abs(cur_offset - offset) > 10 * 1e6:  # ms
+      cloudlog.warning(f"time jumped: {cur_offset} {offset}")
+      offset = cur_offset
+      continue
+
+    ts = evd.timestamp - cur_offset
+    for sensor, service, interrupt in sensors:
+      if interrupt:
+        try:
+          evt = sensor.get_event(ts)
+          if not sensor.is_data_valid():
+            continue
+          msg = messaging.new_message(service, valid=True)
+          setattr(msg, service, evt)
+          pm.send(service, msg)
+        except Sensor.DataNotReady:
+          pass
+        except Exception:
+          cloudlog.exception(f"Error processing {service}")
+
+
+def polling_loop(sensor: Sensor, service: str, event: threading.Event) -> None:
+  pm = messaging.PubMaster([service])
+  rk = Ratekeeper(SERVICE_LIST[service].frequency, print_delay_threshold=None)
+  while not event.is_set():
+    try:
+      evt = sensor.get_event()
+      if not sensor.is_data_valid():
+        continue
+      msg = messaging.new_message(service, valid=True)
+      setattr(msg, service, evt)
+      pm.send(service, msg)
+    except Exception:
+      cloudlog.exception(f"Error in {service} polling loop")
+    rk.keep_time()
+
+def main() -> None:
+  config_realtime_process([1, ], 1)
+
+  sensors_cfg = [
+    (LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True),
+    (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
+    (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
+    (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
+  ]
+
+  # Initialize sensors
+  exit_event = threading.Event()
+  threads = [
+    threading.Thread(target=interrupt_loop, args=(sensors_cfg, exit_event), daemon=True)
+  ]
+  for sensor, service, interrupt in sensors_cfg:
+    try:
+      sensor.init()
+      if not interrupt:
+        # Start polling thread for sensors without interrupts
+        threads.append(threading.Thread(
+          target=polling_loop,
+          args=(sensor, service, exit_event),
+          daemon=True
+        ))
+    except Exception:
+      cloudlog.exception(f"Error initializing {service} sensor")
+
+  try:
+    for t in threads:
+      t.start()
+    while any(t.is_alive() for t in threads):
+      time.sleep(1)
+  except KeyboardInterrupt:
+    pass
+  finally:
+    exit_event.set()
+    for t in threads:
+      if t.is_alive():
+        t.join()
+
+    for sensor, _, _ in sensors_cfg:
+      try:
+        sensor.shutdown()
+      except Exception:
+        cloudlog.exception("Error shutting down sensor")
+
+if __name__ == "__main__":
+  main()

system/sensord/sensors/bmx055_accel.cc

@@ -1,85 +0,0 @@
-#include "system/sensord/sensors/bmx055_accel.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Accel::init() {
-  int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // bmx055 accel has a 1.3ms wakeup time from deep suspend mode
-  util::sleep_for(10);
-
-  // High bandwidth
-  // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Accel::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 12 bit = +-2g
-  float scale = 9.81 * 2.0f / (1 << 11);
-  float x = -read_12_bit(buffer[0], buffer[1]) * scale;
-  float y = -read_12_bit(buffer[2], buffer[3]) * scale;
-  float z = read_12_bit(buffer[4], buffer[5]) * scale;
-
-  auto event = msg.initEvent().initAccelerometer2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_ACCELEROMETER);
-  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initAcceleration();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}

system/sensord/sensors/bmx055_accel.h

@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_ACCEL_I2C_ADDR       0x18
-
-// Registers of the chip
-#define BMX055_ACCEL_I2C_REG_ID     0x00
-#define BMX055_ACCEL_I2C_REG_X_LSB  0x02
-#define BMX055_ACCEL_I2C_REG_TEMP   0x08
-#define BMX055_ACCEL_I2C_REG_BW     0x10
-#define BMX055_ACCEL_I2C_REG_PMU    0x11
-#define BMX055_ACCEL_I2C_REG_HBW    0x13
-#define BMX055_ACCEL_I2C_REG_FIFO   0x3F
-
-// Constants
-#define BMX055_ACCEL_CHIP_ID        0xFA
-
-#define BMX055_ACCEL_HBW_ENABLE       0b10000000
-#define BMX055_ACCEL_HBW_DISABLE      0b00000000
-#define BMX055_ACCEL_DEEP_SUSPEND     0b00100000
-#define BMX055_ACCEL_NORMAL_MODE      0b00000000
-
-#define BMX055_ACCEL_BW_7_81HZ  0b01000
-#define BMX055_ACCEL_BW_15_63HZ 0b01001
-#define BMX055_ACCEL_BW_31_25HZ 0b01010
-#define BMX055_ACCEL_BW_62_5HZ  0b01011
-#define BMX055_ACCEL_BW_125HZ   0b01100
-#define BMX055_ACCEL_BW_250HZ   0b01101
-#define BMX055_ACCEL_BW_500HZ   0b01110
-#define BMX055_ACCEL_BW_1000HZ  0b01111
-
-class BMX055_Accel : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Accel(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/bmx055_gyro.cc

@@ -1,92 +0,0 @@
-#include "system/sensord/sensors/bmx055_gyro.h"
-
-#include <cassert>
-#include <cmath>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-
-
-BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Gyro::init() {
-  int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID});
-  if (ret == -1) return -1;
-
-  ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-  // bmx055 gyro has a 30ms wakeup time from deep suspend mode
-  util::sleep_for(50);
-
-  // High bandwidth
-  // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // 116 Hz filter
-  ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // +- 125 deg/s range
-  ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Gyro::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 16 bit = +- 125 deg/s
-  float scale = 125.0f / (1 << 15);
-  float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
-  float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
-  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
-
-  auto event = msg.initEvent().initGyroscope2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initGyroUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}

system/sensord/sensors/bmx055_gyro.h

@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_GYRO_I2C_ADDR        0x68
-
-// Registers of the chip
-#define BMX055_GYRO_I2C_REG_ID         0x00
-#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
-#define BMX055_GYRO_I2C_REG_RANGE      0x0F
-#define BMX055_GYRO_I2C_REG_BW         0x10
-#define BMX055_GYRO_I2C_REG_LPM1       0x11
-#define BMX055_GYRO_I2C_REG_HBW        0x13
-#define BMX055_GYRO_I2C_REG_FIFO       0x3F
-
-// Constants
-#define BMX055_GYRO_CHIP_ID         0x0F
-
-#define BMX055_GYRO_HBW_ENABLE       0b10000000
-#define BMX055_GYRO_HBW_DISABLE      0b00000000
-#define BMX055_GYRO_DEEP_SUSPEND     0b00100000
-#define BMX055_GYRO_NORMAL_MODE      0b00000000
-
-#define BMX055_GYRO_RANGE_2000      0b000
-#define BMX055_GYRO_RANGE_1000      0b001
-#define BMX055_GYRO_RANGE_500       0b010
-#define BMX055_GYRO_RANGE_250       0b011
-#define BMX055_GYRO_RANGE_125       0b100
-
-#define BMX055_GYRO_BW_116HZ 0b0010
-
-
-class BMX055_Gyro : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
-public:
-  BMX055_Gyro(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/bmx055_magn.cc

@@ -1,258 +0,0 @@
-#include "system/sensord/sensors/bmx055_magn.h"
-
-#include <unistd.h>
-
-#include <algorithm>
-#include <cassert>
-#include <cstdio>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
-  uint16_t process_comp_x0 = data_rhall;
-  int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384;
-  uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_x2);
-  int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval));
-  int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128));
-  int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128);
-  int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5;
-  int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000));
-  int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0)));
-  int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096);
-  int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9;
-  retval = ((int16_t)(process_comp_x10 / 8192));
-  retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) {
-  uint16_t process_comp_y0 = trim_data.dig_xyz1;
-  int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0;
-  uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_y2);
-  int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval);
-  int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128);
-  int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128));
-  int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512);
-  int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0)));
-  int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096);
-  int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8);
-  retval = (int16_t)(process_comp_y9 / 8192);
-  retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) {
-  int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1);
-  int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4;
-  int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768);
-  int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2);
-  int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536);
-  int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4));
-
-  /* saturate result to +/- 2 micro-tesla */
-  retval = std::clamp(retval, -32767, 32767);
-
-  /* Conversion of LSB to micro-tesla*/
-  retval = retval / 16;
-
-  return (int16_t)retval;
-}
-
-BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Magn::init() {
-  uint8_t trim_x1y1[2] = {0};
-  uint8_t trim_x2y2[2] = {0};
-  uint8_t trim_xy1xy2[2] = {0};
-  uint8_t trim_z1[2] = {0};
-  uint8_t trim_z2[2] = {0};
-  uint8_t trim_z3[2] = {0};
-  uint8_t trim_z4[2] = {0};
-  uint8_t trim_xyz1[2] = {0};
-
-  // suspend -> sleep
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if (ret < 0) {
-    LOGD("Enabling power failed: %d", ret);
-    goto fail;
-  }
-  util::sleep_for(5); // wait until the chip is powered on
-
-  ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  // Load magnetometer trim
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
-  if (ret < 0) goto fail;
-
-  // Read trim data
-  trim_data.dig_x1 = trim_x1y1[0];
-  trim_data.dig_y1 = trim_x1y1[1];
-
-  trim_data.dig_x2 = trim_x2y2[0];
-  trim_data.dig_y2 = trim_x2y2[1];
-
-  trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
-  trim_data.dig_xy2 = trim_xy1xy2[0];
-
-  trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
-  trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
-  trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
-  trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
-
-  trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
-  assert(trim_data.dig_xyz1 != 0);
-
-  perform_self_test();
-
-  // f_max = 1 / (145us * nXY + 500us * NZ + 980us)
-  // Chose NXY = 7, NZ = 12, which gives 125 Hz,
-  // and has the same ratio as the high accuracy preset
-  ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-  return 0;
-
- fail:
-  return ret;
-}
-
-int BMX055_Magn::shutdown() {
-  if (!enabled) return 0;
-
-  // move to suspend mode
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 MAGN in suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Magn::perform_self_test() {
-  uint8_t buffer[8];
-  int16_t x, y;
-  int16_t neg_z, pos_z;
-
-  // Increase z reps for less false positives (~30 Hz ODR)
-  set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
-  set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
-
-  // Clean existing measurement
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-
-  uint8_t forced = BMX055_MAGN_FORCED;
-
-  // Negative current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &neg_z);
-
-  // Positive current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &pos_z);
-
-  // Put back in normal mode
-  set_register(BMX055_MAGN_I2C_REG_MAG, 0);
-
-  int16_t diff = pos_z - neg_z;
-  bool passed = (diff > 180) && (diff < 240);
-
-  if (!passed) {
-    LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
-  }
-
-  return passed;
-}
-
-bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
-  bool ready = buffer[6] & 0x1;
-  if (ready) {
-    int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
-    int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
-    int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
-    uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
-    assert(data_r != 0);
-
-    *x = compensate_x(trim_data, mdata_x, data_r);
-    *y = compensate_y(trim_data, mdata_y, data_r);
-    *z = compensate_z(trim_data, mdata_z, data_r);
-  }
-  return ready;
-}
-
-
-bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[8];
-  int16_t _x, _y, x, y, z;
-
-  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  bool parsed = parse_xyz(buffer, &_x, &_y, &z);
-  if (parsed) {
-
-    auto event = msg.initEvent().initMagnetometer();
-    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-    event.setVersion(2);
-    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-    event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-    event.setTimestamp(start_time);
-
-    // Move magnetometer into same reference frame as accel/gryo
-    x = -_y;
-    y = _x;
-
-    // Axis convention
-    x = -x;
-    y = -y;
-
-    float xyz[] = {(float)x, (float)y, (float)z};
-    auto svec = event.initMagneticUncalibrated();
-    svec.setV(xyz);
-    svec.setStatus(true);
-  }
-
-  // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes
-  // up to 30 Hz. Therefore we put in forced mode, and request measurements
-  // at a 100 Hz. When reading the registers we have to check the ready bit
-  // To verify the measurement was completed this cycle.
-  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
-
-  return parsed;
-}

system/sensord/sensors/bmx055_magn.h

@@ -1,64 +0,0 @@
-#pragma once
-#include <tuple>
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_MAGN_I2C_ADDR        0x10
-
-// Registers of the chip
-#define BMX055_MAGN_I2C_REG_ID        0x40
-#define BMX055_MAGN_I2C_REG_PWR_0     0x4B
-#define BMX055_MAGN_I2C_REG_MAG       0x4C
-#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
-#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
-#define BMX055_MAGN_I2C_REG_REPXY     0x51
-#define BMX055_MAGN_I2C_REG_REPZ      0x52
-
-#define BMX055_MAGN_I2C_REG_DIG_X1       0x5D
-#define BMX055_MAGN_I2C_REG_DIG_Y1       0x5E
-#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB   0x62
-#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB   0x63
-#define BMX055_MAGN_I2C_REG_DIG_X2       0x64
-#define BMX055_MAGN_I2C_REG_DIG_Y2       0x65
-#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB   0x68
-#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB   0x69
-#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB   0x6A
-#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB   0x6B
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
-#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB   0x6E
-#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB   0x6F
-#define BMX055_MAGN_I2C_REG_DIG_XY2      0x70
-#define BMX055_MAGN_I2C_REG_DIG_XY1      0x71
-
-// Constants
-#define BMX055_MAGN_CHIP_ID     0x32
-#define BMX055_MAGN_FORCED      (0b01 << 1)
-
-struct trim_data_t {
-    int8_t dig_x1;
-    int8_t dig_y1;
-    int8_t dig_x2;
-    int8_t dig_y2;
-    uint16_t dig_z1;
-    int16_t dig_z2;
-    int16_t dig_z3;
-    int16_t dig_z4;
-    uint8_t dig_xy1;
-    int8_t dig_xy2;
-    uint16_t dig_xyz1;
-};
-
-
-class BMX055_Magn : public I2CSensor{
-  uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
-  trim_data_t trim_data = {0};
-  bool perform_self_test();
-  bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
-public:
-  BMX055_Magn(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/bmx055_temp.cc

@@ -1,31 +0,0 @@
-#include "system/sensord/sensors/bmx055_temp.h"
-
-#include <cassert>
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Temp::init() {
-  return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0;
-}
-
-bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[1];
-  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
-
-  auto event = msg.initEvent().initTemperatureSensor();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
-  event.setTimestamp(start_time);
-  event.setTemperature(temp);
-
-  return true;
-}

system/sensord/sensors/bmx055_temp.h

@@ -1,13 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/i2c_sensor.h"
-
-class BMX055_Temp : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Temp(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};

system/sensord/sensors/constants.h

@@ -1,18 +0,0 @@
-#pragma once
-
-
-#define SENSOR_ACCELEROMETER 1
-#define SENSOR_MAGNETOMETER 2
-#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
-#define SENSOR_GYRO 4
-#define SENSOR_GYRO_UNCALIBRATED 5
-#define SENSOR_LIGHT 7
-
-#define SENSOR_TYPE_ACCELEROMETER 1
-#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2
-#define SENSOR_TYPE_GYROSCOPE 4
-#define SENSOR_TYPE_LIGHT 5
-#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
-#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14
-#define SENSOR_TYPE_MAGNETIC_FIELD  SENSOR_TYPE_GEOMAGNETIC_FIELD
-#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16

system/sensord/sensors/i2c_sensor.cc

@@ -1,50 +0,0 @@
-#include "system/sensord/sensors/i2c_sensor.h"
-
-int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
-  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
-  return int16_t(combined) / (1 << 4);
-}
-
-int16_t read_16_bit(uint8_t lsb, uint8_t msb) {
-  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb);
-  return int16_t(combined);
-}
-
-int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) {
-  uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2);
-  return int32_t(combined) / (1 << 4);
-}
-
-I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {}
-
-I2CSensor::~I2CSensor() {
-  if (gpio_fd != -1) {
-    close(gpio_fd);
-  }
-}
-
-int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
-  return bus->read_register(get_device_address(), register_address, buffer, len);
-}
-
-int I2CSensor::set_register(uint register_address, uint8_t data) {
-  return bus->set_register(get_device_address(), register_address, data);
-}
-
-int I2CSensor::init_gpio() {
-  if (shared_gpio || gpio_nr == 0) {
-    return 0;
-  }
-
-  gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr);
-  if (gpio_fd < 0) {
-    return -1;
-  }
-
-  return 0;
-}
-
-bool I2CSensor::has_interrupt_enabled() {
-  return gpio_nr != 0;
-}

system/sensord/sensors/i2c_sensor.h

@@ -1,51 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <unistd.h>
-#include <vector>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/i2c.h"
-#include "common/gpio.h"
-
-#include "common/swaglog.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/sensor.h"
-
-int16_t read_12_bit(uint8_t lsb, uint8_t msb);
-int16_t read_16_bit(uint8_t lsb, uint8_t msb);
-int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
-
-
-class I2CSensor : public Sensor {
-private:
-  I2CBus *bus;
-  int gpio_nr;
-  bool shared_gpio;
-  virtual uint8_t get_device_address() = 0;
-
-public:
-  I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  ~I2CSensor();
-  int read_register(uint register_address, uint8_t *buffer, uint8_t len);
-  int set_register(uint register_address, uint8_t data);
-  int init_gpio();
-  bool has_interrupt_enabled();
-  virtual int init() = 0;
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-  virtual int shutdown() = 0;
-
-  int verify_chip_id(uint8_t address, const std::vector<uint8_t> &expected_ids) {
-    uint8_t chip_id = 0;
-    int ret = read_register(address, &chip_id, 1);
-    if (ret < 0) {
-      LOGD("Reading chip ID failed: %d", ret);
-      return -1;
-    }
-    for (int i = 0; i < expected_ids.size(); ++i) {
-      if (chip_id == expected_ids[i]) return chip_id;
-    }
-    LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]);
-    return -1;
-  }
-};

system/sensord/sensors/i2c_sensor.py

@@ -0,0 +1,72 @@
+import time
+import smbus2
+import ctypes
+from collections.abc import Iterable
+
+from cereal import log
+
+class Sensor:
+  class SensorException(Exception):
+    pass
+
+  class DataNotReady(SensorException):
+    pass
+
+  def __init__(self, bus: int) -> None:
+    self.bus = smbus2.SMBus(bus)
+    self.source = log.SensorEventData.SensorSource.velodyne  # unknown
+    self.start_ts = 0.
+
+  def __del__(self):
+    self.bus.close()
+
+  def read(self, addr: int, length: int) -> bytes:
+    return bytes(self.bus.read_i2c_block_data(self.device_address, addr, length))
+
+  def write(self, addr: int, data: int) -> None:
+    self.bus.write_byte_data(self.device_address, addr, data)
+
+  def writes(self, writes: Iterable[tuple[int, int]]) -> None:
+    for addr, data in writes:
+      self.write(addr, data)
+
+  def verify_chip_id(self, address: int, expected_ids: list[int]) -> int:
+    chip_id = self.read(address, 1)[0]
+    assert chip_id in expected_ids
+    return chip_id
+
+  # Abstract methods that must be implemented by subclasses
+  @property
+  def device_address(self) -> int:
+    raise NotImplementedError
+
+  def init(self) -> None:
+    raise NotImplementedError
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    raise NotImplementedError
+
+  def shutdown(self) -> None:
+    raise NotImplementedError
+
+  def is_data_valid(self) -> bool:
+    if self.start_ts == 0:
+      self.start_ts = time.monotonic()
+
+    # unclear whether we need this...
+    return (time.monotonic() - self.start_ts) > 0.5
+
+  # *** helpers ***
+  @staticmethod
+  def wait():
+    # a standard small sleep
+    time.sleep(0.005)
+
+  @staticmethod
+  def parse_16bit(lsb: int, msb: int) -> int:
+    return ctypes.c_int16((msb << 8) | lsb).value
+
+  @staticmethod
+  def parse_20bit(b2: int, b1: int, b0: int) -> int:
+    combined = ctypes.c_uint32((b0 << 16) | (b1 << 8) | b2).value
+    return ctypes.c_int32(combined).value // (1 << 4)

system/sensord/sensors/lsm6ds3_accel.cc

@@ -1,250 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_accel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  I2CSensor(bus, gpio_nr, shared_gpio) {}
-
-void LSM6DS3_Accel::wait_for_data_ready() {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  do {
-    read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-    drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
-  } while (drdy == 0);
-
-  read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-}
-
-void LSM6DS3_Accel::read_and_avg_data(float* out_buf) {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  float scaling = 0.061f;
-  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
-    scaling = 0.122f;
-  }
-
-  for (int i = 0; i < 5; i++) {
-    do {
-      read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-      drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
-    } while (drdy == 0);
-
-    int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-    assert(len == sizeof(buffer));
-
-    for (int j = 0; j < 3; j++) {
-      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling;
-    }
-  }
-
-  for (int i = 0; i < 3; i++) {
-    out_buf[i] /= 5.0f;
-  }
-}
-
-int LSM6DS3_Accel::self_test(int test_type) {
-  float val_st_off[3] = {0};
-  float val_st_on[3] = {0};
-  float test_val[3] = {0};
-  uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz
-
-  // prepare sensor for self-test
-
-  // enable block data update and automatic increment
-  int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU);
-  if (ret < 0) {
-    return ret;
-  }
-
-  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
-    ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ;
-  }
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(100);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_off);
-
-  // enable Self Test positive (or negative)
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(100);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_on);
-
-  // disable sensor
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // disable self test
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // calculate the mg values for self test
-  for (int i = 0; i < 3; i++) {
-    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
-  }
-
-  // verify test result
-  for (int i = 0; i < 3; i++) {
-    if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) ||
-        (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) {
-      return -1;
-    }
-  }
-
-  return ret;
-}
-
-int LSM6DS3_Accel::init() {
-  uint8_t value = 0;
-  bool do_self_test = false;
-
-  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
-  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
-    do_self_test = true;
-  }
-
-  int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-
-  ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 accel positive self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 accel negative self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = init_gpio();
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable continuous update, and automatic increase
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable data ready interrupt for accel on INT1
-  // (without resetting existing interrupts)
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value |= LSM6DS3_ACCEL_INT1_DRDY_XL;
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
-
-fail:
-  return ret;
-}
-
-int LSM6DS3_Accel::shutdown() {
-  int ret = 0;
-
-  // disable data ready interrupt for accel on INT1
-  uint8_t value = 0;
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
-  if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 acceleration interrupt!");
-    goto fail;
-  }
-
-  // enable power-down mode
-  value = 0;
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= 0x0F;
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value);
-  if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 accelerometer!");
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
-
-  // INT1 shared with gyro, check STATUS_REG who triggered
-  uint8_t status_reg = 0;
-  read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
-  if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) {
-    return false;
-  }
-
-  uint8_t buffer[6];
-  int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = 9.81 * 2.0f / (1 << 15);
-  float x = read_16_bit(buffer[0], buffer[1]) * scale;
-  float y = read_16_bit(buffer[2], buffer[3]) * scale;
-  float z = read_16_bit(buffer[4], buffer[5]) * scale;
-
-  auto event = msg.initEvent().initAccelerometer();
-  event.setSource(source);
-  event.setVersion(1);
-  event.setSensor(SENSOR_ACCELEROMETER);
-  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(ts);
-
-  float xyz[] = {y, -x, z};
-  auto svec = event.initAcceleration();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}

system/sensord/sensors/lsm6ds3_accel.h

@@ -1,49 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_ACCEL_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  0x0B
-#define LSM6DS3_ACCEL_I2C_REG_ID        0x0F
-#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D
-#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  0x10
-#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C   0x12
-#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C   0x14
-#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL   0x18
-#define LSM6DS3_ACCEL_I2C_REG_STAT_REG  0x1E
-#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
-
-// Constants
-#define LSM6DS3_ACCEL_CHIP_ID         0x69
-#define LSM6DS3TRC_ACCEL_CHIP_ID      0x6A
-#define LSM6DS3_ACCEL_FS_4G           (0b10 << 2)
-#define LSM6DS3_ACCEL_ODR_52HZ        (0b0011 << 4)
-#define LSM6DS3_ACCEL_ODR_104HZ       (0b0100 << 4)
-#define LSM6DS3_ACCEL_INT1_DRDY_XL    0b1
-#define LSM6DS3_ACCEL_DRDY_XLDA       0b1
-#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7)
-#define LSM6DS3_ACCEL_IF_INC          0b00000100
-#define LSM6DS3_ACCEL_IF_INC_BDU      0b01000100
-#define LSM6DS3_ACCEL_XYZ_DEN         0b11100000
-#define LSM6DS3_ACCEL_POSITIVE_TEST   0b01
-#define LSM6DS3_ACCEL_NEGATIVE_TEST   0b10
-#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f
-#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f
-
-class LSM6DS3_Accel : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-  // self test functions
-  int self_test(int test_type);
-  void wait_for_data_ready();
-  void read_and_avg_data(float* val_st_off);
-public:
-  LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/lsm6ds3_accel.py

@@ -0,0 +1,157 @@
+import os
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Accel(Sensor):
+  LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_ACCEL_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  = 0x10
+  LSM6DS3_ACCEL_I2C_REG_CTRL3_C   = 0x12
+  LSM6DS3_ACCEL_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_ACCEL_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL = 0x28
+
+  LSM6DS3_ACCEL_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_ACCEL_INT1_DRDY_XL    = 0b1
+  LSM6DS3_ACCEL_DRDY_XLDA       = 0b1
+  LSM6DS3_ACCEL_DRDY_PULSE_MODE = (1 << 7)
+  LSM6DS3_ACCEL_IF_INC          = 0b00000100
+
+  LSM6DS3_ACCEL_ODR_52HZ        = (0b0011 << 4)
+  LSM6DS3_ACCEL_FS_4G           = (0b10 << 2)
+  LSM6DS3_ACCEL_IF_INC_BDU      = 0b01000100
+  LSM6DS3_ACCEL_POSITIVE_TEST   = 0b01
+  LSM6DS3_ACCEL_NEGATIVE_TEST   = 0b10
+  LSM6DS3_ACCEL_MIN_ST_LIMIT_mg = 90.0
+  LSM6DS3_ACCEL_MAX_ST_LIMIT_mg = 1700.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if os.getenv("LSM_SELF_TEST") == "1":
+      self.self_test(self.LSM6DS3_ACCEL_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_ACCEL_NEGATIVE_TEST)
+
+    # actual init
+    int1 = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    int1 |= self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.writes((
+      # Enable continuous update and automatic address increment
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC),
+      # Set ODR to 104 Hz, FS to ±2g (default)
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, self.LSM6DS3_ACCEL_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, self.LSM6DS3_ACCEL_DRDY_PULSE_MODE),
+      # Enable data ready interrupt on INT1 without resetting existing interrupts
+      (self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, int1),
+    ))
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if data is ready since IRQ is shared with gyro
+    status_reg = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+    if (status_reg & self.LSM6DS3_ACCEL_DRDY_XLDA) == 0:
+      raise self.DataNotReady
+
+    scale = 9.81 * 2.0 / (1 << 15)
+    b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+    x = self.parse_16bit(b[0], b[1]) * scale
+    y = self.parse_16bit(b[2], b[3]) * scale
+    z = self.parse_16bit(b[4], b[5]) * scale
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 1  # SENSOR_ACCELEROMETER
+    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
+    event.source = self.source
+    a = event.init('acceleration')
+    a.v = [y, -x, z]
+    a.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_ACCEL_DRDY_XLDA:
+        break
+
+  def _read_and_avg_data(self, scaling: float) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * scaling
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int) -> None:
+    # Prepare sensor for self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC_BDU)
+
+    # Configure ODR and full scale based on sensor type
+    if self.source == log.SensorEventData.SensorSource.lsm6ds3trc:
+      odr_fs = self.LSM6DS3_ACCEL_FS_4G | self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.122  # mg/LSB for ±4g
+    else:
+      odr_fs = self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.061  # mg/LSB for ±2g
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, odr_fs)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data(scaling)
+
+    # Enable self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data(scaling)
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0)
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_ACCEL_MIN_ST_LIMIT_mg or val > self.LSM6DS3_ACCEL_MAX_ST_LIMIT_mg:
+        raise self.SensorException(f"Accelerometer self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  import numpy as np
+  s = LSM6DS3_Accel(1)
+  s.init()
+  time.sleep(0.2)
+  e = s.get_event(0)
+  print(e)
+  print(np.linalg.norm(e.acceleration.v))
+  s.shutdown()

system/sensord/sensors/lsm6ds3_gyro.cc

@@ -1,233 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-
-LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  I2CSensor(bus, gpio_nr, shared_gpio) {}
-
-void LSM6DS3_Gyro::wait_for_data_ready() {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  do {
-    read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-    drdy &= LSM6DS3_GYRO_DRDY_GDA;
-  } while (drdy == 0);
-
-  read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-}
-
-void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  for (int i = 0; i < 5; i++) {
-    do {
-      read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-      drdy &= LSM6DS3_GYRO_DRDY_GDA;
-    } while (drdy == 0);
-
-    int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-    assert(len == sizeof(buffer));
-
-    for (int j = 0; j < 3; j++) {
-      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f;
-    }
-  }
-
-  // calculate the mg average values
-  for (int i = 0; i < 3; i++) {
-    out_buf[i] /= 5.0f;
-  }
-}
-
-int LSM6DS3_Gyro::self_test(int test_type) {
-  float val_st_off[3] = {0};
-  float val_st_on[3] = {0};
-  float test_val[3] = {0};
-
-  // prepare sensor for self-test
-
-  // full scale: 2000dps, ODR: 208Hz
-  int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(150);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_off);
-
-  // enable Self Test positive (or negative)
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(50);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_on);
-
-  // disable sensor
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // disable self test
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // calculate the mg values for self test
-  for (int i = 0; i < 3; i++) {
-    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
-  }
-
-  // verify test result
-  for (int i = 0; i < 3; i++) {
-    if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) ||
-        (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) {
-      return -1;
-    }
-  }
-
-  return ret;
-}
-
-int LSM6DS3_Gyro::init() {
-  uint8_t value = 0;
-  bool do_self_test = false;
-
-  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
-  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
-    do_self_test = true;
-  }
-
-  int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_GYRO_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-
-  ret = init_gpio();
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 gyro positive self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 gyro negative self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  // TODO: set scale. Default is +- 250 deg/s
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable data ready interrupt for gyro on INT1
-  // (without resetting existing interrupts)
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value |= LSM6DS3_GYRO_INT1_DRDY_G;
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
-
-fail:
-  return ret;
-}
-
-int LSM6DS3_Gyro::shutdown() {
-  int ret = 0;
-
-  // disable data ready interrupt for gyro on INT1
-  uint8_t value = 0;
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
-  if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 gyroscope interrupt!");
-    goto fail;
-  }
-
-  // enable power-down mode
-  value = 0;
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= 0x0F;
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value);
-  if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 gyroscope!");
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
-
-  // INT1 shared with accel, check STATUS_REG who triggered
-  uint8_t status_reg = 0;
-  read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
-  if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) {
-    return false;
-  }
-
-  uint8_t buffer[6];
-  int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = 8.75 / 1000.0;
-  float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
-  float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
-  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
-
-  auto event = msg.initEvent().initGyroscope();
-  event.setSource(source);
-  event.setVersion(2);
-  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(ts);
-
-  float xyz[] = {y, -x, z};
-  auto svec = event.initGyroUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}

system/sensord/sensors/lsm6ds3_gyro.h

@@ -1,45 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_GYRO_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG  0x0B
-#define LSM6DS3_GYRO_I2C_REG_ID        0x0F
-#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
-#define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
-#define LSM6DS3_GYRO_I2C_REG_CTRL5_C   0x14
-#define LSM6DS3_GYRO_I2C_REG_STAT_REG  0x1E
-#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22
-#define LSM6DS3_GYRO_POSITIVE_TEST   (0b01 << 2)
-#define LSM6DS3_GYRO_NEGATIVE_TEST   (0b11 << 2)
-
-// Constants
-#define LSM6DS3_GYRO_CHIP_ID         0x69
-#define LSM6DS3TRC_GYRO_CHIP_ID      0x6A
-#define LSM6DS3_GYRO_FS_2000dps      (0b11 << 2)
-#define LSM6DS3_GYRO_ODR_104HZ       (0b0100 << 4)
-#define LSM6DS3_GYRO_ODR_208HZ       (0b0101 << 4)
-#define LSM6DS3_GYRO_INT1_DRDY_G     0b10
-#define LSM6DS3_GYRO_DRDY_GDA        0b10
-#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
-#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
-#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
-
-
-class LSM6DS3_Gyro : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-  // self test functions
-  int self_test(int test_type);
-  void wait_for_data_ready();
-  void read_and_avg_data(float* val_st_off);
-public:
-  LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/lsm6ds3_gyro.py

@@ -0,0 +1,141 @@
+import os
+import math
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Gyro(Sensor):
+  LSM6DS3_GYRO_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_GYRO_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_GYRO_I2C_REG_CTRL2_G   = 0x11
+  LSM6DS3_GYRO_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_GYRO_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_GYRO_I2C_REG_OUTX_L_G  = 0x22
+
+  LSM6DS3_GYRO_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_GYRO_INT1_DRDY_G     = 0b10
+  LSM6DS3_GYRO_DRDY_GDA        = 0b10
+  LSM6DS3_GYRO_DRDY_PULSE_MODE = (1 << 7)
+
+  LSM6DS3_GYRO_ODR_208HZ       = (0b0101 << 4)
+  LSM6DS3_GYRO_FS_2000dps      = (0b11 << 2)
+  LSM6DS3_GYRO_POSITIVE_TEST   = (0b01 << 2)
+  LSM6DS3_GYRO_NEGATIVE_TEST   = (0b11 << 2)
+  LSM6DS3_GYRO_MIN_ST_LIMIT_mdps = 150000.0
+  LSM6DS3_GYRO_MAX_ST_LIMIT_mdps = 700000.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if "LSM_SELF_TEST" in os.environ:
+      self.self_test(self.LSM6DS3_GYRO_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_GYRO_NEGATIVE_TEST)
+
+    # actual init
+    self.writes((
+      # TODO: set scale. Default is +- 250 deg/s
+      (self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_GYRO_I2C_REG_DRDY_CFG, self.LSM6DS3_GYRO_DRDY_PULSE_MODE),
+    ))
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value |= self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if gyroscope data is ready, since it's shared with accelerometer
+    status_reg = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+    if not (status_reg & self.LSM6DS3_GYRO_DRDY_GDA):
+      raise self.DataNotReady
+
+    b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+    x = self.parse_16bit(b[0], b[1])
+    y = self.parse_16bit(b[2], b[3])
+    z = self.parse_16bit(b[4], b[5])
+    scale = (8.75 / 1000.0) * (math.pi / 180.0)
+    xyz = [y * scale, -x * scale, z * scale]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 2
+    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
+    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
+    event.source = self.source
+    g = event.init('gyroUncalibrated')
+    g.v = xyz
+    g.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_GYRO_DRDY_GDA:
+        break
+
+  def _read_and_avg_data(self) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * 70.0  # mdps/LSB for 2000 dps
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int):
+    # Set ODR to 208Hz, FS to 2000dps
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_208HZ | self.LSM6DS3_GYRO_FS_2000dps)
+
+    # Wait for stable output
+    time.sleep(0.15)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data()
+
+    # Enable self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.05)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data()
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0)
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_GYRO_MIN_ST_LIMIT_mdps or val > self.LSM6DS3_GYRO_MAX_ST_LIMIT_mdps:
+        raise Exception(f"Gyroscope self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  s = LSM6DS3_Gyro(1)
+  s.init()
+  time.sleep(0.1)
+  print(s.get_event(0))
+  s.shutdown()

system/sensord/sensors/lsm6ds3_temp.cc

@@ -1,37 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_temp.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
-
-int LSM6DS3_Temp::init() {
-  int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_TEMP_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-  return 0;
-}
-
-bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[2];
-  int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f;
-  float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale;
-
-  auto event = msg.initEvent().initTemperatureSensor();
-  event.setSource(source);
-  event.setVersion(1);
-  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
-  event.setTimestamp(start_time);
-  event.setTemperature(temp);
-
-  return true;
-}

system/sensord/sensors/lsm6ds3_temp.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_TEMP_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_TEMP_I2C_REG_ID           0x0F
-#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L   0x20
-
-// Constants
-#define LSM6DS3_TEMP_CHIP_ID        0x69
-#define LSM6DS3TRC_TEMP_CHIP_ID     0x6A
-
-
-class LSM6DS3_Temp : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-public:
-  LSM6DS3_Temp(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};

system/sensord/sensors/lsm6ds3_temp.py

@@ -0,0 +1,33 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
+class LSM6DS3_Temp(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x6A  # Default I2C address for LSM6DS3
+
+  def _read_temperature(self) -> float:
+    scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+    data = self.read(0x20, 2)
+    return 25 + (self.parse_16bit(data[0], data[1]) / scale)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    event = log.SensorEventData.new_message()
+    event.version = 1
+    event.timestamp = int(time.monotonic() * 1e9)
+    event.source = self.source
+    event.temperature = self._read_temperature()
+    return event
+
+  def shutdown(self) -> None:
+    pass

system/sensord/sensors/mmc5603nj_magn.cc

@@ -1,108 +0,0 @@
-#include "system/sensord/sensors/mmc5603nj_magn.h"
-
-#include <algorithm>
-#include <cassert>
-#include <vector>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int MMC5603NJ_Magn::init() {
-  int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID});
-  if (ret == -1) return -1;
-
-  // Set ODR to 0
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // Set BW to 0b01 for 1-150 Hz operation
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
-  if (ret < 0) {
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-int MMC5603NJ_Magn::shutdown() {
-  int ret = 0;
-
-  // disable auto reset of measurements
-  uint8_t value = 0;
-  ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // set ODR to 0 to leave continuous mode
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
-  if (ret < 0) {
-    goto fail;
-  }
-  return ret;
-
-fail:
-  LOGE("Could not disable mmc5603nj auto set reset");
-  return ret;
-}
-
-void MMC5603NJ_Magn::start_measurement() {
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01);
-  util::sleep_for(5);
-}
-
-std::vector<float> MMC5603NJ_Magn::read_measurement() {
-  int len;
-  uint8_t buffer[9];
-  len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-  float scale = 1.0 / 16384.0;
-  float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0;
-  float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0;
-  float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0;
-  std::vector<float> xyz = {x, y, z};
-  return xyz;
-}
-
-bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  // SET - RESET cycle
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET);
-  util::sleep_for(5);
-  MMC5603NJ_Magn::start_measurement();
-  std::vector<float> xyz = MMC5603NJ_Magn::read_measurement();
-
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET);
-  util::sleep_for(5);
-  MMC5603NJ_Magn::start_measurement();
-  std::vector<float> reset_xyz = MMC5603NJ_Magn::read_measurement();
-
-  auto event = msg.initEvent().initMagnetometer();
-  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
-  event.setVersion(1);
-  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]};
-  bool valid = true;
-  if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) {
-    valid = false;
-  }
-  auto svec = event.initMagneticUncalibrated();
-  svec.setV(vals);
-  svec.setStatus(valid);
-  return true;
-}

system/sensord/sensors/mmc5603nj_magn.h

@@ -1,37 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define MMC5603NJ_I2C_ADDR       0x30
-
-// Registers of the chip
-#define MMC5603NJ_I2C_REG_XOUT0       0x00
-#define MMC5603NJ_I2C_REG_ODR         0x1A
-#define MMC5603NJ_I2C_REG_INTERNAL_0  0x1B
-#define MMC5603NJ_I2C_REG_INTERNAL_1  0x1C
-#define MMC5603NJ_I2C_REG_INTERNAL_2  0x1D
-#define MMC5603NJ_I2C_REG_ID          0x39
-
-// Constants
-#define MMC5603NJ_CHIP_ID        0x10
-#define MMC5603NJ_CMM_FREQ_EN    (1 << 7)
-#define MMC5603NJ_AUTO_SR_EN     (1 << 5)
-#define MMC5603NJ_CMM_EN         (1 << 4)
-#define MMC5603NJ_EN_PRD_SET     (1 << 3)
-#define MMC5603NJ_SET            (1 << 3)
-#define MMC5603NJ_RESET          (1 << 4)
-
-class MMC5603NJ_Magn : public I2CSensor {
-private:
-  uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;}
-  void start_measurement();
-  std::vector<float> read_measurement();
-public:
-  MMC5603NJ_Magn(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};

system/sensord/sensors/mmc5603nj_magn.py

@@ -0,0 +1,76 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
+
+# Register addresses
+REG_ODR = 0x1A
+REG_INTERNAL_0 = 0x1B
+REG_INTERNAL_1 = 0x1C
+
+# Control register settings
+CMM_FREQ_EN = (1 << 7)
+AUTO_SR_EN  = (1 << 5)
+SET         = (1 << 3)
+RESET       = (1 << 4)
+
+class MMC5603NJ_Magn(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x30
+
+  def init(self):
+    self.verify_chip_id(0x39, [0x10, ])
+    self.writes((
+      (REG_ODR, 0),
+
+      # Set BW to 0b01 for 1-150 Hz operation
+      (REG_INTERNAL_1, 0b01),
+    ))
+
+  def _read_data(self, cycle) -> list[float]:
+    # start measurement
+    self.write(REG_INTERNAL_0, cycle)
+    self.wait()
+
+    # read out XYZ
+    scale = 1.0 / 16384.0
+    b = self.read(0x00, 9)
+    return [
+      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
+      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
+      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
+    ]
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    ts = time.monotonic_ns()
+
+    # SET - RESET cycle
+    xyz = self._read_data(SET)
+    reset_xyz = self._read_data(RESET)
+    vals = [*xyz, *reset_xyz]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
+    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
+    event.source = log.SensorEventData.SensorSource.mmc5603nj
+
+    m = event.init('magneticUncalibrated')
+    m.v = vals
+    m.status = int(all(int(v) != -32 for v in vals))
+
+    return event
+
+  def shutdown(self) -> None:
+    v = self.read(REG_INTERNAL_0, 1)[0]
+    self.writes((
+      # disable auto-reset of measurements
+      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
+
+      # disable continuous mode
+      (REG_ODR, 0),
+    ))

system/sensord/sensors/sensor.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include "cereal/messaging/messaging.h"
-
-class Sensor {
-public:
-  int gpio_fd = -1;
-  bool enabled = false;
-  uint64_t start_ts = 0;
-  uint64_t init_delay = 500e6; // default dealy 500ms
-
-  virtual ~Sensor() {}
-  virtual int init() = 0;
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-  virtual bool has_interrupt_enabled() = 0;
-  virtual int shutdown() = 0;
-
-  virtual bool is_data_valid(uint64_t current_ts) {
-    if (start_ts == 0) {
-      start_ts = current_ts;
-    }
-    return (current_ts - start_ts) > init_delay;
-  }
-};

system/sensord/sensors_qcom2.cc

@@ -1,179 +0,0 @@
-#include <sys/resource.h>
-
-#include <chrono>
-#include <thread>
-#include <vector>
-#include <map>
-#include <poll.h>
-#include <linux/gpio.h>
-
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
-#include "common/i2c.h"
-#include "common/ratekeeper.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/bmx055_gyro.h"
-#include "system/sensord/sensors/bmx055_magn.h"
-#include "system/sensord/sensors/bmx055_temp.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/lsm6ds3_accel.h"
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
-#include "system/sensord/sensors/lsm6ds3_temp.h"
-#include "system/sensord/sensors/mmc5603nj_magn.h"
-
-#define I2C_BUS_IMU 1
-
-ExitHandler do_exit;
-
-void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
-  PubMaster pm({"gyroscope", "accelerometer"});
-
-  int fd = -1;
-  for (auto &[sensor, msg_name] : sensors) {
-    if (sensor->has_interrupt_enabled()) {
-      fd = sensor->gpio_fd;
-      break;
-    }
-  }
-
-  uint64_t offset = nanos_since_epoch() - nanos_since_boot();
-  struct pollfd fd_list[1] = {0};
-  fd_list[0].fd = fd;
-  fd_list[0].events = POLLIN | POLLPRI;
-
-  while (!do_exit) {
-    int err = poll(fd_list, 1, 100);
-    if (err == -1) {
-      if (errno == EINTR) {
-        continue;
-      }
-      return;
-    } else if (err == 0) {
-      LOGE("poll timed out");
-      continue;
-    }
-
-    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
-      LOGE("no poll events set");
-      continue;
-    }
-
-    // Read all events
-    struct gpioevent_data evdata[16];
-    err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata)));
-    if (err < 0 || err % sizeof(*evdata) != 0) {
-      LOGE("error reading event data %d", err);
-      continue;
-    }
-
-    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
-    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
-    if (diff > 10*1e6) { // 10ms
-      LOGW("time jumped: %lu %lu", cur_offset, offset);
-      offset = cur_offset;
-
-      // we don't have a valid timestamp since the
-      // time jumped, so throw out this measurement.
-      continue;
-    }
-
-    int num_events = err / sizeof(*evdata);
-    uint64_t ts = evdata[num_events - 1].timestamp - cur_offset;
-
-    for (auto &[sensor, msg_name] : sensors) {
-      if (!sensor->has_interrupt_enabled()) {
-        continue;
-      }
-
-      MessageBuilder msg;
-      if (!sensor->get_event(msg, ts)) {
-        continue;
-      }
-
-      if (!sensor->is_data_valid(ts)) {
-        continue;
-      }
-
-      pm.send(msg_name.c_str(), msg);
-    }
-  }
-}
-
-void polling_loop(Sensor *sensor, std::string msg_name) {
-  PubMaster pm({msg_name.c_str()});
-  RateKeeper rk(msg_name, services.at(msg_name).frequency);
-  while (!do_exit) {
-    MessageBuilder msg;
-    if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) {
-      pm.send(msg_name.c_str(), msg);
-    }
-    rk.keepTime();
-  }
-}
-
-int sensor_loop(I2CBus *i2c_bus_imu) {
-  // Sensor init
-  std::vector<std::tuple<Sensor *, std::string>> sensors_init = {
-    {new BMX055_Accel(i2c_bus_imu), "accelerometer2"},
-    {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"},
-    {new BMX055_Magn(i2c_bus_imu), "magnetometer"},
-    {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"},
-
-    {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"},
-    {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"},
-    {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"},
-
-    {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"},
-  };
-
-  // Initialize sensors
-  std::vector<std::thread> threads;
-  for (auto &[sensor, msg_name] : sensors_init) {
-    int err = sensor->init();
-    if (err < 0) {
-      continue;
-    }
-
-    if (!sensor->has_interrupt_enabled()) {
-      threads.emplace_back(polling_loop, sensor, msg_name);
-    }
-  }
-
-  // increase interrupt quality by pinning interrupt and process to core 1
-  setpriority(PRIO_PROCESS, 0, -18);
-  util::set_core_affinity({1});
-
-  // TODO: get the IRQ number from gpiochip
-  std::string irq_path = "/proc/irq/336/smp_affinity_list";
-  if (!util::file_exists(irq_path)) {
-    irq_path = "/proc/irq/335/smp_affinity_list";
-  }
-  std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str());
-
-  // thread for reading events via interrupts
-  threads.emplace_back(&interrupt_loop, std::ref(sensors_init));
-
-  // wait for all threads to finish
-  for (auto &t : threads) {
-    t.join();
-  }
-
-  for (auto &[sensor, msg_name] : sensors_init) {
-    sensor->shutdown();
-    delete sensor;
-  }
-  return 0;
-}
-
-int main(int argc, char *argv[]) {
-  try {
-    auto i2c_bus_imu = std::make_unique<I2CBus>(I2C_BUS_IMU);
-    return sensor_loop(i2c_bus_imu.get());
-  } catch (std::exception &e) {
-    LOGE("I2CBus init failed");
-    return -1;
-  }
-}

system/sensord/tests/test_sensord.py

@@ -12,13 +12,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-BMX = {
-  ('bmx055', 'acceleration'),
-  ('bmx055', 'gyroUncalibrated'),
-  ('bmx055', 'magneticUncalibrated'),
-  ('bmx055', 'temperature'),
-}
-
 LSM = {
   ('lsm6ds3', 'acceleration'),
   ('lsm6ds3', 'gyroUncalibrated'),
@@ -30,17 +23,11 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-SENSOR_CONFIGURATIONS: list[set] = [
-  BMX | LSM,
-  MMC | LSM,
-  BMX | LSM_C,
-  MMC| LSM_C,
-]
-if HARDWARE.get_device_type() == "mici":
-  SENSOR_CONFIGURATIONS = [
-    LSM,
-    LSM_C,
-  ]
+SENSOR_CONFIGURATIONS: list[set] = {
+  "mici": [LSM, LSM_C],
+  "tizi": [MMC | LSM, MMC | LSM_C],
+  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
+}.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
@@ -57,13 +44,6 @@ ALL_SENSORS = {
     SensorConfig("temperature", 0, 60),
   },
 
-  Sensor.bmx055: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("magneticUncalibrated", 0, 300),
-    SensorConfig("temperature", 0, 60),
-  },
-
   Sensor.mmc5603nj: {
     SensorConfig("magneticUncalibrated", 0, 300),
   }

system/sensord/tests/ttff_test.py

@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-import atexit
-
-from cereal import messaging
-from openpilot.system.manager.process_config import managed_processes
-
-TIMEOUT = 10*60
-
-def kill():
-  for proc in ['ubloxd', 'pigeond']:
-    managed_processes[proc].stop(retry=True, block=True)
-
-if __name__ == "__main__":
-  # start ubloxd
-  managed_processes['ubloxd'].start()
-  atexit.register(kill)
-
-  sm = messaging.SubMaster(['ubloxGnss'])
-
-  times = []
-  for i in range(20):
-    # start pigeond
-    st = time.monotonic()
-    managed_processes['pigeond'].start()
-
-    # wait for a >4 satellite fix
-    while True:
-      sm.update(0)
-      msg = sm['ubloxGnss']
-      if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
-        report = msg.measurementReport
-        if report.numMeas > 4:
-          times.append(time.monotonic() - st)
-          print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
-          break
-
-      if time.monotonic() - st > TIMEOUT:
-        raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
-
-      time.sleep(0.1)
-
-    # stop pigeond
-    managed_processes['pigeond'].stop(retry=True, block=True)
-    time.sleep(20)
-
-  print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")

system/ui/lib/application.py

@@ -202,7 +202,7 @@ class GuiApplication:
 
     for index, font_file in enumerate(font_files):
       with as_file(FONT_DIR.joinpath(font_file)) as fspath:
-        font = rl.load_font_ex(fspath.as_posix(), 120, codepoints, codepoint_count[0])
+        font = rl.load_font_ex(fspath.as_posix(), 200, codepoints, codepoint_count[0])
         rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
         self._fonts[index] = font
 

system/ui/lib/shader_polygon.py

@@ -0,0 +1,367 @@
+import pyray as rl
+import numpy as np
+from typing import Any
+
+MAX_GRADIENT_COLORS = 15
+
+FRAGMENT_SHADER = """
+#version 300 es
+precision mediump float;
+
+in vec2 fragTexCoord;
+out vec4 finalColor;
+
+uniform vec2 points[100];
+uniform int pointCount;
+uniform vec4 fillColor;
+uniform vec2 resolution;
+
+uniform bool useGradient;
+uniform vec2 gradientStart;
+uniform vec2 gradientEnd;
+uniform vec4 gradientColors[15];
+uniform float gradientStops[15];
+uniform int gradientColorCount;
+uniform vec2 visibleGradientRange;
+
+vec4 getGradientColor(vec2 pos) {
+  vec2 gradientDir = gradientEnd - gradientStart;
+  float gradientLength = length(gradientDir);
+  if (gradientLength < 0.001) return gradientColors[0];
+
+  vec2 normalizedDir = gradientDir / gradientLength;
+  vec2 pointVec = pos - gradientStart;
+  float projection = dot(pointVec, normalizedDir);
+
+  float t = projection / gradientLength;
+
+  // Gradient clipping: remap t to visible range
+  float visibleStart = visibleGradientRange.x;
+  float visibleEnd = visibleGradientRange.y;
+  float visibleRange = visibleEnd - visibleStart;
+
+  // Remap t to visible range
+  if (visibleRange > 0.001) {
+    t = visibleStart + t * visibleRange;
+  }
+
+  t = clamp(t, 0.0, 1.0);
+  for (int i = 0; i < gradientColorCount - 1; i++) {
+    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
+      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
+      return mix(gradientColors[i], gradientColors[i+1], segmentT);
+    }
+  }
+
+  return gradientColors[gradientColorCount-1];
+}
+
+bool isPointInsidePolygon(vec2 p) {
+  if (pointCount < 3) return false;
+
+  int crossings = 0;
+  for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) {
+    vec2 pi = points[i];
+    vec2 pj = points[j];
+
+    // Skip degenerate edges
+    if (distance(pi, pj) < 0.001) continue;
+
+    // Ray-casting
+    if (((pi.y > p.y) != (pj.y > p.y)) &&
+        (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y + 0.001) + pi.x)) {
+      crossings++;
+    }
+  }
+  return (crossings & 1) == 1;
+}
+
+float distanceToEdge(vec2 p) {
+  float minDist = 1000.0;
+
+  for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) {
+    vec2 edge0 = points[j];
+    vec2 edge1 = points[i];
+
+    if (distance(edge0, edge1) < 0.0001) continue;
+
+    vec2 v1 = p - edge0;
+    vec2 v2 = edge1 - edge0;
+    float l2 = dot(v2, v2);
+
+    if (l2 < 0.0001) {
+      float dist = length(v1);
+      minDist = min(minDist, dist);
+      continue;
+    }
+
+    float t = clamp(dot(v1, v2) / l2, 0.0, 1.0);
+    vec2 projection = edge0 + t * v2;
+    float dist = length(p - projection);
+    minDist = min(minDist, dist);
+  }
+
+  return minDist;
+}
+
+float signedDistanceToPolygon(vec2 p) {
+  float dist = distanceToEdge(p);
+  bool inside = isPointInsidePolygon(p);
+  return inside ? dist : -dist;
+}
+
+void main() {
+  vec2 pixel = fragTexCoord * resolution;
+
+  float signedDist = signedDistanceToPolygon(pixel);
+
+  vec2 pixelGrad = vec2(dFdx(pixel.x), dFdy(pixel.y));
+  float pixelSize = length(pixelGrad);
+  float aaWidth = max(0.5, pixelSize * 0.5); // Sharper anti-aliasing
+
+  float alpha = smoothstep(-aaWidth, aaWidth, signedDist);
+  if (alpha > 0.0) {
+    vec4 color = useGradient ? getGradientColor(fragTexCoord) : fillColor;
+    finalColor = vec4(color.rgb, color.a * alpha);
+  } else {
+    finalColor = vec4(0.0);
+  }
+}
+"""
+
+# Default vertex shader
+VERTEX_SHADER = """
+#version 300 es
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+out vec2 fragTexCoord;
+uniform mat4 mvp;
+
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+
+UNIFORM_INT = rl.ShaderUniformDataType.SHADER_UNIFORM_INT
+UNIFORM_FLOAT = rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT
+UNIFORM_VEC2 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2
+UNIFORM_VEC4 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4
+
+
+class ShaderState:
+  _instance: Any = None
+
+  @classmethod
+  def get_instance(cls):
+    if cls._instance is None:
+      cls._instance = cls()
+    return cls._instance
+
+  def __init__(self):
+    if ShaderState._instance is not None:
+      raise Exception("This class is a singleton. Use get_instance() instead.")
+
+    self.initialized = False
+    self.shader = None
+    self.white_texture = None
+
+    # Shader uniform locations
+    self.locations = {
+      'pointCount': None,
+      'fillColor': None,
+      'resolution': None,
+      'points': None,
+      'useGradient': None,
+      'gradientStart': None,
+      'gradientEnd': None,
+      'gradientColors': None,
+      'gradientStops': None,
+      'gradientColorCount': None,
+      'mvp': None,
+      'visibleGradientRange': None,
+    }
+
+    # Pre-allocated FFI objects
+    self.point_count_ptr = rl.ffi.new("int[]", [0])
+    self.resolution_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.fill_color_ptr = rl.ffi.new("float[]", [0.0, 0.0, 0.0, 0.0])
+    self.use_gradient_ptr = rl.ffi.new("int[]", [0])
+    self.gradient_start_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.gradient_end_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.color_count_ptr = rl.ffi.new("int[]", [0])
+    self.visible_gradient_range_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.gradient_colors_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS * 4)
+    self.gradient_stops_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS)
+
+  def initialize(self):
+    if self.initialized:
+      return
+
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER)
+
+    # Create and cache white texture
+    white_img = rl.gen_image_color(2, 2, rl.WHITE)
+    self.white_texture = rl.load_texture_from_image(white_img)
+    rl.set_texture_filter(self.white_texture, rl.TEXTURE_FILTER_BILINEAR)
+    rl.unload_image(white_img)
+
+    # Cache all uniform locations
+    for uniform in self.locations.keys():
+      self.locations[uniform] = rl.get_shader_location(self.shader, uniform)
+
+    # Setup default MVP matrix
+    mvp_ptr = rl.ffi.new("float[16]", [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0])
+    rl.set_shader_value_matrix(self.shader, self.locations['mvp'], rl.Matrix(*mvp_ptr))
+
+    self.initialized = True
+
+  def cleanup(self):
+    if not self.initialized:
+      return
+
+    if self.white_texture:
+      rl.unload_texture(self.white_texture)
+      self.white_texture = None
+
+    if self.shader:
+      rl.unload_shader(self.shader)
+      self.shader = None
+
+    self.initialized = False
+
+
+def _configure_shader_color(state, color, gradient, rect, min_xy, max_xy):
+  """Configure shader uniforms for solid color or gradient rendering"""
+  use_gradient = 1 if gradient else 0
+  state.use_gradient_ptr[0] = use_gradient
+  rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT)
+
+  if use_gradient:
+    # Set gradient start/end
+    state.gradient_start_ptr[0:2] = gradient['start']
+    state.gradient_end_ptr[0:2] = gradient['end']
+    rl.set_shader_value(state.shader, state.locations['gradientStart'], state.gradient_start_ptr, UNIFORM_VEC2)
+    rl.set_shader_value(state.shader, state.locations['gradientEnd'], state.gradient_end_ptr, UNIFORM_VEC2)
+
+    # Calculate visible gradient range
+    width = max_xy[0] - min_xy[0]
+    height = max_xy[1] - min_xy[1]
+
+    gradient_dir = (gradient['end'][0] - gradient['start'][0], gradient['end'][1] - gradient['start'][1])
+    is_vertical = abs(gradient_dir[1]) > abs(gradient_dir[0])
+
+    visible_start = 0.0
+    visible_end = 1.0
+
+    if is_vertical and height > 0:
+      visible_start = (rect.y - min_xy[1]) / height
+      visible_end = visible_start + rect.height / height
+    elif width > 0:
+      visible_start = (rect.x - min_xy[0]) / width
+      visible_end = visible_start + rect.width / width
+
+    # Clamp visible range
+    visible_start = max(0.0, min(1.0, visible_start))
+    visible_end = max(0.0, min(1.0, visible_end))
+
+    state.visible_gradient_range_ptr[0:2] = [visible_start, visible_end]
+    rl.set_shader_value(state.shader, state.locations['visibleGradientRange'], state.visible_gradient_range_ptr, UNIFORM_VEC2)
+
+    # Set gradient colors
+    colors = gradient['colors']
+    color_count = min(len(colors), MAX_GRADIENT_COLORS)
+    for i, c in enumerate(colors[:color_count]):
+      base_idx = i * 4
+      state.gradient_colors_ptr[base_idx:base_idx+4] = [c.r / 255.0, c.g / 255.0, c.b / 255.0, c.a / 255.0]
+    rl.set_shader_value_v(state.shader, state.locations['gradientColors'], state.gradient_colors_ptr, UNIFORM_VEC4, color_count)
+
+    # Set gradient stops
+    stops = gradient.get('stops', [i / (color_count - 1) for i in range(color_count)])
+    state.gradient_stops_ptr[0:color_count] = stops[:color_count]
+    rl.set_shader_value_v(state.shader, state.locations['gradientStops'], state.gradient_stops_ptr, UNIFORM_FLOAT, color_count)
+
+    # Set color count
+    state.color_count_ptr[0] = color_count
+    rl.set_shader_value(state.shader, state.locations['gradientColorCount'], state.color_count_ptr, UNIFORM_INT)
+  else:
+    color = color or rl.WHITE  # Default to white if no color provided
+    state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0]
+    rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4)
+
+
+def draw_polygon(rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None):
+  """
+  Draw a complex polygon using shader-based even-odd fill rule
+
+  Args:
+      rect: Rectangle defining the drawing area
+      points: numpy array of (x,y) points defining the polygon
+      color: Solid fill color (rl.Color)
+      gradient: Dict with gradient parameters:
+          {
+              'start': (x1, y1),    # Start point (normalized 0-1)
+              'end': (x2, y2),      # End point (normalized 0-1)
+              'colors': [rl.Color], # List of colors at stops
+              'stops': [float]      # List of positions (0-1)
+          }
+  """
+  if len(points) < 3:
+    return
+
+  state = ShaderState.get_instance()
+  if not state.initialized:
+    state.initialize()
+
+  # Find bounding box
+  min_xy = np.min(points, axis=0)
+  max_xy = np.max(points, axis=0)
+
+  # Clip coordinates to rectangle
+  clip_x = max(rect.x, min_xy[0])
+  clip_y = max(rect.y, min_xy[1])
+  clip_right = min(rect.x + rect.width, max_xy[0])
+  clip_bottom = min(rect.y + rect.height, max_xy[1])
+
+  # Check if polygon is completely off-screen
+  if clip_x >= clip_right or clip_y >= clip_bottom:
+    return
+
+  clipped_width = clip_right - clip_x
+  clipped_height = clip_bottom - clip_y
+
+  clip_rect = rl.Rectangle(clip_x, clip_y, clipped_width, clipped_height)
+
+  # Transform points relative to the CLIPPED area
+  transformed_points = points - np.array([clip_x, clip_y])
+
+  # Set shader values
+  state.point_count_ptr[0] = len(transformed_points)
+  rl.set_shader_value(state.shader, state.locations['pointCount'], state.point_count_ptr, UNIFORM_INT)
+
+  state.resolution_ptr[0:2] = [clipped_width, clipped_height]
+  rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2)
+
+  flat_points = np.ascontiguousarray(transformed_points.flatten().astype(np.float32))
+  points_ptr = rl.ffi.cast("float *", flat_points.ctypes.data)
+  rl.set_shader_value_v(state.shader, state.locations['points'], points_ptr, UNIFORM_VEC2, len(transformed_points))
+
+  _configure_shader_color(state, color, gradient, clip_rect, min_xy, max_xy)
+
+  # Render
+  rl.begin_shader_mode(state.shader)
+  rl.draw_texture_pro(
+    state.white_texture,
+    rl.Rectangle(0, 0, 2, 2),
+    clip_rect,
+    rl.Vector2(0, 0),
+    0.0,
+    rl.WHITE,
+  )
+  rl.end_shader_mode()
+
+
+def cleanup_shader_resources():
+  state = ShaderState.get_instance()
+  state.cleanup()

system/ui/lib/toggle.py

@@ -1,45 +1,49 @@
 import pyray as rl
 
-ON_COLOR = rl.GREEN
+ON_COLOR = rl.Color(0, 255, 0, 255)
 OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
 KNOB_COLOR = rl.WHITE
+WIDTH, HEIGHT = 160, 80
 BG_HEIGHT = 60
-KNOB_HEIGHT = 80
-WIDTH = 160
+ANIMATION_SPEED = 8.0
 
 
 class Toggle:
   def __init__(self, x, y, initial_state=False):
     self._state = initial_state
-    self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT)
+    self._rect = rl.Rectangle(x, y, WIDTH, HEIGHT)
+    self._progress = 1.0 if initial_state else 0.0
+    self._target = self._progress
 
   def handle_input(self):
     if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON):
-      mouse_pos = rl.get_mouse_position()
-      if rl.check_collision_point_rec(mouse_pos, self._rect):
+      if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
         self._state = not self._state
+        self._target = 1.0 if self._state else 0.0
 
   def get_state(self):
     return self._state
 
+  def update(self):
+    if abs(self._progress - self._target) > 0.01:
+      delta = rl.get_frame_time() * ANIMATION_SPEED
+      self._progress += delta if self._progress < self._target else -delta
+      self._progress = max(0.0, min(1.0, self._progress))
+
   def render(self):
-    self._draw_background()
-    self._draw_knob()
+    self. update()
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT)
+    bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress)
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
 
-  def _draw_background(self):
-    bg_rect = rl.Rectangle(
-      self._rect.x + 5,
-      self._rect.y + (KNOB_HEIGHT - BG_HEIGHT) / 2,
-      self._rect.width - 10,
-      BG_HEIGHT,
-    )
-    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, ON_COLOR if self._state else OFF_COLOR)
+    # Draw knob
+    knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress
+    knob_y = self._rect.y + HEIGHT / 2
+    rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, KNOB_COLOR)
 
-  def _draw_knob(self):
-    knob_radius = KNOB_HEIGHT / 2
-    knob_x = self._rect.x + knob_radius if not self._state else self._rect.x + self._rect.width - knob_radius
-    knob_y = self._rect.y + knob_radius
-    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, KNOB_COLOR)
+  def _blend_color(self, c1, c2, t):
+    return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255)
 
 
 if __name__ == "__main__":
@@ -50,4 +54,3 @@ if __name__ == "__main__":
   for _ in gui_app.render():
     toggle.handle_input()
     toggle.render()
-

system/ui/lib/wifi_manager.py

@@ -69,8 +69,9 @@ class NetworkInfo:
 class WifiManagerCallbacks:
   need_auth: Callable[[str], None] | None = None
   activated: Callable[[], None] | None = None
-  forgotten: Callable[[], None] | None = None
+  forgotten: Callable[[str], None] | None = None
   networks_updated: Callable[[list[NetworkInfo]], None] | None = None
+  connection_failed: Callable[[str, str], None] | None = None  # Added for error feedback
 
 
 class WifiManager:
@@ -98,8 +99,8 @@ class WifiManager:
       self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
       if not await self._find_wifi_device():
         raise ValueError("No Wi-Fi device found")
-      await self._setup_signals(self.device_path)
 
+      await self._setup_signals(self.device_path)
       self.active_ap_path = await self.get_active_access_point()
       await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD)
       self.saved_connections = await self._get_saved_connections()
@@ -122,7 +123,7 @@ class WifiManager:
     if self.bus:
       self.bus.disconnect()
 
-  async def request_scan(self) -> None:
+  async def _request_scan(self) -> None:
     try:
       interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
       await interface.call_request_scan({})
@@ -146,12 +147,23 @@ class WifiManager:
     try:
       nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
       await nm_iface.call_delete()
+
       if self._current_connection_ssid == ssid:
         self._current_connection_ssid = None
 
       if ssid in self.saved_connections:
         del self.saved_connections[ssid]
 
+      for network in self.networks:
+        if network.ssid == ssid:
+          network.is_saved = False
+          network.is_connected = False
+          break
+
+      # Notify UI of forgotten connection
+      if self.callbacks.networks_updated:
+        self.callbacks.networks_updated(copy.deepcopy(self.networks))
+
       return True
     except DBusError as e:
       cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}")
@@ -212,10 +224,12 @@ class WifiManager:
 
       nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
       await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/")
-      await self._update_connection_status()
-    except DBusError as e:
+    except Exception as e:
       self._current_connection_ssid = None
       cloudlog.error(f"Error connecting to network: {e}")
+       # Notify UI of failure
+      if self.callbacks.connection_failed:
+        self.callbacks.connection_failed(ssid, str(e))
 
   def is_saved(self, ssid: str) -> bool:
     return ssid in self.saved_connections
@@ -393,8 +407,7 @@ class WifiManager:
   async def _periodic_scan(self):
     while self.running:
       try:
-        await self.request_scan()
-        await self._get_available_networks()
+        await self._request_scan()
         await asyncio.sleep(30)
       except asyncio.CancelledError:
         break
@@ -423,21 +436,24 @@ class WifiManager:
   def _on_properties_changed(self, interface: str, changed: dict, invalidated: list):
     # print("property changed", interface, changed, invalidated)
     if 'LastScan' in changed:
-      asyncio.create_task(self._get_available_networks())
+      asyncio.create_task(self._refresh_networks())
     elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
-      self.active_ap_path = changed["ActiveAccessPoint"].value
-      asyncio.create_task(self._get_available_networks())
+      new_ap_path = changed["ActiveAccessPoint"].value
+      if self.active_ap_path != new_ap_path:
+        self.active_ap_path = new_ap_path
+        asyncio.create_task(self._refresh_networks())
 
   def _on_state_changed(self, new_state: int, old_state: int, reason: int):
-    print(f"State changed: {old_state} -> {new_state}, reason: {reason}")
+    print("State changed", new_state, old_state, reason)
     if new_state == NMDeviceState.ACTIVATED:
       if self.callbacks.activated:
         self.callbacks.activated()
-      asyncio.create_task(self._update_connection_status())
+      asyncio.create_task(self._refresh_networks())
       self._current_connection_ssid = None
     elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH):
       for network in self.networks:
         network.is_connected = False
+
       if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth:
         if self._current_connection_ssid:
           self.callbacks.need_auth(self._current_connection_ssid)
@@ -453,19 +469,19 @@ class WifiManager:
 
   def _on_new_connection(self, path: str) -> None:
     """Callback for NewConnection signal."""
-    print(f"New connection added: {path}")
     asyncio.create_task(self._add_saved_connection(path))
 
   def _on_connection_removed(self, path: str) -> None:
     """Callback for ConnectionRemoved signal."""
-    print(f"Connection removed: {path}")
     for ssid, p in list(self.saved_connections.items()):
       if path == p:
         del self.saved_connections[ssid]
+
         if self.callbacks.forgotten:
-          self.callbacks.forgotten()
+          self.callbacks.forgotten(ssid)
+
         # Update network list to reflect the removed saved connection
-        asyncio.create_task(self._update_connection_status())
+        asyncio.create_task(self._refresh_networks())
         break
 
   async def _add_saved_connection(self, path: str) -> None:
@@ -474,7 +490,7 @@ class WifiManager:
       settings = await self._get_connection_settings(path)
       if ssid := self._extract_ssid(settings):
         self.saved_connections[ssid] = path
-        await self._update_connection_status()
+        await self._refresh_networks()
     except DBusError as e:
       cloudlog.error(f"Failed to add connection {path}: {e}")
 
@@ -483,10 +499,6 @@ class WifiManager:
     ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value
     return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None
 
-  async def _update_connection_status(self):
-    self.active_ap_path = await self.get_active_access_point()
-    await self._get_available_networks()
-
   async def _add_match_rule(self, rule):
     """Add a match rule on the bus."""
     reply = await self.bus.call(
@@ -504,10 +516,11 @@ class WifiManager:
     assert reply.message_type == MessageType.METHOD_RETURN
     return reply
 
-  async def _get_available_networks(self):
+  async def _refresh_networks(self):
     """Get a list of available networks via NetworkManager."""
     wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
     access_points = await wifi_iface.get_access_points()
+    self.active_ap_path = await self.get_active_access_point()
     network_dict = {}
     for ap_path in access_points:
       try:
@@ -531,7 +544,7 @@ class WifiManager:
             security_type=self._get_security_type(flags, wpa_flags, rsn_flags),
             path=ap_path,
             bssid=bssid,
-            is_connected=self.active_ap_path == ap_path,
+            is_connected=self.active_ap_path == ap_path and self._current_connection_ssid != ssid,
             is_saved=ssid in self.saved_connections
           )
 
@@ -555,9 +568,7 @@ class WifiManager:
   async def _get_connection_settings(self, path):
     """Fetch connection settings for a specific connection path."""
     try:
-      connection_proxy = await self.bus.introspect(NM, path)
-      connection = self.bus.get_proxy_object(NM, path, connection_proxy)
-      settings = connection.get_interface(NM_CONNECTION_IFACE)
+      settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
       return await settings.call_get_settings()
     except DBusError as e:
       cloudlog.error(f"Failed to get settings for {path}: {str(e)}")
@@ -660,12 +671,6 @@ class WifiManagerWrapper:
       return
     self._run_coroutine(self._manager.connect())
 
-  def request_scan(self):
-    """Request a scan for Wi-Fi networks."""
-    if not self._manager:
-      return
-    self._run_coroutine(self._manager.request_scan())
-
   def forget_connection(self, ssid: str):
     """Forget a saved Wi-Fi connection."""
     if not self._manager:

system/ui/onroad/alert_renderer.py

@@ -0,0 +1,234 @@
+import numpy as np
+import pyray as rl
+from dataclasses import dataclass
+from cereal import messaging, log
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+# Constants
+ALERT_COLORS = {
+  log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 150),  # Black
+  log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 100),  # Orange
+  log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 150),  # Red
+}
+
+ALERT_HEIGHTS = {
+  log.SelfdriveState.AlertSize.small: 271,
+  log.SelfdriveState.AlertSize.mid: 420,
+}
+
+SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
+SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds
+
+
+@dataclass
+class Alert:
+  text1: str = ""
+  text2: str = ""
+  alert_type: str = ""
+  size: log.SelfdriveState.AlertSize = log.SelfdriveState.AlertSize.none
+  status: log.SelfdriveState.AlertStatus = log.SelfdriveState.AlertStatus.normal
+
+  def is_equal(self, other: 'Alert') -> bool:
+    """Check if two alerts are equal."""
+    return (
+      self.text1 == other.text1
+      and self.text2 == other.text2
+      and self.alert_type == other.alert_type
+      and self.size == other.size
+      and self.status == other.status
+    )
+
+
+class AlertRenderer:
+  def __init__(self):
+    """Initialize the alert renderer."""
+    self.alert: Alert = Alert()
+    self.started_frame: int = 0
+    self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
+    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self.font_metrics_cache: dict[tuple[str, int, str], rl.Vector2] = {}
+
+  def clear(self) -> None:
+    """Reset the alert to its default state."""
+    self.alert = Alert()
+
+  def update_state(self, sm: messaging.SubMaster, started_frame: int) -> None:
+    """Update alert state based on SubMaster data."""
+    self.started_frame = started_frame
+    new_alert = self.get_alert(sm)
+    if not self.alert.is_equal(new_alert):
+      self.alert = new_alert
+
+  def get_alert(self, sm: messaging.SubMaster) -> Alert:
+    """Generate the current alert based on selfdrive state."""
+    if not sm.valid['selfdriveState']:
+      return Alert()
+
+    ss = sm['selfdriveState']
+    selfdrive_frame = sm.recv_frame['selfdriveState']
+    alert_status = self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)
+
+    # Return current alert if selfdrive state is recent
+    if selfdrive_frame >= self.started_frame:
+      return Alert(
+        text1=ss.alertText1,
+        text2=ss.alertText2,
+        alert_type=ss.alertType,
+        size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize),
+        status=alert_status,
+      )
+
+    # Handle selfdrive timeout
+    ss_missing = (np.uint64(rl.get_time() * 1e9) - sm.recv_time['selfdriveState']) / 1e9
+    if selfdrive_frame < self.started_frame:
+      return Alert(
+        text1="openpilot Unavailable",
+        text2="Waiting to start",
+        alert_type="selfdriveWaiting",
+        size=log.SelfdriveState.AlertSize.mid,
+        status=log.SelfdriveState.AlertStatus.normal,
+      )
+    elif ss_missing > SELFDRIVE_STATE_TIMEOUT:
+      if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+        return Alert(
+          text1="TAKE CONTROL IMMEDIATELY",
+          text2="System Unresponsive",
+          alert_type="selfdriveUnresponsive",
+          size=log.SelfdriveState.AlertSize.full,
+          status=log.SelfdriveState.AlertStatus.critical,
+        )
+      return Alert(
+        text1="System Unresponsive",
+        text2="Reboot Device",
+        alert_type="selfdriveUnresponsivePermanent",
+        size=log.SelfdriveState.AlertSize.mid,
+        status=log.SelfdriveState.AlertStatus.normal,
+      )
+
+    return Alert()
+
+  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None:
+    """Render the alert within the specified rectangle."""
+    self.update_state(sm, sm.recv_frame['selfdriveState'])
+    alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize)
+    if alert_size == log.SelfdriveState.AlertSize.none:
+      return
+
+    # Calculate alert rectangle
+    margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40
+    radius = 0 if alert_size == log.SelfdriveState.AlertSize.full else 30
+    height = ALERT_HEIGHTS.get(alert_size, rect.height)
+    alert_rect = rl.Rectangle(
+      rect.x + margin,
+      rect.y + rect.height - height + margin,
+      rect.width - margin * 2,
+      height - margin * 2,
+    )
+
+    # Draw background
+    alert_status = self._get_enum_value(self.alert.status, log.SelfdriveState.AlertStatus)
+    color = ALERT_COLORS.get(alert_status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal])
+    if alert_size != log.SelfdriveState.AlertSize.full:
+      roundness = radius / (min(alert_rect.width, alert_rect.height) / 2)
+      rl.draw_rectangle_rounded(alert_rect, roundness, 10, color)
+    else:
+      rl.draw_rectangle_rec(alert_rect, color)
+
+    # Draw text
+    center_x = rect.x + rect.width / 2
+    center_y = alert_rect.y + alert_rect.height / 2
+    self._draw_text(alert_size, alert_rect, center_x, center_y)
+
+  def _draw_text(
+    self, alert_size: log.SelfdriveState.AlertSize, alert_rect: rl.Rectangle, center_x: float, center_y: float
+  ) -> None:
+    """Draw text based on alert size."""
+    if alert_size == log.SelfdriveState.AlertSize.small:
+      font_size = 74
+      text_width = self._measure_text(self.font_bold, self.alert.text1, font_size, 'bold').x
+      rl.draw_text_ex(
+        self.font_bold,
+        self.alert.text1,
+        rl.Vector2(center_x - text_width / 2, center_y - font_size / 2),
+        font_size,
+        0,
+        rl.WHITE,
+      )
+    elif alert_size == log.SelfdriveState.AlertSize.mid:
+      font_size1 = 88
+      text1_width = self._measure_text(self.font_bold, self.alert.text1, font_size1, 'bold').x
+      rl.draw_text_ex(
+        self.font_bold,
+        self.alert.text1,
+        rl.Vector2(center_x - text1_width / 2, center_y - 125),
+        font_size1,
+        0,
+        rl.WHITE,
+      )
+      font_size2 = 66
+      text2_width = self._measure_text(self.font_regular, self.alert.text2, font_size2, 'regular').x
+      rl.draw_text_ex(
+        self.font_regular,
+        self.alert.text2,
+        rl.Vector2(center_x - text2_width / 2, center_y + 21),
+        font_size2,
+        0,
+        rl.WHITE,
+      )
+    elif alert_size == log.SelfdriveState.AlertSize.full:
+      is_long = len(self.alert.text1) > 15
+      font_size1 = 132 if is_long else 177
+      text1_y = alert_rect.y + (240 if is_long else 270)
+      wrapped_text1 = self._wrap_text(self.alert.text1, alert_rect.width - 100, font_size1, self.font_bold)
+      for i, line in enumerate(wrapped_text1):
+        line_width = self._measure_text(self.font_bold, line, font_size1, 'bold').x
+        rl.draw_text_ex(
+          self.font_bold,
+          line,
+          rl.Vector2(center_x - line_width / 2, text1_y + i * font_size1),
+          font_size1,
+          0,
+          rl.WHITE,
+        )
+      font_size2 = 88
+      text2_y = alert_rect.y + alert_rect.height - (361 if is_long else 420)
+      wrapped_text2 = self._wrap_text(self.alert.text2, alert_rect.width - 100, font_size2, self.font_regular)
+      for i, line in enumerate(wrapped_text2):
+        line_width = self._measure_text(self.font_regular, line, font_size2, 'regular').x
+        rl.draw_text_ex(
+          self.font_regular,
+          line,
+          rl.Vector2(center_x - line_width / 2, text2_y + i * font_size2),
+          font_size2,
+          0,
+          rl.WHITE,
+        )
+
+  def _wrap_text(self, text: str, max_width: float, font_size: int, font: rl.Font) -> list[str]:
+    """Wrap text to fit within max width."""
+    words = text.split()
+    lines = []
+    current_line = ""
+    for word in words:
+      test_line = f"{current_line} {word}" if current_line else word
+      if self._measure_text(font, test_line, font_size, 'bold' if font == self.font_bold else 'regular').x <= max_width:
+        current_line = test_line
+      else:
+        if current_line:
+          lines.append(current_line)
+        current_line = word
+    if current_line:
+      lines.append(current_line)
+    return lines
+
+  def _measure_text(self, font: rl.Font, text: str, font_size: int, font_type: str) -> rl.Vector2:
+    """Measure text dimensions with caching."""
+    key = (text, font_size, font_type)
+    if key not in self.font_metrics_cache:
+      self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0)
+    return self.font_metrics_cache[key]
+
+  @staticmethod
+  def _get_enum_value(enum_value, enum_type: type):
+    """Safely convert capnp enum to Python enum value."""
+    return enum_value.raw if hasattr(enum_value, 'raw') else enum_value

system/ui/onroad/augmented_road_view.py

@@ -0,0 +1,192 @@
+import numpy as np
+import pyray as rl
+from enum import Enum
+
+from cereal import messaging, log
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.onroad.alert_renderer import AlertRenderer
+from openpilot.system.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.system.ui.onroad.hud_renderer import HudRenderer
+from openpilot.system.ui.onroad.model_renderer import ModelRenderer
+from openpilot.system.ui.widgets.cameraview import CameraView
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
+from openpilot.common.transformations.orientation import rot_from_euler
+
+
+OpState = log.SelfdriveState.OpenpilotState
+CALIBRATED = log.LiveCalibrationData.Status.calibrated
+DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
+UI_BORDER_SIZE = 30
+
+class BorderStatus(Enum):
+  DISENGAGED = rl.Color(0x17, 0x33, 0x49, 0xc8) # Blue for disengaged state
+  OVERRIDE = rl.Color(0x91, 0x9b, 0x95, 0xf1)   # Gray for override state
+  ENGAGED = rl.Color(0x17, 0x86, 0x44, 0xf1)    # Green for engaged state
+
+
+class AugmentedRoadView(CameraView):
+  def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+
+    self.sm = sm
+    self.stream_type = stream_type
+    self.is_wide_camera = stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
+
+    self.device_camera: DeviceCameraConfig | None = None
+    self.view_from_calib = view_frame_from_device_frame.copy()
+    self.view_from_wide_calib = view_frame_from_device_frame.copy()
+
+    self._last_calib_time: float = 0
+    self._last_rect_dims = (0.0, 0.0)
+    self._cached_matrix: np.ndarray | None = None
+    self._content_rect = rl.Rectangle()
+
+    self.model_renderer = ModelRenderer()
+    self._hud_renderer = HudRenderer()
+    self.alert_renderer = AlertRenderer()
+    self.driver_state_renderer = DriverStateRenderer()
+
+  def render(self, rect):
+    # Update calibration before rendering
+    self._update_calibration()
+
+    # Create inner content area with border padding
+    self._content_rect = rl.Rectangle(
+      rect.x + UI_BORDER_SIZE,
+      rect.y + UI_BORDER_SIZE,
+      rect.width - 2 * UI_BORDER_SIZE,
+      rect.height - 2 * UI_BORDER_SIZE,
+    )
+
+    # Draw colored border based on driving state
+    self._draw_border(rect)
+
+    # Enable scissor mode to clip all rendering within content rectangle boundaries
+    # This creates a rendering viewport that prevents graphics from drawing outside the border
+    rl.begin_scissor_mode(
+      int(self._content_rect.x),
+      int(self._content_rect.y),
+      int(self._content_rect.width),
+      int(self._content_rect.height)
+    )
+
+    # Render the base camera view
+    super().render(rect)
+
+    # Draw all UI overlays
+    self.model_renderer.draw(self._content_rect, self.sm)
+    self._hud_renderer.draw(self._content_rect, self.sm)
+    self.alert_renderer.draw(self._content_rect, self.sm)
+    self.driver_state_renderer.draw(self._content_rect, self.sm)
+
+    # Custom UI extension point - add custom overlays here
+    # Use self._content_rect for positioning within camera bounds
+
+    # End clipping region
+    rl.end_scissor_mode()
+
+  def _draw_border(self, rect: rl.Rectangle):
+    state = self.sm["selfdriveState"]
+    if state.state in (OpState.preEnabled, OpState.overriding):
+      status = BorderStatus.OVERRIDE
+    elif state.enabled:
+      status = BorderStatus.ENGAGED
+    else:
+      status = BorderStatus.DISENGAGED
+
+    rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, status.value)
+
+  def _update_calibration(self):
+    # Update device camera if not already set
+    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+
+    # Check if live calibration data is available and valid
+    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+      return
+
+    calib = self.sm['liveCalibration']
+    if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
+      return
+
+    # Update view_from_calib matrix
+    device_from_calib = rot_from_euler(calib.rpyCalib)
+    self.view_from_calib = view_frame_from_device_frame @ device_from_calib
+
+    # Update wide calibration if available
+    if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
+      wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
+      self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    # Check if we can use cached matrix
+    calib_time = self.sm.recv_frame['liveCalibration']
+    current_dims = (self._content_rect.width, self._content_rect.height)
+    if (self._last_calib_time == calib_time and
+        self._last_rect_dims == current_dims and
+        self._cached_matrix is not None):
+      return self._cached_matrix
+
+    # Get camera configuration
+    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
+    intrinsic = device_camera.ecam.intrinsics if self.is_wide_camera else device_camera.fcam.intrinsics
+    calibration = self.view_from_wide_calib if self.is_wide_camera else self.view_from_calib
+    zoom = 2.0 if self.is_wide_camera else 1.1
+
+    # Calculate transforms for vanishing point
+    inf_point = np.array([1000.0, 0.0, 0.0])
+    calib_transform = intrinsic @ calibration
+    kep = calib_transform @ inf_point
+
+    # Calculate center points and dimensions
+    x, y = self._content_rect.x, self._content_rect.y
+    w, h = self._content_rect.width, self._content_rect.height
+    cx, cy = intrinsic[0, 2], intrinsic[1, 2]
+
+    # Calculate max allowed offsets with margins
+    margin = 5
+    max_x_offset = cx * zoom - w / 2 - margin
+    max_y_offset = cy * zoom - h / 2 - margin
+
+    # Calculate and clamp offsets to prevent out-of-bounds issues
+    try:
+      if abs(kep[2]) > 1e-6:
+        x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
+        y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset)
+      else:
+        x_offset, y_offset = 0, 0
+    except (ZeroDivisionError, OverflowError):
+      x_offset, y_offset = 0, 0
+
+    # Update cache values
+    self._last_calib_time = calib_time
+    self._last_rect_dims = current_dims
+    self._cached_matrix = np.array([
+      [zoom * 2 * cx / w, 0, -x_offset / w * 2],
+      [0, zoom * 2 * cy / h, -y_offset / h * 2],
+      [0, 0, 1.0]
+    ])
+
+    video_transform = np.array([
+        [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+        [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+        [0.0, 0.0, 1.0]
+    ])
+    self.model_renderer.set_transform(video_transform @ calib_transform)
+
+    return self._cached_matrix
+
+
+if __name__ == "__main__":
+  gui_app.init_window("OnRoad Camera View")
+  sm = messaging.SubMaster(["modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
+    "roadCameraState", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan"])
+  road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD)
+  try:
+    for _ in gui_app.render():
+      sm.update(0)
+      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    road_camera_view.close()

system/ui/onroad/driver_state.py

@@ -0,0 +1,238 @@
+import numpy as np
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.system.ui.lib.application import gui_app
+
+# Default 3D coordinates for face keypoints as a NumPy array
+DEFAULT_FACE_KPTS_3D = np.array([
+    [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
+    [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
+    [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
+    [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
+    [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
+    [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
+    [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
+    [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
+    [-5.98, -51.20, 8.00],
+], dtype=np.float32)
+
+# UI constants
+UI_BORDER_SIZE = 30
+BTN_SIZE = 192
+IMG_SIZE = 144
+ARC_LENGTH = 133
+ARC_THICKNESS_DEFAULT = 6.7
+ARC_THICKNESS_EXTEND = 12.0
+
+SCALES_POS = np.array([0.9, 0.4, 0.4], dtype=np.float32)
+SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32)
+
+@dataclass
+class ArcData:
+  """Data structure for arc rendering parameters."""
+  x: float
+  y: float
+  width: float
+  height: float
+  thickness: float
+
+class DriverStateRenderer:
+  def __init__(self):
+    # Initial state with NumPy arrays
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy()
+    self.is_active = False
+    self.is_rhd = False
+    self.dm_fade_state = 0.0
+    self.state_updated = False
+    self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+    self.driver_pose_vals = np.zeros(3, dtype=np.float32)
+    self.driver_pose_diff = np.zeros(3, dtype=np.float32)
+    self.driver_pose_sins = np.zeros(3, dtype=np.float32)
+    self.driver_pose_coss = np.zeros(3, dtype=np.float32)
+    self.face_keypoints_transformed = np.zeros((DEFAULT_FACE_KPTS_3D.shape[0], 2), dtype=np.float32)
+    self.position_x: float = 0.0
+    self.position_y: float = 0.0
+    self.h_arc_data = None
+    self.v_arc_data = None
+
+    # Pre-allocate drawing arrays
+    self.face_lines = [rl.Vector2(0, 0) for _ in range(len(DEFAULT_FACE_KPTS_3D))]
+    self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(37)]  # 37 points for horizontal arc
+    self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(37)]  # 37 points for vertical arc
+
+    # Load the driver face icon
+    self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE)
+
+    # Colors
+    self.white_color = rl.Color(255, 255, 255, 255)
+    self.arc_color = rl.Color(26, 242, 66, 255)
+    self.engaged_color = rl.Color(26, 242, 66, 255)
+    self.disengaged_color = rl.Color(139, 139, 139, 255)
+
+  def draw(self, rect, sm):
+    if not self._is_visible(sm):
+      return
+
+    self._update_state(sm, rect)
+    if not self.state_updated:
+      return
+
+    # Set opacity based on active state
+    opacity = 0.65 if self.is_active else 0.2
+
+    # Draw background circle
+    rl.draw_circle(int(self.position_x), int(self.position_y), BTN_SIZE // 2, rl.Color(0, 0, 0, 70))
+
+    # Draw face icon
+    icon_pos = rl.Vector2(self.position_x - self.dm_img.width // 2, self.position_y - self.dm_img.height // 2)
+    rl.draw_texture_v(self.dm_img, icon_pos, rl.Color(255, 255, 255, int(255 * opacity)))
+
+    # Draw face outline
+    self.white_color.a = int(255 * opacity)
+    rl.draw_spline_linear(self.face_lines, len(self.face_lines), 5.2, self.white_color)
+
+    # Set arc color based on engaged state
+    engaged = True
+    self.arc_color = self.engaged_color if engaged else self.disengaged_color
+    self.arc_color.a = int(0.4 * 255 * (1.0 - self.dm_fade_state))  # Fade out when inactive
+
+    # Draw arcs
+    if self.h_arc_data:
+      rl.draw_spline_linear(self.h_arc_lines, len(self.h_arc_lines), self.h_arc_data.thickness, self.arc_color)
+    if self.v_arc_data:
+      rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color)
+
+  def _is_visible(self, sm):
+    """Check if the visualization should be rendered."""
+    return (sm.seen['driverStateV2'] and
+            sm.seen['driverMonitoringState'] and
+            sm['selfdriveState'].alertSize == 0)
+
+  def _update_state(self, sm, rect):
+    """Update the driver monitoring state based on model data"""
+    if  not sm.updated["driverMonitoringState"]:
+      if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \
+         rect.width != self.last_rect.width or rect.height != self.last_rect.height):
+        self._pre_calculate_drawing_elements(rect)
+      return
+
+    # Get monitoring state
+    dm_state = sm["driverMonitoringState"]
+    self.is_active = dm_state.isActiveMode
+    self.is_rhd = dm_state.isRHD
+
+    # Update fade state (smoother transition between active/inactive)
+    fade_target = 0.0 if self.is_active else 0.5
+    self.dm_fade_state = np.clip(self.dm_fade_state + 0.2 * (fade_target - self.dm_fade_state), 0.0, 1.0)
+
+    # Get driver orientation data from appropriate camera
+    driverstate = sm["driverStateV2"]
+    driver_data = driverstate.rightDriverData if self.is_rhd else driverstate.leftDriverData
+    driver_orient = driver_data.faceOrientation
+
+    # Update pose values with scaling and smoothing
+    driver_orient = np.array(driver_orient)
+    scales = np.where(driver_orient < 0, SCALES_NEG, SCALES_POS)
+    v_this = driver_orient * scales
+    self.driver_pose_diff = np.abs(self.driver_pose_vals - v_this)
+    self.driver_pose_vals = 0.8 * v_this + 0.2 * self.driver_pose_vals  # Smooth changes
+
+    # Apply fade to rotation and compute sin/cos
+    rotation_amount = self.driver_pose_vals * (1.0 - self.dm_fade_state)
+    self.driver_pose_sins = np.sin(rotation_amount)
+    self.driver_pose_coss = np.cos(rotation_amount)
+
+    # Create rotation matrix for 3D face model
+    sin_y, sin_x, sin_z = self.driver_pose_sins
+    cos_y, cos_x, cos_z = self.driver_pose_coss
+    r_xyz = np.array(
+      [
+        [cos_x * cos_z, cos_x * sin_z, -sin_x],
+        [-sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x],
+        [cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x],
+      ]
+    )
+
+    # Transform face keypoints using vectorized matrix multiplication
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D @ r_xyz.T
+    self.face_kpts_draw[:, 2] = self.face_kpts_draw[:, 2] * (1.0 - self.dm_fade_state) + 8 * self.dm_fade_state
+
+    # Pre-calculate the transformed keypoints
+    kp_depth = (self.face_kpts_draw[:, 2] - 8) / 120.0 + 1.0
+    self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None]
+
+    # Pre-calculate all drawing elements
+    self._pre_calculate_drawing_elements(rect)
+    self.state_updated = True
+
+  def _pre_calculate_drawing_elements(self, rect):
+    """Pre-calculate all drawing elements based on the current rectangle"""
+    # Calculate icon position (bottom-left or bottom-right)
+    width, height = rect.width, rect.height
+    offset = UI_BORDER_SIZE + BTN_SIZE // 2
+    self.position_x = rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = rect.y + height - offset
+
+    # Pre-calculate the face lines positions
+    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
+    for i in range(len(positioned_keypoints)):
+      self.face_lines[i].x = positioned_keypoints[i][0]
+      self.face_lines[i].y = positioned_keypoints[i][1]
+
+    # Calculate arc dimensions based on head rotation
+    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
+    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
+
+    # Horizontal arc
+    h_width = abs(delta_x)
+    self.h_arc_data = self._calculate_arc_data(
+        delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+        self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+    )
+
+    # Vertical arc
+    v_height = abs(delta_y)
+    self.v_arc_data = self._calculate_arc_data(
+        delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+        self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+    )
+
+  def _calculate_arc_data(
+    self, delta: float, size: float, x: float, y: float, sin_val: float, diff_val: float, is_horizontal: bool
+  ):
+    """Calculate arc data and pre-compute arc points."""
+    if size <= 0:
+      return None
+
+    thickness = ARC_THICKNESS_DEFAULT + ARC_THICKNESS_EXTEND * min(1.0, diff_val * 5.0)
+    start_angle = (90 if sin_val > 0 else -90) if is_horizontal else (0 if sin_val > 0 else 180)
+    x = min(x + delta, x) if is_horizontal else x
+    y = y if is_horizontal else min(y + delta, y)
+
+    arc_data = ArcData(
+      x=x,
+      y=y,
+      width=size if is_horizontal else ARC_LENGTH,
+      height=ARC_LENGTH if is_horizontal else size,
+      thickness=thickness,
+    )
+
+    # Pre-calculate arc points
+    start_rad = np.deg2rad(start_angle)
+    end_rad = np.deg2rad(start_angle + 180)
+    angles = np.linspace(start_rad, end_rad, 37)
+
+    center_x = x + arc_data.width / 2
+    center_y = y + arc_data.height / 2
+    radius_x = arc_data.width / 2
+    radius_y = arc_data.height / 2
+
+    x_coords = center_x + np.cos(angles) * radius_x
+    y_coords = center_y + np.sin(angles) * radius_y
+
+    arc_lines = self.h_arc_lines if is_horizontal else self.v_arc_lines
+    for i, (x_coord, y_coord) in enumerate(zip(x_coords, y_coords, strict=True)):
+      arc_lines[i].x = x_coord
+      arc_lines[i].y = y_coord
+
+    return arc_data

system/ui/onroad/hud_renderer.py

@@ -0,0 +1,194 @@
+import pyray as rl
+from dataclasses import dataclass
+from cereal.messaging import SubMaster
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.common.conversions import Conversions as CV
+from enum import IntEnum
+
+# Constants
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
+
+
+@dataclass(frozen=True)
+class UIConfig:
+  header_height: int = 300
+  border_size: int = 30
+  button_size: int = 192
+  set_speed_width_metric: int = 200
+  set_speed_width_imperial: int = 172
+  set_speed_height: int = 204
+  wheel_icon_size: int = 144
+
+
+@dataclass(frozen=True)
+class FontSizes:
+  current_speed: int = 176
+  speed_unit: int = 66
+  max_speed: int = 40
+  set_speed: int = 90
+
+
+@dataclass(frozen=True)
+class Colors:
+  white: rl.Color = rl.Color(255, 255, 255, 255)
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
+
+
+UI_CONFIG = UIConfig()
+FONT_SIZES = FontSizes()
+COLORS = Colors()
+
+
+class HudStatus(IntEnum):
+  DISENGAGED = 0
+  OVERRIDE = 1
+  ENGAGED = 2
+
+
+class HudRenderer:
+  def __init__(self):
+    """Initialize the HUD renderer."""
+    self.is_metric: bool = False
+    self.status: HudStatus = HudStatus.DISENGAGED
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = False
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+    self.font_metrics_cache: dict[[str, int, str], rl.Vector2] = {}
+    self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def _update_state(self, sm: SubMaster) -> None:
+    """Update HUD state based on car state and controls state."""
+    self.is_metric = True
+    self.status = HudStatus.DISENGAGED
+
+    if not sm.valid['carState']:
+      self.is_cruise_set = False
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
+      return
+
+    controls_state = sm['controlsState']
+    car_state = sm['carState']
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not self.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None:
+    """Render HUD elements to the screen."""
+    self._update_state(sm)
+    rl.draw_rectangle_gradient_v(
+      int(rect.x),
+      int(rect.y),
+      int(rect.width),
+      UI_CONFIG.header_height,
+      COLORS.header_gradient_start,
+      COLORS.header_gradient_end,
+    )
+
+    if self.is_cruise_available:
+      self._draw_set_speed(rect)
+
+    self._draw_current_speed(rect)
+    self._draw_wheel_icon(rect)
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the MAX speed indicator box."""
+    set_speed_width = UI_CONFIG.set_speed_width_metric if self.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
+    y = rect.y + 45
+
+    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.2, 30, COLORS.black_translucent)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.2, 30, 6, COLORS.border_translucent)
+
+    max_color = COLORS.grey
+    set_speed_color = COLORS.dark_grey
+    if self.is_cruise_set:
+      set_speed_color = COLORS.white
+      max_color = {
+        HudStatus.DISENGAGED: COLORS.disengaged,
+        HudStatus.OVERRIDE: COLORS.override,
+        HudStatus.ENGAGED: COLORS.engaged,
+      }.get(self.status, COLORS.grey)
+
+    max_text = "MAX"
+    max_text_width = self._measure_text(max_text, self._font_semi_bold, FONT_SIZES.max_speed, 'semi_bold').x
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 27),
+      FONT_SIZES.max_speed,
+      0,
+      max_color,
+    )
+
+    set_speed_text = "–" if not self.is_cruise_set else str(round(self.set_speed))
+    speed_text_width = self._measure_text(set_speed_text, self._font_bold, FONT_SIZES.set_speed, 'bold').x
+    rl.draw_text_ex(
+      self._font_bold,
+      set_speed_text,
+      rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the current vehicle speed and unit."""
+    speed_text = str(round(self.speed))
+    speed_text_size = self._measure_text(speed_text, self._font_bold, FONT_SIZES.current_speed, 'bold')
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+
+    unit_text = "km/h" if self.is_metric else "mph"
+    unit_text_size = self._measure_text(unit_text, self._font_medium, FONT_SIZES.speed_unit, 'medium')
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+
+  def _draw_wheel_icon(self, rect: rl.Rectangle) -> None:
+    """Draw the steering wheel icon with status-based opacity."""
+    center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2)
+    center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2)
+    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
+
+    opacity = 0.7 if self.status == HudStatus.DISENGAGED else 1.0
+    img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2)
+    rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity)))
+
+  def _measure_text(self, text: str, font: rl.Font, font_size: int, font_type: str) -> rl.Vector2:
+    """Measure text dimensions with caching."""
+    key = (text, font_size, font_type)
+    if key not in self.font_metrics_cache:
+      self.font_metrics_cache[key] = rl.measure_text_ex(font, text, font_size, 0)
+    return self.font_metrics_cache[key]

system/ui/onroad/model_renderer.py

@@ -0,0 +1,414 @@
+import colorsys
+import numpy as np
+import pyray as rl
+from cereal import messaging, car
+from dataclasses import dataclass, field
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.ui.lib.shader_polygon import draw_polygon
+
+
+CLIP_MARGIN = 500
+MIN_DRAW_DISTANCE = 10.0
+MAX_DRAW_DISTANCE = 100.0
+PATH_COLOR_TRANSITION_DURATION = 0.5  # Seconds for color transition animation
+PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS)
+
+THROTTLE_COLORS = [
+  rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
+  rl.Color(114, 255, 92, 89),    # HSLF(112/360, 1.0, 0.68, 0.35)
+  rl.Color(114, 255, 92, 0),     # HSLF(112/360, 1.0, 0.68, 0.0)
+]
+
+NO_THROTTLE_COLORS = [
+  rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4)
+  rl.Color(242, 242, 242, 89),  # HSLF(112/360, 0.0, 0.95, 0.35)
+  rl.Color(242, 242, 242, 0),   # HSLF(112/360, 0.0, 0.95, 0.0)
+]
+
+
+@dataclass
+class ModelPoints:
+  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
+  projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
+
+@dataclass
+class LeadVehicle:
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
+  fill_alpha: int = 0
+
+
+class ModelRenderer:
+  def __init__(self):
+    self._longitudinal_control = False
+    self._experimental_mode = False
+    self._blend_factor = 1.0
+    self._prev_allow_throttle = True
+    self._lane_line_probs = np.zeros(4, dtype=np.float32)
+    self._road_edge_stds = np.zeros(2, dtype=np.float32)
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    self._path_offset_z = 1.22
+
+    # Initialize ModelPoints objects
+    self._path = ModelPoints()
+    self._lane_lines = [ModelPoints() for _ in range(4)]
+    self._road_edges = [ModelPoints() for _ in range(2)]
+    self._acceleration_x = np.empty((0,), dtype=np.float32)
+
+    # Transform matrix (3x3 for car space to screen space)
+    self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
+    self._transform_dirty = True
+    self._clip_region = None
+    self._rect = None
+    self._exp_gradient = {
+      'start': (0.0, 1.0),  # Bottom of path
+      'end': (0.0, 0.0),  # Top of path
+      'colors': [],
+      'stops': [],
+    }
+
+    # Get longitudinal control setting from car parameters
+    if car_params := Params().get("CarParams"):
+      cp = messaging.log_from_bytes(car_params, car.CarParams)
+      self._longitudinal_control = cp.openpilotLongitudinalControl
+
+  def set_transform(self, transform: np.ndarray):
+    self._car_space_transform = transform.astype(np.float32)
+    self._transform_dirty = True
+
+  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
+    # Check if data is up-to-date
+    if not sm.valid['modelV2'] or not sm.valid['liveCalibration']:
+      return
+
+    # Set up clipping region
+    self._rect = rect
+    self._clip_region = rl.Rectangle(
+      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
+    )
+
+    # Update state
+    self._experimental_mode = sm['selfdriveState'].experimentalMode
+    self._path_offset_z = sm['liveCalibration'].height[0]
+    if sm.updated['carParams']:
+      self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
+
+    model = sm['modelV2']
+    radar_state = sm['radarState'] if sm.valid['radarState'] else None
+    lead_one = radar_state.leadOne if radar_state else None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None
+
+    # Update model data when needed
+    model_updated = sm.updated['modelV2']
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
+      if model_updated:
+        self._update_raw_points(model)
+
+      pos_x_array = self._path.raw_points[:, 0]
+      if pos_x_array.size == 0:
+        return
+
+      self._update_model(lead_one, pos_x_array)
+      if render_lead_indicator:
+        self._update_leads(radar_state, pos_x_array)
+      self._transform_dirty = False
+
+
+    # Draw elements
+    self._draw_lane_lines()
+    self._draw_path(sm)
+
+    if render_lead_indicator and radar_state:
+      self._draw_lead_indicator()
+
+  def _update_raw_points(self, model):
+    """Update raw 3D points from model data"""
+    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+
+    for i, lane_line in enumerate(model.laneLines):
+      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+
+    for i, road_edge in enumerate(model.roadEdges):
+      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+
+    self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
+    self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
+    self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
+
+  def _update_leads(self, radar_state, pos_x_array):
+    """Update positions of lead vehicles"""
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    leads = [radar_state.leadOne, radar_state.leadTwo]
+    for i, lead_data in enumerate(leads):
+      if lead_data and lead_data.status:
+        d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
+        idx = self._get_path_length_idx(pos_x_array, d_rel)
+        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
+        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        if point:
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
+
+  def _update_model(self, lead, pos_x_array):
+    """Update model visualization data based on model message"""
+    max_distance = np.clip(pos_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
+    max_idx = self._get_path_length_idx(pos_x_array, max_distance)
+
+    # Update lane lines using raw points
+    for i, lane_line in enumerate(self._lane_lines):
+      lane_line.projected_points = self._map_line_to_polygon(
+        lane_line.raw_points, 0.025 * self._lane_line_probs[i], 0.0, max_idx
+      )
+
+    # Update road edges using raw points
+    for road_edge in self._road_edges:
+      road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx)
+
+    # Update path using raw points
+    if lead and lead.status:
+      lead_d = lead.dRel * 2.0
+      max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
+      max_idx = self._get_path_length_idx(pos_x_array, max_distance)
+
+    self._path.projected_points = self._map_line_to_polygon(
+      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
+    )
+
+    self._update_experimental_gradient(self._rect.height)
+
+  def _update_experimental_gradient(self, height):
+    """Pre-calculate experimental mode gradient colors"""
+    if not self._experimental_mode:
+      return
+
+    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+
+    segment_colors = []
+    gradient_stops = []
+
+    i = 0
+    while i < max_len:
+      track_idx = max_len - i - 1  # flip idx to start from bottom right
+      track_y = self._path.projected_points[track_idx][1]
+      if track_y < 0 or track_y > height:
+        i += 1
+        continue
+
+      # Calculate color based on acceleration
+      lin_grad_point = (height - track_y) / height
+
+      # speed up: 120, slow down: 0
+      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
+      path_hue = int(path_hue * 100 + 0.5) / 100
+
+      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
+      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
+      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+
+      # Use HSL to RGB conversion
+      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
+
+      gradient_stops.append(lin_grad_point)
+      segment_colors.append(color)
+
+      # Skip a point, unless next is last
+      i += 1 + (1 if (i + 2) < max_len else 0)
+
+    # Store the gradient in the path object
+    self._exp_gradient['colors'] = segment_colors
+    self._exp_gradient['stops'] = gradient_stops
+
+  def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
+    speed_buff, lead_buff = 10.0, 40.0
+
+    # Calculate fill alpha
+    fill_alpha = 0
+    if d_rel < lead_buff:
+      fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
+      if v_rel < 0:
+        fill_alpha += 255 * (-1 * (v_rel / speed_buff))
+      fill_alpha = min(fill_alpha, 255)
+
+    # Calculate size and position
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+    x = np.clip(point[0], 0.0, rect.width - sz / 2)
+    y = min(point[1], rect.height - sz * 0.6)
+
+    g_xo = sz / 5
+    g_yo = sz / 10
+
+    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
+    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
+
+    return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha))
+
+  def _draw_lane_lines(self):
+    """Draw lane lines and road edges"""
+    for i, lane_line in enumerate(self._lane_lines):
+      if lane_line.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7)
+      color = rl.Color(255, 255, 255, int(alpha * 255))
+      draw_polygon(self._rect, lane_line.projected_points, color)
+
+    for i, road_edge in enumerate(self._road_edges):
+      if road_edge.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0)
+      color = rl.Color(255, 0, 0, int(alpha * 255))
+      draw_polygon(self._rect, road_edge.projected_points, color)
+
+  def _draw_path(self, sm):
+    """Draw path with dynamic coloring based on mode and throttle state."""
+    if not self._path.projected_points.size:
+      return
+
+    if self._experimental_mode:
+      # Draw with acceleration coloring
+      if len(self._exp_gradient['colors']) > 2:
+        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+      else:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+    else:
+      # Draw with throttle/no throttle gradient
+      allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
+
+      # Start transition if throttle state changes
+      if allow_throttle != self._prev_allow_throttle:
+        self._prev_allow_throttle = allow_throttle
+        self._blend_factor = max(1.0 - self._blend_factor, 0.0)
+
+      # Update blend factor
+      if self._blend_factor < 1.0:
+        self._blend_factor = min(self._blend_factor + PATH_BLEND_INCREMENT, 1.0)
+
+      begin_colors = NO_THROTTLE_COLORS if allow_throttle else THROTTLE_COLORS
+      end_colors = THROTTLE_COLORS if allow_throttle else NO_THROTTLE_COLORS
+
+      # Blend colors based on transition
+      blended_colors = self._blend_colors(begin_colors, end_colors, self._blend_factor)
+      gradient = {
+        'start': (0.0, 1.0),  # Bottom of path
+        'end': (0.0, 0.0),  # Top of path
+        'colors': blended_colors,
+        'stops': [0.0, 0.5, 1.0],
+      }
+      draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+
+  def _draw_lead_indicator(self):
+    # Draw lead vehicles if available
+    for lead in self._lead_vehicles:
+      if not lead.glow or not lead.chevron:
+        continue
+
+      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
+      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+
+  @staticmethod
+  def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
+    """Get the index corresponding to the given path height"""
+    idx = np.searchsorted(pos_x_array, path_height, side='right')
+    return int(np.clip(idx - 1, 0, len(pos_x_array) - 1))
+
+  def _map_to_screen(self, in_x, in_y, in_z):
+    """Project a point in car space to screen space"""
+    input_pt = np.array([in_x, in_y, in_z])
+    pt = self._car_space_transform @ input_pt
+
+    if abs(pt[2]) < 1e-6:
+      return None
+
+    x, y = pt[0] / pt[2], pt[1] / pt[2]
+
+    clip = self._clip_region
+    if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
+      return None
+
+    return (x, y)
+
+  def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
+    """Convert 3D line to 2D polygon for rendering."""
+    if line.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Slice points and filter non-negative x-coordinates
+    points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0]
+    if points.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Create left and right 3D points in one array
+    n_points = points.shape[0]
+    points_3d = np.empty((n_points * 2, 3), dtype=np.float32)
+    points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
+    points_3d[:n_points, 1] = points[:, 1] - y_off
+    points_3d[n_points:, 1] = points[:, 1] + y_off
+    points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
+
+    # Single matrix multiplication for projections
+    proj = self._car_space_transform @ points_3d.T
+    valid_z = np.abs(proj[2]) > 1e-6
+    if not np.any(valid_z):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Compute screen coordinates
+    screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
+    left_screen = screen[:, :n_points].T
+    right_screen = screen[:, n_points:].T
+
+    # Ensure consistent shapes by re-aligning valid points
+    valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
+    if valid_points == 0:
+      return np.empty((0, 2), dtype=np.float32)
+    left_screen = left_screen[:valid_points]
+    right_screen = right_screen[:valid_points]
+
+    if self._clip_region:
+      clip = self._clip_region
+      bounds_mask = (
+        (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
+        (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
+        (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
+        (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
+      )
+      if not np.any(bounds_mask):
+        return np.empty((0, 2), dtype=np.float32)
+      left_screen = left_screen[bounds_mask]
+      right_screen = right_screen[bounds_mask]
+
+    if not allow_invert and left_screen.shape[0] > 1:
+      keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
+      left_screen = left_screen[keep]
+      right_screen = right_screen[keep]
+      if left_screen.shape[0] == 0:
+        return np.empty((0, 2), dtype=np.float32)
+
+    return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)
+
+  @staticmethod
+  def _map_val(x, x0, x1, y0, y1):
+    x = max(x0, min(x, x1))
+    ra = x1 - x0
+    rb = y1 - y0
+    return (x - x0) * rb / ra + y0 if ra != 0 else y0
+
+  @staticmethod
+  def _hsla_to_color(h, s, l, a):
+    r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)]
+    return rl.Color(r, g, b, max(0, min(255, int(a * 255))))
+
+  @staticmethod
+  def _blend_colors(begin_colors, end_colors, t):
+    if t >= 1.0:
+      return end_colors
+    if t <= 0.0:
+      return begin_colors
+
+    inv_t = 1.0 - t
+    return [rl.Color(
+      int(inv_t * start.r + t * end.r),
+      int(inv_t * start.g + t * end.g),
+      int(inv_t * start.b + t * end.b),
+      int(inv_t * start.a + t * end.a)
+    ) for start, end in zip(begin_colors, end_colors, strict=True)]

system/ui/widgets/cameraview.py

@@ -1,10 +1,14 @@
+import numpy as np
 import pyray as rl
+
 from openpilot.system.hardware import TICI
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 
 
+CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
+
 VERTEX_SHADER = """
 #version 300 es
 in vec3 vertexPosition;
@@ -53,7 +57,10 @@ else:
 class CameraView:
   def __init__(self, name: str, stream_type: VisionStreamType):
     self.client = VisionIpcClient(name, stream_type, False)
+    self._texture_needs_update = True
+    self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -85,6 +92,24 @@ class CameraView:
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
 
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+        [zx, 0.0, 0.0],
+        [0.0, zy, 0.0],
+        [0.0, 0.0, 1.0]
+    ])
+
   def render(self, rect: rl.Rectangle):
     if not self._ensure_connection():
       return
@@ -92,17 +117,27 @@ class CameraView:
     # Try to get a new buffer without blocking
     buffer = self.client.recv(timeout_ms=0)
     if buffer:
+      self._texture_needs_update = True
       self.frame = buffer
 
     if not self.frame:
       return
 
-    # Calculate scaling to maintain aspect ratio
-    scale = min(rect.width / self.frame.width, rect.height / self.frame.height)
-    x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2
-    y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2
+    transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale)
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
     if TICI:
@@ -144,21 +179,31 @@ class CameraView:
       return
 
     # Update textures with new frame data
-    y_data = self.frame.data[: self.frame.uv_offset]
-    uv_data = self.frame.data[self.frame.uv_offset :]
+    if self._texture_needs_update:
+      y_data = self.frame.data[: self.frame.uv_offset]
+      uv_data = self.frame.data[self.frame.uv_offset :]
 
-    rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-    rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      self._texture_needs_update = False
 
     # Render with shader
     rl.begin_shader_mode(self.shader)
-    rl.set_shader_value_texture(self.shader, rl.get_shader_location(self.shader, "texture1"), self.texture_uv)
+    rl.set_shader_value_texture(self.shader, self._texture1_loc, self.texture_uv)
     rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
     rl.end_shader_mode()
 
   def _ensure_connection(self) -> bool:
     if not self.client.is_connected():
       self.frame = None
+
+      # Throttle connection attempts
+      current_time = rl.get_time()
+      if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL:
+        return False
+
+      self.last_connection_attempt = current_time
+
       if not self.client.connect(False) or not self.client.num_buffers:
         return False
 

system/ui/widgets/driver_camera_view.py

@@ -0,0 +1,46 @@
+import numpy as np
+import pyray as rl
+from openpilot.system.ui.widgets.cameraview import CameraView
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+
+
+class DriverCameraView(CameraView):
+  def __init__(self, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+
+  def render(self, rect):
+    super().render(rect)
+
+    # TODO: Add additional rendering logic
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    driver_view_ratio = 2.0
+
+    # Get stream dimensions
+    if self.frame:
+      stream_width = self.frame.width
+      stream_height = self.frame.height
+    else:
+      # Default values if frame not available
+      stream_width = 1928
+      stream_height = 1208
+
+    yscale = stream_height * driver_view_ratio / stream_width
+    xscale = yscale * rect.height / rect.width * stream_width / stream_height
+
+    return np.array([
+      [xscale, 0.0, 0.0],
+      [0.0, yscale, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View")
+  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  try:
+    for _ in gui_app.render():
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    driver_camera_view.close()

system/ui/widgets/network.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass
+from threading import Lock
 from typing import Literal
 
 import pyray as rl
@@ -53,48 +54,59 @@ UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm
 class WifiManagerUI:
   def __init__(self, wifi_manager: WifiManagerWrapper):
     self.state: UIState = StateIdle()
-    self.btn_width = 200
+    self.btn_width: int = 200
     self.scroll_panel = GuiScrollPanel()
     self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
 
     self._networks: list[NetworkInfo] = []
-
+    self._lock = Lock()
     self.wifi_manager = wifi_manager
-    self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten, self._on_network_updated))
+
+    self.wifi_manager.set_callbacks(
+      WifiManagerCallbacks(
+        need_auth = self._on_need_auth,
+        activated = self._on_activated,
+        forgotten = self._on_forgotten,
+        networks_updated = self._on_network_updated,
+        connection_failed = self._on_connection_failed
+      )
+    )
     self.wifi_manager.start()
     self.wifi_manager.connect()
 
   def render(self, rect: rl.Rectangle):
-    if not self._networks:
-      gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-      return
+    with self._lock:
+      if not self._networks:
+        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+        return
 
-    match self.state:
-      case StateNeedsAuth(network):
-        result = self.keyboard.render("Enter password", f"for {network.ssid}")
-        if result == 1:
-          password = self.keyboard.text
-          self.keyboard.clear()
+      match self.state:
+        case StateNeedsAuth(network):
+          result = self.keyboard.render("Enter password", f"for {network.ssid}")
+          if result == 1:
+            password = self.keyboard.text
+            self.keyboard.clear()
 
-          if len(password) >= MIN_PASSWORD_LENGTH:
-            self.connect_to_network(network, password)
-        elif result == 0:
-          self.state = StateIdle()
+            if len(password) >= MIN_PASSWORD_LENGTH:
+              self.connect_to_network(network, password)
+          elif result == 0:
+            self.state = StateIdle()
 
-      case StateShowForgetConfirm(network):
-        result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget")
-        if result == 1:
-          self.forget_network(network)
-        elif result == 0:
-          self.state = StateIdle()
+        case StateShowForgetConfirm(network):
+          result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget")
+          if result == 1:
+            self.forget_network(network)
+          elif result == 0:
+            self.state = StateIdle()
 
-      case _:
-        self._draw_network_list(rect)
+        case _:
+          self._draw_network_list(rect)
 
   @property
   def require_full_screen(self) -> bool:
     """Check if the WiFi UI requires exclusive full-screen rendering."""
-    return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm))
+    with self._lock:
+      return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm))
 
   def _draw_network_list(self, rect: rl.Rectangle):
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -190,25 +202,30 @@ class WifiManagerUI:
     self.wifi_manager.forget_connection(network.ssid)
 
   def _on_network_updated(self, networks: list[NetworkInfo]):
-    self._networks = networks
+    with self._lock:
+      self._networks = networks
 
   def _on_need_auth(self, ssid):
-    match self.state:
-      case StateConnecting(ssid):
-        self.state = StateNeedsAuth(ssid)
-      case _:
-        # Find network by SSID
-        network = next((n for n in self.wifi_manager.networks if n.ssid == ssid), None)
-        if network:
-          self.state = StateNeedsAuth(network)
+    with self._lock:
+      network = next((n for n in self._networks if n.ssid == ssid), None)
+      if network:
+        self.state = StateNeedsAuth(network)
 
   def _on_activated(self):
-    if isinstance(self.state, StateConnecting):
-      self.state = StateIdle()
+    with self._lock:
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()
+
+  def _on_forgotten(self, ssid):
+    with self._lock:
+      if isinstance(self.state, StateForgetting):
+        self.state = StateIdle()
+
+  def _on_connection_failed(self, ssid: str, error: str):
+    with self._lock:
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()
 
-  def _on_forgotten(self):
-    if isinstance(self.state, StateForgetting):
-      self.state = StateIdle()
 
 
 def main():