Sync: commaai/openpilot:master → sunnypilot/sunnypilot:master (#1687)

* clips: allow mici UI (now default) (#37070) fix: make big false by default and remove assertion * comma four: new keyboard enter button (#37072) * works * enter dis * clean up * clean up * no debug * useless * poadding * tools: fix Python version comparison using normalized semantic version format (#37075) * Back to tethering BigButton (#37082) Back to tethering big button * Stock LKAS: remove permanent alert (#37083) rm perm * BigButton: remove unused scrolling (#37085) * BigButton: remove unused scrolling * clean up * BigButton: use UnifiedLabel (#37086) * BigButton: remove unused scrolling * start * debug * stash * actually removing the hardcoded size for multioption fixes it * back * cursor does sub label * clean up * more * more * try this for now * nick suggest * clean up * more * more * Network menu improvements (#37077) * try this * that's handy * todo, not sure what happens here * set_text * normalize * scroll wifi * clean up * more * better check * UI: only show `onroad_fade.png` when engaged (#37051) * only show when engaged * retrigger CI * fade animation 0.1 * nl --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * NavBar: fix no show animation (#37090) * 1.5 not enough time on small screen * ohhhh * clean up * translations: remove arabic (#37087) * remove arabic * more * bump opendbc (#37091) * long_mpc: use log.capnp source enum instead of list (#37093) * Revert "long_mpc: use log.capnp source enum instead of list" (#37095) Revert "long_mpc: use log.capnp source enum instead of list (#37093)" This reverts commit 7e959c5a3e. * mici setup: remove unused functions * fix mici setup int enum * clips: improve overlays for mici (#37088) * adjust overlay sizes and wrap metadata text for mici * comment * adjust overlay rendering to dynamically calculate line height for wrapped metadata text * render time first so we can use width in margin calculation * update comment (to retry failed CI actually) * increase metadata size on mici * longitudinal mpc tuning: behind if main (#37099) * longitudinal mpc tuning report: add sinusoidal oscillation scenario (#37100) * long_mpc: use log.capnp source enum (#37096) * Calibrate in tg (#36621) * squash * bump tg * fix linmt * Ready to merge * cleaner * match modeld * more dead stuff * long mpc: state name before subscript (#37101) * clip: clean up imports (#37104) * wtf is this * don't break import timing * they are the same * clean up * good catch * rm common/mat.h * Remove all the OpenCL (#37105) * Remove all the OpenCL * lil more * bump msgq * clip: use wrap_text helper (#37102) * they are same * no duplication! * rm rstrip * bump opendbc (#37108) bump * Delete less dialogs (#37111) * try * revert * this is fine * revert tg calib and opencl cleanup (#37113) * Revert "Remove all the OpenCL (#37105)" This reverts commit d5cbb89d84. * Revert "rm common/mat.h" This reverts commit 4ce701150a. * Revert "Calibrate in tg (#36621)" This reverts commit 593c3a0c8e. * fix: route fetch metadata when first log isnt uploaded (#37114) * fix: route fetch metadata when first log isnt uploaded * default * simple --------- Co-authored-by: Trey Moen <treymoen@amazon.com> * gitignore .context/ * ui diff replay: remove unused frame_data list for individual frame display (#37117) Remove unused base64 encoding and simplify frame data handling in diff video report * bridge: move ZMQ handling over (#37118) * replace tabulate with simple helper (#37122) * Better memory usage debugging (#37120) * Revert "revert tg calib and opencl cleanup (#37113)" (#37115) * Revert "revert tg calib and opencl cleanup (#37113)" This reverts commit 51312afd3d. * power draw is a lil higher * just don't miss a cycle * fix warp targets * fix tinygrad dep * CI: garbage collect tmp jenkins branches (#37125) * Build vendored artifacts in CI (#37127) * Build vendored artifacts in CI * parallel * deterministic * fix up * fix gitignores * lil more * lil more consistency * remove get_mcu_type from pandad.py (#37132) * Chunk big model files (#37134) * file chunking * try this * more cleanup * cleaner * ui: delay nav bar animation (#37137) * from da bounce * try this * you can get it to clean up wow * modeld: simplify model run processing (#37138) Hi! The point of this pr is to make the model run easier to read. On the latest tinygrad numpy().flatten() empirically does the same thing as the internal contiguous().realize().uop.base.buffer.numpy(). numpy() is also documented (docstrings), which can assist new contributors in learning what each potential execution does. Torq_boi or yassine, I know you want proof in the code base, so here it is. As of tinygrad commit 2f55005: in tinygrad_repo/tinygrad/tensor.py Lines 316-318 (def _buffer): ensure the tenso is contiguous() and realized() before accessing the raw buffer. Line 378 (def numpy): Wraps the buffer access and adds a reshape to match the tensor shape. self._buffer() is what executes contiguous().realize() and returns the buffer object. Calling numpy() on that buffer object returns a 1D array (defined in tinygrad/device.py:193 via np.frombuffer). The reshape(self.shape) at the end of Tensor.numpy() then adds dimensions to that 1D array. The added .flatten() removes those dimensions, flattening it back to a 1D array. Effectively the same as what is currently done, but less complex. * Revert "Chunk big model files (#37134)" (#37139) This reverts commit a941e8f78f. * Process replay: move refs to ci-artifacts (#37049) * rm upload * use ci-artifacts * sanitize * rm ref_commit * add ci * handle exept * bootstrap * always * fix * replay * keep ref_commit fork compatibility * remove upload-only * apply comments * safe diffs in master * Revert "safe diffs in master" This reverts commit 369fccac786a67799193e9152488813c6df20414. * continue on master diff * Update .github/workflows/tests.yaml Co-authored-by: Shane Smiskol <shane@smiskol.com> --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * fix first-interaction action inputs for v3 (#37144) v3 renamed inputs from kebab-case to snake_case (repo-token -> repo_token, pr-message -> pr_message). The old names were silently ignored, causing "Input required and not supplied: issue_message" errors. * bump create-pull-request action to v8.1.0 (#37143) The pinned SHA was v6.0.4, which is incompatible with actions/checkout@v6 and causes a "Duplicate header: Authorization" 400 error during git remote operations. See peter-evans/create-pull-request#4272. * bump numpy to 2.4.2 (#37145) * show dependency tree in weekly uv lock job (#37146) * Revert "DM: Ford GT model" (#37148) Revert "DM: Ford GT model (#37013)" This reverts commit 1459d3519d. * remove dead multilang for mici (#37150) * ui: remove dead side button (#37151) * rm side button * fix * fix * BigButton: fix alignment and style (#37153) * correct from bottom alignment * temp * fix scale animation w/ btn_y * home settings are always 64 * cleanup * some clean up * make 23 const * rev * more * remove azure deps (#37084) * remove azure deps * fix lint * restore scripts * [bot] Update Python packages (#37147) * Update Python packages * fix * bump panda * revert tinygrad --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove pytest-repeat (#37156) * BigButton: push up all content when pressed (#37157) clean implementation * ui.py: fix stride (#37159) fix uii.py * BigButton: don't round drawn content (#37158) * unround icons * unround rest * Revert tgwarp again (#37161) * Reapply "revert tg calib and opencl cleanup (#37113)" (#37115) This reverts commit 667f3bb32f. * revert msgq too * msgq on master * newline in updater error * Remove vertical scroll bar * Simple scroll indicator (#37162) * scroll indicator * 65% * calibrate * margin * cleaner? * manual clean up * clean up * full scroll bar * look * looks * unlook * no fade, looks good but "too much" * clean up * cmt * Scroll panel: adapt to content size shrinking (#37163) fix * WifiManager: sort by known networks (#37164) sort by known * mpc tuning report: minor improvements (#37167) --------- Co-authored-by: David <49467229+TheSecurityDev@users.noreply.github.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: ugtthis <142481257+ugtthis@users.noreply.github.com> Co-authored-by: royjr <royjr96@gmail.com> Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: felsager <76905857+felsager@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Co-authored-by: Trey Moen <treymoen@amazon.com> Co-authored-by: Andi Radulescu <andi.radulescu@gmail.com> Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com> Co-authored-by: Vehicle Researcher <user@comma.ai>
2026-08-05 08:16:03 +08:00 · 2026-02-11 20:35:55 -05:00
parent decd7d4c1c 52fb0b8171
commit 86d52ab969
88 changed files with 1590 additions and 2683 deletions
@@ -5,7 +5,44 @@ on:
    types: [created, edited]

 jobs:
-  # TODO: gc old branches in a separate job in this workflow
+  cleanup-branches:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Delete stale Jenkins branches
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
+            const prefixes = ['tmp-jenkins', '__jenkins'];
+
+            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              per_page: 100,
+            })) {
+              for (const branch of response.data) {
+                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
+
+                const { data: commit } = await github.rest.repos.getCommit({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  ref: branch.commit.sha,
+                });
+
+                const commitDate = new Date(commit.commit.committer.date).getTime();
+                if (commitDate < cutoff) {
+                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
+                  await github.rest.git.deleteRef({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    ref: `heads/${branch.name}`,
+                  });
+                }
+              }
+            }
+
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
@@ -21,7 +21,7 @@ jobs:
        run: |
          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
        with:
          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
          commit-message: "Update translations"
@@ -48,6 +48,12 @@ jobs:
        python3 -m ensurepip --upgrade
        pip3 install uv
        uv lock --upgrade
+    - name: uv pip tree
+      id: pip_tree
+      run: |
+        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
+        uv pip tree >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
    - name: bump submodules
      run: |
        git config --global --add safe.directory '*'
@@ -61,7 +67,7 @@ jobs:
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -70,5 +76,10 @@ jobs:
        branch: auto-package-updates
        base: master
        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
+        body: |
+          Automatic PR from repo-maintenance -> package_updates
+
+          ```
+          ${{ steps.pip_tree.outputs.PIP_TREE }}
+          ```
        labels: bot
@@ -20,8 +20,6 @@ concurrency:
 env:
  PYTHONWARNINGS: error
  BASE_IMAGE: sunnypilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

@@ -217,12 +215,13 @@ jobs:
      uses: actions/cache@v5
      with:
        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
+      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
      run: |
        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache"
@@ -236,10 +235,26 @@ jobs:
      with:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
+    - name: Checkout ci-artifacts
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v4
+      with:
+        repository: commaai/ci-artifacts
+        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+        path: ${{ github.workspace }}/ci-artifacts
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        git checkout --orphan process-replay
+        git rm -rf .
+        git config user.name "GitHub Actions Bot"
+        git config user.email "<>"
+        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        echo "${{ github.sha }}" > ref_commit
+        git add .
+        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}"
+        git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
@@ -0,0 +1,51 @@
+name: vendor third_party
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build:
+    if: github.ref != 'refs/heads/master'
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, macos-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - name: Build
+      run: third_party/build.sh
+    - name: Package artifacts
+      run: |
+        git add -A third_party/
+        git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T -
+    - uses: actions/upload-artifact@v4
+      with:
+        name: third-party-${{ runner.os }}
+        path: /tmp/third_party_build.tar
+
+  commit:
+    needs: build
+    runs-on: ubuntu-24.04
+    permissions:
+      contents: write
+    steps:
+    - uses: actions/checkout@v6
+    - uses: actions/download-artifact@v4
+      with:
+        path: /tmp/artifacts
+    - name: Commit vendored libraries
+      run: |
+        for f in /tmp/artifacts/*/third_party_build.tar; do
+          tar xf "$f"
+        done
+        git add third_party/
+        if git diff --cached --quiet; then
+          echo "No changes to commit"
+          exit 0
+        fi
+        git config user.name "github-actions[bot]"
+        git config user.email "github-actions[bot]@users.noreply.github.com"
+        git commit -m "third_party: rebuild vendor libraries"
+        git push
@@ -100,6 +100,7 @@ Pipfile
 .ionide

 .claude/
+.context/
 PLAN.md
 TASK.md

@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])

 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])

 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])

@@ -1478,6 +1478,11 @@ struct ProcLog {

    cmdline @15 :List(Text);
    exe @16 :Text;
+
+    # from /proc/<pid>/smaps_rollup (proportional/private memory)
+    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
+    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
+    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
  }

  struct CPUTimes {
@@ -2227,9 +2232,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
  isActiveMode @16 :Bool;
  isRHD @4 :Bool;
  uncertainCount @19 :UInt32;
+  phoneProbOffset @20 :Float32;
+  phoneProbValidCount @21 :UInt32;

-  phoneProbOffsetDEPRECATED @20 :Float32;
-  phoneProbValidCountDEPRECATED @21 :UInt32;
  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
@@ -25,14 +25,14 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }

 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<BridgeZmqPoller>();
+  auto pub_context = std::make_unique<Context>();
+  auto sub_context = std::make_unique<BridgeZmqContext>();
+  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;

  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
+    auto pub_sock = new PubSocket();
+    auto sub_sock = new BridgeZmqSubSocket();
    size_t queue_size = services.at(endpoint).queue_size;
    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
    sub_sock->connect(sub_context.get(), endpoint, ip, false);
@@ -0,0 +1,170 @@
+#include "cereal/messaging/bridge_zmq.h"
+
+#include <cassert>
+#include <cstring>
+#include <unistd.h>
+
+static size_t fnv1a_hash(const std::string &str) {
+  const size_t fnv_prime = 0x100000001b3;
+  size_t hash_value = 0xcbf29ce484222325;
+  for (char c : str) {
+    hash_value ^= (unsigned char)c;
+    hash_value *= fnv_prime;
+  }
+  return hash_value;
+}
+
+// FIXME: This is a hack to get the port number from the socket name, might have collisions.
+static int get_port(std::string endpoint) {
+  size_t hash_value = fnv1a_hash(endpoint);
+  int start_port = 8023;
+  int max_port = 65535;
+  return start_port + (hash_value % (max_port - start_port));
+}
+
+BridgeZmqContext::BridgeZmqContext() {
+  context = zmq_ctx_new();
+}
+
+BridgeZmqContext::~BridgeZmqContext() {
+  if (context != nullptr) {
+    zmq_ctx_term(context);
+  }
+}
+
+void BridgeZmqMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void BridgeZmqMessage::init(char *d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void BridgeZmqMessage::close() {
+  if (size > 0) {
+    delete[] data;
+  }
+  data = nullptr;
+  size = 0;
+}
+
+BridgeZmqMessage::~BridgeZmqMessage() {
+  close();
+}
+
+int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate) {
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+void BridgeZmqSubSocket::setTimeout(int timeout) {
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+Message *BridgeZmqSubSocket::receive(bool non_blocking) {
+  zmq_msg_t msg;
+  assert(zmq_msg_init(&msg) == 0);
+
+  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+  int rc = zmq_msg_recv(&msg, sock, flags);
+
+  Message *ret = nullptr;
+  if (rc >= 0) {
+    ret = new BridgeZmqMessage;
+    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+BridgeZmqSubSocket::~BridgeZmqSubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
+  pid = getpid();
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int BridgeZmqPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int BridgeZmqPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+BridgeZmqPubSocket::~BridgeZmqPubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
+  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
+  std::vector<BridgeZmqSubSocket *> ret;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0) {
+    return ret;
+  }
+
+  for (size_t i = 0; i < num_polls; i++) {
+    if (polls[i].revents) {
+      ret.push_back(sockets[i]);
+    }
+  }
+
+  return ret;
+}
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+#include <zmq.h>
+
+#include "msgq/ipc.h"
+
+class BridgeZmqContext {
+public:
+  BridgeZmqContext();
+  void *getRawContext() { return context; }
+  ~BridgeZmqContext();
+
+private:
+  void *context = nullptr;
+};
+
+class BridgeZmqMessage : public Message {
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void close();
+  size_t getSize() { return size; }
+  char *getData() { return data; }
+  ~BridgeZmqMessage();
+
+private:
+  char *data = nullptr;
+  size_t size = 0;
+};
+
+class BridgeZmqSubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
+  void setTimeout(int timeout);
+  Message *receive(bool non_blocking = false);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqSubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+};
+
+class BridgeZmqPubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqPubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+  int pid = -1;
+};
+
+class BridgeZmqPoller {
+public:
+  void registerSocket(BridgeZmqSubSocket *socket);
+  std::vector<BridgeZmqSubSocket *> poll(int timeout);
+
+private:
+  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
+  std::vector<BridgeZmqSubSocket *> sockets;
+  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
+  size_t num_polls = 0;
+};
@@ -22,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) {
 }

 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
+  zmq_context = std::make_unique<BridgeZmqContext>();
+  msgq_context = std::make_unique<Context>();

  // Create ZMQPubSockets for each endpoint
  for (const auto &endpoint : endpoints) {
    auto &socket_pair = socket_pairs.emplace_back();
    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
    if (ret != 0) {
      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -49,7 +49,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string

      for (auto sub_sock : msgq_poller->poll(100)) {
        // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
+        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
          if (!msg) break;
@@ -72,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() {
  // Set up ZMQ monitor for each pub socket
  for (int i = 0; i < socket_pairs.size(); ++i) {
    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);

    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
    zmq_connect(monitor_socket, addr.c_str());
@@ -130,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() {

  // Clean up monitor sockets
  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
    zmq_close(pollitems[i].socket);
  }
  cv.notify_one();
@@ -7,9 +7,8 @@
 #include <string>
 #include <vector>

-#define private public
 #include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"

 class MsgqToZmq {
 public:
@@ -22,16 +21,16 @@ protected:

  struct SocketPair {
    std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
    std::unique_ptr<MSGQSubSocket> sub_sock;
    int connected_clients = 0;
  };

-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
+  std::unique_ptr<Context> msgq_context;
+  std::unique_ptr<BridgeZmqContext> zmq_context;
  std::mutex mutex;
  std::condition_variable cv;
  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
  std::vector<SocketPair> socket_pairs;
 };
@@ -167,6 +167,92 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
      proc.kill()


+def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
+  rows = [list(row) for row in tabular_data]
+
+  def fmt(val):
+    if isinstance(val, str):
+      return val
+    if isinstance(val, (bool, int)):
+      return str(val)
+    try:
+      return format(val, floatfmt)
+    except (TypeError, ValueError):
+      return str(val)
+
+  formatted = [[fmt(c) for c in row] for row in rows]
+  hdrs = [str(h) for h in headers] if headers else None
+
+  ncols = max((len(r) for r in formatted), default=0)
+  if hdrs:
+    ncols = max(ncols, len(hdrs))
+  if ncols == 0:
+    return ""
+
+  for r in formatted:
+    r.extend([""] * (ncols - len(r)))
+  if hdrs:
+    hdrs.extend([""] * (ncols - len(hdrs)))
+
+  widths = [0] * ncols
+  if hdrs:
+    for i in range(ncols):
+      widths[i] = len(hdrs[i])
+  for row in formatted:
+    for i in range(ncols):
+      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
+
+  def _align(s, w):
+    if stralign == "center":
+      return s.center(w)
+    return s.ljust(w)
+
+  if tablefmt == "html":
+    parts = ["<table>"]
+    if hdrs:
+      parts.append("<thead>")
+      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
+      parts.append("</thead>")
+    parts.append("<tbody>")
+    for row in formatted:
+      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
+    parts.append("</tbody>")
+    parts.append("</table>")
+    return "\n".join(parts)
+
+  if tablefmt == "simple_grid":
+    def _sep(left, mid, right):
+      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
+
+    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
+
+    def _fmt_row(cells):
+      split = [c.split('\n') for c in cells]
+      nlines = max(len(s) for s in split)
+      for s in split:
+        s.extend([""] * (nlines - len(s)))
+      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
+
+    lines = [top]
+    if hdrs:
+      lines.extend(_fmt_row(hdrs))
+      lines.append(mid_sep)
+    for ri, row in enumerate(formatted):
+      lines.extend(_fmt_row(row))
+      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
+    return "\n".join(lines)
+
+  # simple
+  gap = "  "
+  lines = []
+  if hdrs:
+    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
+    lines.append(gap.join("-" * w for w in widths))
+  for row in formatted:
+    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
+  return "\n".join(lines)
+
+
 def retry(attempts=3, delay=1.0, ignore_failure=False):
  def decorator(func):
    @functools.wraps(func)
@@ -89,7 +89,6 @@ testing = [
  "pytest-timeout",
  "pytest-asyncio",
  "pytest-mock",
-  "pytest-repeat",
  "ruff",
  "codespell",
  "pre-commit-hooks",
@@ -97,15 +96,12 @@ testing = [

 dev = [
  "av",
-  "azure-identity",
-  "azure-storage-blob",
  "dictdiffer",
  "matplotlib",
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
  "pyautogui",
  "pywinctl",
-  "tabulate",
 ]

 tools = [
@@ -11,7 +11,7 @@ LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"

 GLYPH_PADDING = 6
 EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
-UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"}
+UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"}


 def _languages():
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9df44871e9f5fa910622b0b92205b92a54d137dbdc3827b92e8622d85ff2e08e
-size 5189
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:013b368b38b17d9b2ef6aaf0f498f672deed95888084b7287f42bdfba617cbb6
-size 10142
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8fd563eec78d5ce4a8204c2f596789e1090cb3e26a35b4ffeacee4ab61968538
-size 8303
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0be8d5eddcd9f87acbf1daccf446be6218522120f64aee1ee0a3c0b31560f076
-size 15761
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8d5ecb6468442361462aa838a2d234b1256b8139418be8ef2962e4350cfbef
+size 2176
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:43b64365a42d7bf772d567b8867a6ced4ec0175bb88b6acaa3a5345f19ca696e
-size 1268
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd956d5ccfce01a01bea74ef59c9e73dfca406a5ff9ac62417203afa6027fba
+size 5620
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd1c2308872729d58adab390030ae9c987dc7908f0c39391651ea2b6cb620c5
+size 2445
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:88e6c50358f627fc714c1e9883143aeed00baabeab16132e16001aa1051e5eb8
-size 1272
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fce940a3cbd2e9530e8efdde90794013a272919b2f3ea482bc06535c795640e7
-size 2176
@@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")

-SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
+LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)

 X_DIM = 3
 U_DIM = 1
@@ -107,10 +108,10 @@ def gen_long_model():
  a_min = SX.sym('a_min')
  a_max = SX.sym('a_max')
  x_obstacle = SX.sym('x_obstacle')
-  prev_a = SX.sym('prev_a')
+  a_prev = SX.sym('a_prev')
  lead_t_follow = SX.sym('lead_t_follow')
  lead_danger_factor = SX.sym('lead_danger_factor')
-  model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
+  model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor)

  # dynamics model
  f_expl = vertcat(v_ego, a_ego, j_ego)
@@ -142,7 +143,7 @@ def gen_long_ocp():

  a_min, a_max = ocp.model.p[0], ocp.model.p[1]
  x_obstacle = ocp.model.p[2]
-  prev_a = ocp.model.p[3]
+  a_prev = ocp.model.p[3]
  lead_t_follow = ocp.model.p[4]
  lead_danger_factor = ocp.model.p[5]

@@ -159,7 +160,7 @@ def gen_long_ocp():
           x_ego,
           v_ego,
           a_ego,
-           a_ego - prev_a,
+           a_ego - a_prev,
           j_ego]
  ocp.model.cost_y_expr = vertcat(*costs)
  ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
@@ -217,7 +218,7 @@ class LongitudinalMpc:
    self.dt = dt
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
-    self.source = SOURCES[2]
+    self.source = LongitudinalPlanSource.cruise

  def reset(self):
    self.solver.reset()
@@ -227,7 +228,7 @@ class LongitudinalMpc:
    self.v_solution = np.zeros(N+1)
    self.a_solution = np.zeros(N+1)
    self.j_solution = np.zeros(N)
-    self.prev_a = np.array(self.a_solution)
+    self.a_prev = np.array(self.a_solution)
    self.yref = np.zeros((N+1, COST_DIM))

    for i in range(N):
@@ -335,7 +336,7 @@ class LongitudinalMpc:
    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)

    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
-    self.source = SOURCES[np.argmin(x_obstacles[0])]
+    self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]

    self.yref[:,:] = 0.0
    for i in range(N):
@@ -345,7 +346,7 @@ class LongitudinalMpc:
    self.params[:,0] = ACCEL_MIN
    self.params[:,1] = ACCEL_MAX
    self.params[:,2] = np.min(x_obstacles, axis=1)
-    self.params[:,3] = np.copy(self.prev_a)
+    self.params[:,3] = np.copy(self.a_prev)
    self.params[:,4] = t_follow
    self.params[:,5] = LEAD_DANGER_FACTOR

@@ -377,7 +378,7 @@ class LongitudinalMpc:
    self.a_solution = self.x_sol[:,2]
    self.j_solution = self.u_sol[:,0]

-    self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
+    self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)

    t = time.monotonic()
    if self.solution_status != 0:
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
@@ -164,7 +164,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
      if output_a_target < output_a_target_mpc:
-        self.mpc.source = SOURCES[3]
+        self.mpc.source = LongitudinalPlanSource.e2e
    else:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from collections import defaultdict
+
+import numpy as np
+from tabulate import tabulate
+
+from openpilot.tools.lib.logreader import LogReader
+
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+MB = 1024 * 1024
+TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+
+
+def _get_procs():
+  from openpilot.selfdrive.test.test_onroad import PROCS
+  return PROCS
+
+
+def is_openpilot_proc(name):
+  if any(p in name for p in _get_procs()):
+    return True
+  # catch openpilot processes not in PROCS (athenad, manager, etc.)
+  return 'openpilot' in name or name.startswith(('selfdrive.', 'system.'))
+
+
+def get_proc_name(proc):
+  if len(proc.cmdline) > 0:
+    return list(proc.cmdline)[0]
+  return proc.name
+
+
+def pct(val_mb, total_mb):
+  return val_mb / total_mb * 100 if total_mb else 0
+
+
+def has_pss(proc_logs):
+  """Check if logs contain PSS data (new field, not in old logs)."""
+  try:
+    for proc in proc_logs[-1].procLog.procs:
+      if proc.memPss > 0:
+        return True
+  except AttributeError:
+    pass
+  return False
+
+
+def print_summary(proc_logs, device_states):
+  mem = proc_logs[-1].procLog.mem
+  total = mem.total / MB
+  used = (mem.total - mem.available) / MB
+  cached = mem.cached / MB
+  shared = mem.shared / MB
+  buffers = mem.buffers / MB
+
+  lines = [
+    f"  Total: {total:.0f} MB",
+    f"  Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)",
+    f"  Cached: {cached:.0f} MB ({pct(cached, total):.0f}%)    Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)",
+    f"  Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)",
+  ]
+
+  if device_states:
+    mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states]
+    lines.append(f"  deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)")
+
+  print("\n-- Memory Summary --")
+  print("\n".join(lines))
+  return total
+
+
+def collect_per_process_mem(proc_logs, use_pss):
+  """Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}."""
+  by_proc = defaultdict(lambda: defaultdict(list))
+
+  for msg in proc_logs:
+    sample = defaultdict(lambda: defaultdict(float))
+    for proc in msg.procLog.procs:
+      name = get_proc_name(proc)
+      sample[name]['rss'] += proc.memRss / MB
+      if use_pss:
+        sample[name]['pss'] += proc.memPss / MB
+        sample[name]['pss_anon'] += proc.memPssAnon / MB
+        sample[name]['pss_shmem'] += proc.memPssShmem / MB
+
+    for name, metrics in sample.items():
+      for metric, val in metrics.items():
+        by_proc[name][metric].append(val)
+
+  return by_proc
+
+
+def _has_pss_detail(by_proc) -> bool:
+  """Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels)."""
+  return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values())
+
+
+def process_table_rows(by_proc, total_mb, use_pss, show_detail):
+  """Build table rows. Returns (rows, total_row)."""
+  mem_key = 'pss' if use_pss else 'rss'
+  rows = []
+  for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True):
+    m = by_proc[name]
+    vals = m[mem_key]
+    avg = round(np.mean(vals))
+    row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"]
+    if show_detail:
+      row.append(f"{round(np.mean(m['pss_anon']))} MB")
+      row.append(f"{round(np.mean(m['pss_shmem']))} MB")
+    rows.append(row)
+
+  # Total row
+  total_row = None
+  if by_proc:
+    max_samples = max(len(v[mem_key]) for v in by_proc.values())
+    totals = []
+    for i in range(max_samples):
+      s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key]))
+      totals.append(s)
+    avg_total = round(np.mean(totals))
+    total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"]
+    if show_detail:
+      total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB")
+      total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB")
+
+  return rows, total_row
+
+
+def print_process_tables(op_procs, other_procs, total_mb, use_pss):
+  all_procs = {**op_procs, **other_procs}
+  show_detail = use_pss and _has_pss_detail(all_procs)
+
+  header = ["process", "avg", "max", "%"]
+  if show_detail:
+    header += ["anon", "shmem"]
+
+  op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail)
+  # filter other: >5MB avg and not bare interpreter paths (test infra noise)
+  other_filtered = {n: v for n, v in other_procs.items()
+                    if np.mean(v['pss' if use_pss else 'rss']) > 5.0
+                    and os.path.basename(n.split()[0]) not in ('python', 'python3')}
+  other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail)
+
+  rows = op_rows
+  if op_total:
+    rows.append(op_total)
+  if other_rows:
+    sep_width = len(header)
+    rows.append([""] * sep_width)
+    rows.extend(other_rows)
+    if other_total:
+      other_total[0] = "TOTAL (other)"
+      rows.append(other_total)
+
+  metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)"
+  print(f"\n-- Per-Process Memory: {metric} --")
+  print(tabulate(rows, header, **TABULATE_OPTS))
+
+
+def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss):
+  last = proc_logs[-1].procLog.mem
+  used = (last.total - last.available) / MB
+  shared = last.shared / MB
+  cached_buf = (last.buffers + last.cached) / MB - shared  # shared (MSGQ) is in Cached; separate it
+  msgq = shared
+
+  mem_key = 'pss' if use_pss else 'rss'
+  op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0
+  other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0
+  proc_sum = op_total + other_total
+  remainder = used - (cached_buf + msgq) - proc_sum
+
+  if not use_pss:
+    # RSS double-counts shared; add back once to partially correct
+    remainder += shared
+
+  header = ["", "MB", "%", ""]
+  label = "PSS" if use_pss else "RSS*"
+  rows = [
+    ["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"],
+    ["  Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"],
+    ["  MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"],
+    [f"  openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"],
+    [f"  other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"],
+    ["  kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"],
+  ]
+  note = "" if use_pss else " (*RSS overcounts shared mem)"
+  print(f"\n-- Memory Accounting (last sample){note} --")
+  print(tabulate(rows, header, tablefmt="simple_grid", stralign="right"))
+
+
+def print_report(proc_logs, device_states=None):
+  """Print full memory analysis report. Can be called from tests or CLI."""
+  if not proc_logs:
+    print("No procLog messages found")
+    return
+
+  print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples")
+
+  use_pss = has_pss(proc_logs)
+  if not use_pss:
+    print("  (no PSS data — re-record with updated proclogd for accurate numbers)")
+
+  total_mb = print_summary(proc_logs, device_states or [])
+
+  by_proc = collect_per_process_mem(proc_logs, use_pss)
+  op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)}
+  other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)}
+
+  print_process_tables(op_procs, other_procs, total_mb, use_pss)
+  print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
+  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
+  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
+  args = parser.parse_args()
+
+  if args.demo:
+    route = DEMO_ROUTE
+  elif args.route:
+    route = args.route
+  else:
+    parser.error("provide a route or use --demo")
+
+  print(f"Reading logs from: {route}")
+
+  proc_logs = []
+  device_states = []
+  for msg in LogReader(route):
+    if msg.which() == 'procLog':
+      proc_logs.append(msg)
+    elif msg.which() == 'deviceState':
+      device_states.append(msg)
+
+  print_report(proc_logs, device_states)
@@ -59,7 +59,7 @@ class ModelState:
      self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()


-    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy()
+    output = self.model_run(**self.tensor_inputs).numpy().flatten()

    t2 = time.perf_counter()
    return output, t2 - t1
@@ -217,7 +217,7 @@ class ModelState(ModelStateBase):
      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']

-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+    self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856
-size 6954249
+oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
+size 6954368
@@ -35,7 +35,14 @@ class DRIVER_MONITOR_SETTINGS:
    self._EYE_THRESHOLD = 0.65
    self._SG_THRESHOLD = 0.9
    self._BLINK_THRESHOLD = 0.865
-    self._PHONE_THRESH = 0.5
+
+    self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
+    self._PHONE_THRESH2 = 15.0
+    self._PHONE_MAX_OFFSET = 0.06
+    self._PHONE_MIN_OFFSET = 0.025
+    self._PHONE_DATA_AVG = 0.05
+    self._PHONE_DATA_VAR = 3*0.005
+    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)

    self._POSE_PITCH_THRESHOLD = 0.3133
    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -145,10 +152,11 @@ class DriverMonitoring:

    # init driver status
    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
    self.pose = DriverPose(settings=self.settings)
    self.blink = DriverBlink()
-    self.phone_prob = 0.

    self.always_on = always_on
    self.distracted_types = []
@@ -249,7 +257,12 @@ class DriverMonitoring:
    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
      distracted_types.append(DistractedType.DISTRACTED_BLINK)

-    if self.phone_prob > self.settings._PHONE_THRESH:
+    if self.phone.prob_calibrated:
+      using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
+                                      * self.settings._PHONE_THRESH2
+    else:
+      using_phone = self.phone.prob > self.settings._PHONE_THRESH
+    if using_phone:
      distracted_types.append(DistractedType.DISTRACTED_PHONE)

    return distracted_types
@@ -288,7 +301,7 @@ class DriverMonitoring:
                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.phone_prob = driver_data.phoneProb
+    self.phone.prob = driver_data.phoneProb

    self.distracted_types = self._get_distracted_types()
    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
@@ -302,9 +315,11 @@ class DriverMonitoring:
    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
+      self.phone.prob_offseter.push_and_update(self.phone.prob)

    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+    self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT

    if self.face_detected and not self.driver_distracted:
      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
@@ -410,6 +425,8 @@ class DriverMonitoring:
      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
+      "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
+      "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
      "stepChange": self.step_change,
      "awarenessActive": self.awareness_active,
      "awarenessPassive": self.awareness_passive,
@@ -6,16 +6,16 @@ import time
 import signal
 import subprocess

-from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
+from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog


-def get_expected_signature(panda: Panda) -> bytes:
+def get_expected_signature() -> bytes:
  try:
-    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
    return Panda.get_signature_from_firmware(fn)
  except Exception:
    cloudlog.exception("Error computing expected signature")
@@ -35,7 +35,7 @@ def flash_panda(panda_serial: str) -> Panda:
    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
    return panda

-  fw_signature = get_expected_signature(panda)
+  fw_signature = get_expected_signature()
  internal_panda = panda.is_internal()

  panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -304,11 +304,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.stockLkas: {
-    ET.PERMANENT: Alert(
-      "Stock LKAS: Lane Departure Detected",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
  },

@@ -22,7 +22,7 @@ Currently the following processes are tested:
 ### Usage
 ```
 Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS]
-                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only]
+                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs]
 Regression test to identify changes in a process's output
 optional arguments:
  -h, --help            show this help message and exit
@@ -33,7 +33,6 @@ optional arguments:
  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
  --update-refs                         Updates reference logs using current commit
-  --upload-only                         Skips testing processes and uploads logs from previous test run
 ```

 ## Forks
@@ -9,7 +9,7 @@ from itertools import zip_longest

 import matplotlib.pyplot as plt
 import numpy as np
-from tabulate import tabulate
+from openpilot.common.utils import tabulate

 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
@@ -1 +0,0 @@
-67f3daf309dc6cbb6844fcbaeb83e6596637e551
@@ -9,14 +9,13 @@ from typing import Any

 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
-from openpilot.tools.lib.openpilotci import get_url, upload_file
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                   check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
-
-IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")
+from openpilot.tools.lib.url_file import URLFile

 source_segments = [
  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
@@ -66,46 +65,17 @@ segments = [
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]

-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}


-def preserve_only_specified_files_from_ref_commit(*commits_to_keep):
-  """Keep only files in fakedata that contain any of the specified commit hashes."""
-  removed = 0
-  for f in os.listdir(FAKEDATA):
-    if not any(commit in f for commit in commits_to_keep):
-      os.remove(os.path.join(FAKEDATA, f))
-      removed += 1
-  if removed > 0:
-    print(f"Removed {removed} old files from {FAKEDATA}")
-
-
-def handle_output_file(cur_log_fn, local):
-  """Handle the output file based on whether we're using remote or local storage."""
-  assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-
-  if local:
-    os.system(f"git add '{os.path.realpath(cur_log_fn)}'")
-  else:
-    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-    os.remove(cur_log_fn)
-
-
 def run_test_process(data):
  segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  res = None
-  if not args.upload_only:
-    lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
-    # save logs so we can upload when updating refs
-    save_log(cur_log_fn, log_msgs)
-
-  if args.update_refs or args.upload_only:
-    print(f'Processing: {os.path.basename(cur_log_fn)}')
-    handle_output_file(cur_log_fn, args.local)
-
+  lr = LogReader.from_bytes(lr_dat)
+  res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+  # save logs so we can update refs
+  save_log(cur_log_fn, log_msgs)
  return (segment, cfg.proc_name, res)


@@ -144,27 +114,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
    return str(e), log_msgs


-def finalize_git_updates(cur_commit, ref_commit_fn):
-  """Finalize git updates and create commit."""
-  try:
-    # Add all new files first
-    os.system(f"git add {os.path.realpath(ref_commit_fn)}")
-    os.system(f"git add {os.path.realpath(FAKEDATA)}/*.zst")
-
-    # Clean up old files - keep only new ref files since they're becoming the reference
-    preserve_only_specified_files_from_ref_commit(cur_commit)
-
-    # Add the deletions to git
-    os.system(f"git add -u {os.path.realpath(FAKEDATA)}")
-
-    # Create the commit
-    commit_msg = f"test_processes: update ref logs to {cur_commit[:7]}"
-    os.system(f'git commit -m "{commit_msg}"')
-    print("Successfully committed reference log updates")
-  except Exception as e:
-    print(f"Failed to commit changes: {e}")
-
-
 if __name__ == "__main__":
  all_cars = {car for car, _ in segments}
  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
@@ -186,10 +135,6 @@ if __name__ == "__main__":
                      help="Msgs to ignore (e.g. carEvents)")
  parser.add_argument("--update-refs", action="store_true",
                      help="Updates reference logs using current commit")
-  parser.add_argument("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
-  parser.add_argument("--local", action="store_true",
-                      help="Use  local git/ storage instead of remote (Azure for Comma)")
  parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
                      help="Max amount of parallel jobs")
  args = parser.parse_args()
@@ -199,33 +144,21 @@ if __name__ == "__main__":
  tested_cars = {c.upper() for c in tested_cars}

  full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
-  upload = args.update_refs or args.upload_only
  os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)

-  if upload:
+  if args.update_refs:
    assert full_test, "Need to run full test when updating refs"

  try:
    with open(REF_COMMIT_FN) as f:
      ref_commit = f.read().strip()
  except FileNotFoundError:
-    print("Couldn't find reference commit")
-    sys.exit(1)
+    ref_commit = URLFile(BASE_URL + "ref_commit", cache=False).read().decode().strip()

  cur_commit = get_commit()
  if not cur_commit:
    raise Exception("Couldn't get current commit")

-  # Could be set as default in args, but wanted to be more explicit on the flow.
-  if upload and not args.local and not IS_AZURE_TOKEN_DEFINED:
-    print("***** Warning: local/git run was used by default since AZURE_TOKEN was NOT found on the env variables! *****")
-    args.local = True
-
-  # Clean up old files before starting
-  if upload and args.local:
-    print("***** Cleaning up old fakedata for local/git tracked refs *****")
-    preserve_only_specified_files_from_ref_commit(cur_commit, ref_commit)
-
  print(f"***** testing against commit {ref_commit} *****")

  # check to make sure all car brands are tested
@@ -235,12 +168,11 @@ if __name__ == "__main__":

  log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    if not args.upload_only:
-      download_segments = [seg for car, seg in segments if car in tested_cars]
-      log_data: dict[str, LogReader] = {}
-      p1 = pool.map(get_log_data, download_segments)
-      for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
-        log_data[segment] = lr
+    download_segments = [seg for car, seg in segments if car in tested_cars]
+    log_data: dict[str, LogReader] = {}
+    p1 = pool.map(get_log_data, download_segments)
+    for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
+      log_data[segment] = lr

    pool_args: Any = []
    for car_brand, segment in segments:
@@ -255,15 +187,15 @@ if __name__ == "__main__":
        if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
          continue

-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_"))
        if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
+          route, seg_num = segment.rsplit("--", 1)
+          ref_log_path = get_url(route, seg_num, "rlog.zst")
        else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_"))
          ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)

-        dat = None if args.upload_only else log_data[segment]
-        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
+        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, log_data[segment]))

        log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
        log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
@@ -271,19 +203,16 @@ if __name__ == "__main__":
    results: Any = defaultdict(dict)
    p2 = pool.map(run_test_process, pool_args)
    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if not args.upload_only:
-        results[segment][proc] = result
+      results[segment][proc] = result

  diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
-  if not upload:
+  if not args.update_refs:
    with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
      f.write(diff_long)
    print(diff_short)

    if failed:
      print("TEST FAILED")
-      print("\n\nTo push the new reference logs for this commit run:")
-      print("./test_processes.py --upload-only")
    else:
      print("TEST SUCCEEDED")

@@ -292,8 +221,4 @@ if __name__ == "__main__":
      f.write(cur_commit)
    print(f"\n\nUpdated reference logs for commit: {cur_commit}")

-    # Only do git operations if we're in local mode
-    if upload and args.local:
-      finalize_git_updates(cur_commit, REF_COMMIT_FN)
-
  sys.exit(int(failed))
@@ -8,7 +8,7 @@ import time
 import numpy as np
 from collections import Counter, defaultdict
 from pathlib import Path
-from tabulate import tabulate
+from openpilot.common.utils import tabulate

 from cereal import log
 import cereal.messaging as messaging
@@ -56,7 +56,7 @@ PROCS = {
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.ui.feedback.feedbackd": 1.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 3.0,
+  "system.proclogd": 7.0,
  "system.logmessaged": 1.0,
  "system.tombstoned": 0,
  "system.journald": 1.0,
@@ -282,9 +282,12 @@ class TestOnroad:
    print("\n------------------------------------------------")
    print("--------------- Memory Usage -------------------")
    print("------------------------------------------------")
+
+    from openpilot.selfdrive.debug.mem_usage import print_report
+    print_report(self.msgs['procLog'], self.msgs['deviceState'])
+
    offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
    mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
-    print("Overall memory usage: ", mems)
    print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())

    # check for big leaks. note that memory usage is
@@ -50,7 +50,7 @@ class MiciMainLayout(Widget):
      self._alerts_layout,
      self._home_layout,
      self._onroad_layout,
-    ], spacing=0, pad_start=0, pad_end=0)
+    ], spacing=0, pad_start=0, pad_end=0, scroll_indicator=False)
    self._scroller.set_reset_scroll_at_show(False)

    # Disable scrolling when onroad is interacting with bookmark
@@ -1,6 +1,5 @@
 import os
 import threading
-import json
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
@@ -11,7 +10,7 @@ from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide
@@ -121,6 +120,9 @@ class PairBigButton(BigButton):
  def __init__(self):
    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))

+  def _get_label_font_size(self):
+    return 64
+
  def _update_state(self):
    if ui_state.prime_state.is_paired():
      self.set_text("paired")
@@ -222,7 +224,7 @@ class UpdateOpenpilotBigButton(BigButton):

      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
        self.set_rotate_icon(False)
-        self.set_value("updater failed to respond")
+        self.set_value("updater failed\nto respond")
        self._state = UpdaterState.IDLE
        self._hide_value_t = rl.get_time()

@@ -303,30 +305,14 @@ class DeviceLayoutMici(NavWidget):
    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))

-    self._load_languages()
-
-    def language_callback():
-      def selected_language_callback():
-        selected_language = dlg.get_selected_option()
-        ui_state.params.put("LanguageSetting", self._languages[selected_language])
-
-      current_language_name = ui_state.params.get("LanguageSetting")
-      current_language = next(name for name, lang in self._languages.items() if lang == current_language_name)
-
-      dlg = BigMultiOptionDialog(list(self._languages), default=current_language, right_btn_callback=selected_language_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    # lang_button = BigButton("change language", "", "icons_mici/settings/device/language.png")
-    # lang_button.set_click_callback(language_callback)
-
    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
    regulatory_btn.set_click_callback(self._on_regulatory)

-    driver_cam_btn = BigButton("driver camera preview", "", "icons_mici/settings/device/cameras.png")
+    driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png")
    driver_cam_btn.set_click_callback(self._show_driver_camera)
    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())

-    review_training_guide_btn = BigButton("review training guide", "", "icons_mici/settings/device/info.png")
+    review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
    review_training_guide_btn.set_click_callback(self._on_review_training_guide)
    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())

@@ -353,7 +339,7 @@ class DeviceLayoutMici(NavWidget):
  def _on_regulatory(self):
    if not self._fcc_dialog:
      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog, callback=setattr(self, '_fcc_dialog', None))
+    gui_app.set_modal_overlay(self._fcc_dialog)

  def _offroad_transition(self):
    self._power_off_btn.set_visible(ui_state.is_offroad())
@@ -371,10 +357,6 @@ class DeviceLayoutMici(NavWidget):
      self._training_guide = TrainingGuide(completed_callback=completed_callback)
    gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None))

-  def _load_languages(self):
-    with open(os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")) as f:
-      self._languages = json.load(f)
-
  def show_event(self):
    super().show_event()
    self._scroller.show_event()
@@ -3,8 +3,8 @@ from enum import IntEnum
 from collections.abc import Callable

 from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigCircleToggle
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.lib.prime_state import PrimeType
@@ -39,8 +39,7 @@ class NetworkLayoutMici(NavWidget):
      self._network_metered_btn.set_enabled(False)
      self._wifi_manager.set_tethering_active(checked)

-    self._tethering_toggle_btn = BigCircleToggle("icons_mici/tethering_short.png", toggle_callback=tethering_toggle_callback,
-                                                 icon_size=(82, 82), icon_offset=(0, 12))
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)

    def tethering_password_callback(password: str):
      if password:
@@ -56,9 +55,6 @@ class NetworkLayoutMici(NavWidget):
    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
    self._tethering_password_btn.set_click_callback(tethering_password_clicked)

-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
    # ******** Network Metered ********
    def network_metered_callback(value: str):
      self._network_metered_btn.set_enabled(False)
@@ -74,8 +70,13 @@ class NetworkLayoutMici(NavWidget):
    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
    self._network_metered_btn.set_enabled(False)

-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
+
+    self._wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt, scroll=True)
+    self._wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))

    # ******** Advanced settings ********
    # ******** Roaming toggle ********
@@ -90,7 +91,7 @@ class NetworkLayoutMici(NavWidget):

    # Main scroller ----------------------------------
    self._scroller = Scroller([
-      wifi_button,
+      self._wifi_button,
      self._network_metered_btn,
      self._tethering_toggle_btn,
      self._tethering_password_btn,
@@ -99,7 +100,6 @@ class NetworkLayoutMici(NavWidget):
      self._apn_btn,
      self._cellular_metered_btn,
      # */
-      self._ip_address_btn,
    ], snap_items=False)

    # Set initial config
@@ -158,8 +158,22 @@ class NetworkLayoutMici(NavWidget):
    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
    self._tethering_toggle_btn.set_checked(tethering_active)

-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+    # Update wi-fi button with ssid and ip address
+    # TODO: make sure we handle hidden ssids
+    connected_network = next((network for network in networks if network.is_connected), None)
+    self._wifi_button.set_text(normalize_ssid(connected_network.ssid) if connected_network is not None else "wi-fi")
+    self._wifi_button.set_value(self._wifi_manager.ipv4_address or "not connected")
+    if connected_network is not None:
+      strength = WifiIcon.get_strength_icon_idx(connected_network.strength)
+      if strength == 2:
+        strength_icon = self._wifi_full_txt
+      elif strength == 1:
+        strength_icon = self._wifi_medium_txt
+      else:
+        strength_icon = self._wifi_low_txt
+      self._wifi_button.set_icon(strength_icon)
+    else:
+      self._wifi_button.set_icon(self._wifi_slash_txt)

    # Update network metered
    self._network_metered_btn.set_value(
@@ -50,12 +50,16 @@ class WifiIcon(Widget):
  def set_scale(self, scale: float):
    self._scale = scale

+  @staticmethod
+  def get_strength_icon_idx(strength: int) -> int:
+    return round(strength / 100 * 2)
+
  def _render(self, _):
    if self._network is None:
      return

    # Determine which wifi strength icon to use
-    strength = round(self._network.strength / 100 * 2)
+    strength = self.get_strength_icon_idx(self._network.strength)
    if strength == 2:
      strength_icon = self._wifi_full_txt
    elif strength == 1:
@@ -314,7 +318,7 @@ class WifiUIMici(BigMultiOptionDialog):
  INACTIVITY_TIMEOUT = 1

  def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
-    super().__init__([], None, None, right_btn_callback=None)
+    super().__init__([], None)

    # Set up back navigation
    self.set_back_callback(back_callback)
@@ -30,22 +30,27 @@ class PanelInfo:
  instance: Widget


+class SettingsBigButton(BigButton):
+  def _get_label_font_size(self):
+    return 64
+
+
 class SettingsLayout(NavWidget):
  def __init__(self):
    super().__init__()
    self._params = Params()
    self._current_panel = None  # PanelType.DEVICE

-    toggles_btn = BigButton("toggles", "", "icons_mici/settings.png")
+    toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png")
    toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES))
-    network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
+    network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
    network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK))
-    device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
+    device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
    device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE))
-    developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
+    developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
    developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER))

-    firehose_btn = BigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
+    firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
    firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE))

    self._scroller = Scroller([
@@ -14,7 +14,7 @@ from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
-from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
@@ -169,6 +169,7 @@ class AugmentedRoadView(CameraView):
                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)

    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
+    self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)

    # debug
    self._pm = messaging.PubMaster(['uiDebug'])
@@ -221,8 +222,11 @@ class AugmentedRoadView(CameraView):
    # Draw all UI overlays
    self._model_renderer.render(self._content_rect)

-    # Fade out bottom of overlays for looks
-    rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
+    # Fade out bottom of overlays for looks (only when engaged)
+    fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+    if fade_alpha > 1e-2:
+      rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0,
+                         rl.Color(255, 255, 255, int(255 * fade_alpha)))

    alert_to_render, not_animating_out = self._alert_renderer.will_render()

@@ -3,9 +3,8 @@ from typing import Union
 from enum import Enum
 from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import DO_ZOOM
-from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.common.filter_simple import BounceFilter

@@ -18,6 +17,7 @@ SCROLLING_SPEED_PX_S = 50
 COMPLICATION_SIZE    = 36
 LABEL_COLOR          = rl.Color(255, 255, 255, int(255 * 0.9))
 LABEL_HORIZONTAL_PADDING = 40
+LABEL_VERTICAL_PADDING = 23  # visually matches 30 in figma
 COMPLICATION_GREY    = rl.Color(0xAA, 0xAA, 0xAA, 255)
 PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07

@@ -52,6 +52,12 @@ class BigCircleButton(Widget):
  def set_enable_pressed_state(self, pressed: bool):
    self._press_state_enabled = pressed

+  def _draw_content(self, btn_y: float):
+    # draw icon
+    icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0],
+                                        btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color)
+
  def _render(self, _):
    # draw background
    txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg
@@ -65,10 +71,7 @@ class BigCircleButton(Widget):
    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
    rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)

-    # draw icon
-    icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
-    rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]),
-                    int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color)
+    self._draw_content(btn_y)


 class BigCircleToggle(BigCircleButton):
@@ -93,48 +96,41 @@ class BigCircleToggle(BigCircleButton):
    if self._toggle_callback:
      self._toggle_callback(self._checked)

-  def _render(self, _):
-    super()._render(_)
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)

    # draw status icon
-    rl.draw_texture(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled,
-                    int(self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2),
-                    int(self._rect.y + 5), rl.WHITE)
+    rl.draw_texture_ex(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled,
+                       (self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2, btn_y + 5),
+                       0, 1.0, rl.WHITE)


 class BigButton(Widget):
  """A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""

-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64)):
+  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64),
+               scroll: bool = False):
    super().__init__()
    self.set_rect(rl.Rectangle(0, 0, 402, 180))
    self.text = text
    self.value = value
    self._icon_size = icon_size
+    self._scroll = scroll
    self.set_icon(icon)

    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)

    self._rotate_icon_t: float | None = None

-    self._label_font = gui_app.font(FontWeight.DISPLAY)
-    self._value_font = gui_app.font(FontWeight.ROMAN)
-
-    self._label = MiciLabel(text, font_size=self._get_label_font_size(), width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2),
-                            font_weight=FontWeight.DISPLAY, color=LABEL_COLOR,
-                            alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True)
-    self._sub_label = MiciLabel(value, font_size=COMPLICATION_SIZE, width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2),
-                                font_weight=FontWeight.ROMAN, color=COMPLICATION_GREY,
-                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True)
+    self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
+                               text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
+                               line_height=0.9)
+    self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
+                                   text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._update_label_layout()

    self._load_images()

-    # internal state
-    self._scroll_offset = 0       # in pixels
-    self._needs_scroll = measure_text_cached(self._label_font, text, self._get_label_font_size()).x + 25 > self._rect.width
-    self._scroll_timer = 0
-    self._scroll_state = ScrollState.PRE_SCROLL
-
  def set_icon(self, icon: Union[str, rl.Texture]):
    self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon

@@ -149,28 +145,33 @@ class BigButton(Widget):
    self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180)
    self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180)

+  def _width_hint(self) -> int:
+    # Single line if scrolling, so hide behind icon if exists
+    icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0
+    return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - icon_size)
+
  def _get_label_font_size(self):
-    if len(self.text) < 12:
-      font_size = 64
-    elif len(self.text) < 17:
-      font_size = 48
-    elif len(self.text) < 20:
-      font_size = 42
+    if len(self.text) <= 18:
+      return 48
    else:
-      font_size = 36
+      return 42

+  def _update_label_layout(self):
+    self._label.set_font_size(self._get_label_font_size())
    if self.value:
-      font_size -= 20
-
-    return font_size
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    else:
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)

  def set_text(self, text: str):
    self.text = text
    self._label.set_text(text)
+    self._update_label_layout()

  def set_value(self, value: str):
    self.value = value
    self._sub_label.set_text(value)
+    self._update_label_layout()

  def get_value(self) -> str:
    return self.value
@@ -178,37 +179,35 @@ class BigButton(Widget):
  def get_text(self):
    return self.text

-  def _update_state(self):
-    # hold on text for a bit, scroll, hold again, reset
-    if self._needs_scroll:
-      """`dt` should be seconds since last frame (rl.get_frame_time())."""
-      # TODO: this comment is generated by GPT, prob wrong and misused
-      dt = rl.get_frame_time()
+  def _draw_content(self, btn_y: float):
+    # LABEL ------------------------------------------------------------------
+    label_x = self._rect.x + LABEL_HORIZONTAL_PADDING

-      self._scroll_timer += dt
-      if self._scroll_state == ScrollState.PRE_SCROLL:
-        if self._scroll_timer < 0.5:
-          return
-        self._scroll_state = ScrollState.SCROLLING
-        self._scroll_timer = 0
+    label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    self._label.set_color(label_color)
+    label_rect = rl.Rectangle(label_x, btn_y + LABEL_VERTICAL_PADDING, self._width_hint(),
+                              self._rect.height - LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)

-      elif self._scroll_state == ScrollState.SCROLLING:
-        self._scroll_offset -= SCROLLING_SPEED_PX_S * dt
-        # reset when text has completely left the button + 50 px gap
-        # TODO: use global constant for 30+30 px gap
-        # TODO: add std Widget padding option integrated into the self._rect
-        full_len = measure_text_cached(self._label_font, self.text, self._get_label_font_size()).x + 30 + 30
-        if self._scroll_offset < (self._rect.width - full_len):
-          self._scroll_state = ScrollState.POST_SCROLL
-          self._scroll_timer = 0
+    if self.value:
+      label_y = btn_y + self._rect.height - LABEL_VERTICAL_PADDING
+      sub_label_height = self._sub_label.get_content_height(self._width_hint())
+      sub_label_rect = rl.Rectangle(label_x, label_y - sub_label_height, self._width_hint(), sub_label_height)
+      self._sub_label.render(sub_label_rect)

-      elif self._scroll_state == ScrollState.POST_SCROLL:
-        # wait for a bit before starting to scroll again
-        if self._scroll_timer < 0.75:
-          return
-        self._scroll_state = ScrollState.PRE_SCROLL
-        self._scroll_timer = 0
-        self._scroll_offset = 0
+    # ICON -------------------------------------------------------------------
+    if self._txt_icon:
+      rotation = 0
+      if self._rotate_icon_t is not None:
+        rotation = (rl.get_time() - self._rotate_icon_t) * 180
+
+      # draw top right with 30px padding
+      x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2
+      y = btn_y + 30 + self._txt_icon.height / 2
+      source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height)
+      dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height)
+      origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2)
+      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE)

  def _render(self, _):
    # draw _txt_default_bg
@@ -223,33 +222,7 @@ class BigButton(Widget):
    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
    rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)

-    # LABEL ------------------------------------------------------------------
-    lx = self._rect.x + LABEL_HORIZONTAL_PADDING
-    ly = btn_y + self._rect.height - 33  # - 40# - self._get_label_font_size() / 2
-
-    if self.value:
-      self._sub_label.set_position(lx, ly)
-      ly -= self._sub_label.font_size + 9
-      self._sub_label.render()
-
-    label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
-    self._label.set_color(label_color)
-    self._label.set_position(lx, ly)
-    self._label.render()
-
-    # ICON -------------------------------------------------------------------
-    if self._txt_icon:
-      rotation = 0
-      if self._rotate_icon_t is not None:
-        rotation = (rl.get_time() - self._rotate_icon_t) * 180
-
-      # drop top right with 30px padding
-      x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2
-      y = self._rect.y + 30 + self._txt_icon.height / 2
-      source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height)
-      dest_rec = rl.Rectangle(int(x), int(y), self._txt_icon.width, self._txt_icon.height)
-      origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2)
-      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE)
+    self._draw_content(btn_y)


 class BigToggle(BigButton):
@@ -258,8 +231,6 @@ class BigToggle(BigButton):
    self._checked = initial_state
    self._toggle_callback = toggle_callback

-    self._label.set_font_size(48)
-
  def _load_images(self):
    super()._load_images()
    self._txt_enabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_enabled.png", 84, 66)
@@ -277,15 +248,15 @@ class BigToggle(BigButton):
  def _draw_pill(self, x: float, y: float, checked: bool):
    # draw toggle icon top right
    if checked:
-      rl.draw_texture(self._txt_enabled_toggle, int(x), int(y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_enabled_toggle, (x, y), 0, 1.0, rl.WHITE)
    else:
-      rl.draw_texture(self._txt_disabled_toggle, int(x), int(y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_disabled_toggle, (x, y), 0, 1.0, rl.WHITE)

-  def _render(self, _):
-    super()._render(_)
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)

    x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
-    y = self._rect.y
+    y = btn_y
    self._draw_pill(x, y, self._checked)


@@ -297,15 +268,10 @@ class BigMultiToggle(BigToggle):
    self._options = options
    self._select_callback = select_callback

-    self._label.set_width(int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width))
-    # TODO: why isn't this automatic?
-    self._label.set_font_size(self._get_label_font_size())
-
    self.set_value(self._options[0])

-  def _get_label_font_size(self):
-    font_size = super()._get_label_font_size()
-    return font_size - 6
+  def _width_hint(self) -> int:
+    return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)

  def _handle_mouse_release(self, mouse_pos: MousePos):
    super()._handle_mouse_release(mouse_pos)
@@ -315,13 +281,14 @@ class BigMultiToggle(BigToggle):
    if self._select_callback:
      self._select_callback(self.value)

-  def _render(self, _):
-    BigButton._render(self, _)
+  def _draw_content(self, btn_y: float):
+    # don't draw pill from BigToggle
+    BigButton._draw_content(self, btn_y)

    checked_idx = self._options.index(self.value)

    x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
-    y = self._rect.y
+    y = btn_y

    for i in range(len(self._options)):
      self._draw_pill(x, y, checked_idx == i)
@@ -14,7 +14,6 @@ from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton

 DEBUG = False

@@ -22,32 +21,17 @@ PADDING = 20


 class BigDialogBase(NavWidget, abc.ABC):
-  def __init__(self, right_btn: str | None = None, right_btn_callback: Callable | None = None):
+  def __init__(self):
    super().__init__()
    self._ret = DialogResult.NO_ACTION
    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
    self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL))

-    self._right_btn = None
-    if right_btn:
-      def right_btn_callback_wrapper():
-        gui_app.set_modal_overlay(None)
-        if right_btn_callback:
-          right_btn_callback()
-
-      self._right_btn = SideButton(right_btn)
-      self._right_btn.set_click_callback(right_btn_callback_wrapper)
-      # move to right side
-      self._right_btn._rect.x = self._rect.x + self._rect.width - self._right_btn._rect.width
-
  def _render(self, _) -> DialogResult:
    """
    Allows `gui_app.set_modal_overlay(BigDialog(...))`.
    The overlay runner keeps calling until result != NO_ACTION.
    """
-    if self._right_btn:
-      self._right_btn.set_position(self._right_btn._rect.x, self._rect.y)
-      self._right_btn.render()

    return self._ret

@@ -55,10 +39,8 @@ class BigDialogBase(NavWidget, abc.ABC):
 class BigDialog(BigDialogBase):
  def __init__(self,
               title: str,
-               description: str,
-               right_btn: str | None = None,
-               right_btn_callback: Callable | None = None):
-    super().__init__(right_btn, right_btn_callback)
+               description: str):
+    super().__init__()
    self._title = title
    self._description = description

@@ -70,8 +52,6 @@ class BigDialog(BigDialogBase):
    # TODO: coming up with these numbers manually is a pain and not scalable
    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
    max_width = self._rect.width - PADDING * 2
-    if self._right_btn:
-      max_width -= self._right_btn._rect.width

    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
@@ -139,7 +119,7 @@ class BigInputDialog(BigDialogBase):
               default_text: str = "",
               minimum_length: int = 1,
               confirm_callback: Callable[[str], None] | None = None):
-    super().__init__(None, None)
+    super().__init__()
    self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                    font_weight=FontWeight.MEDIUM)
    self._keyboard = MiciKeyboard()
@@ -151,7 +131,8 @@ class BigInputDialog(BigDialogBase):
    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
    self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)

-    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 42, 36)
+    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62)
+    self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62)
    self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)

    # rects for top buttons
@@ -186,9 +167,9 @@ class BigInputDialog(BigDialogBase):
    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE)

    bg_block_margin = 5
-    text_x = PADDING * 2 + self._enter_img.width + bg_block_margin
+    text_x = PADDING / 2 + self._enter_img.width + PADDING
    text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin,
-                                   int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width) - bg_block_margin * 2,
+                                   int(self._rect.width - text_x * 2),
                                   int(text_size.y))

    # draw text input
@@ -224,7 +205,7 @@ class BigInputDialog(BigDialogBase):
    self._backspace_img_alpha.update(255 * bool(text))
    if self._backspace_img_alpha.x > 1:
      color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
-      rl.draw_texture(self._backspace_img, int(self._rect.width - self._enter_img.width - 15), int(text_field_rect.y), color)
+      rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color)

    if not text and self._hint_label.text and not candidate_char:
      # draw description if no text entered yet and not drawing candidate char
@@ -236,10 +217,12 @@ class BigInputDialog(BigDialogBase):
    self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y,
                                               self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height)

-    self._enter_img_alpha.update(255 if (len(text) >= self._minimum_length) else 255 * 0.35)
-    if self._enter_img_alpha.x > 1:
-      color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
-      rl.draw_texture(self._enter_img, int(self._rect.x + 15), int(text_field_rect.y), color)
+    # draw enter button
+    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
+    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
+    rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
+    rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)

    # keyboard goes over everything
    self._keyboard.render(self._rect)
@@ -307,9 +290,8 @@ class BigDialogOptionButton(Widget):
 class BigMultiOptionDialog(BigDialogBase):
  BACK_TOUCH_AREA_PERCENTAGE = 0.1

-  def __init__(self, options: list[str], default: str | None,
-               right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None):
-    super().__init__(right_btn, right_btn_callback=right_btn_callback)
+  def __init__(self, options: list[str], default: str | None):
+    super().__init__()
    self._options = options
    if default is not None:
      assert default in options
@@ -322,8 +304,6 @@ class BigMultiOptionDialog(BigDialogBase):
    self._can_click = True

    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
-    if self._right_btn is not None:
-      self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)

    for option in options:
      self._scroller.add_widget(BigDialogOptionButton(option))
@@ -1,31 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app
-
-# ---------------------------------------------------------------------------
-#  Constants extracted from the original Qt style
-# ---------------------------------------------------------------------------
-# TODO: this should be corrected, but Scroller relies on this being incorrect :/
-WIDTH, HEIGHT = 112, 240
-
-
-class SideButton(Widget):
-  def __init__(self, btn_type: str):
-    super().__init__()
-    self.type = btn_type
-    self.set_rect(rl.Rectangle(0, 0, WIDTH, HEIGHT))
-
-    # load pre-rendered button images
-    if btn_type not in ("check", "back"):
-      btn_type = "back"
-    btn_img_path = f"icons_mici/buttons/button_side_{btn_type}.png"
-    btn_img_pressed_path = f"icons_mici/buttons/button_side_{btn_type}_pressed.png"
-    self._txt_btn, self._txt_btn_back = gui_app.texture(btn_img_path, 100, 224), gui_app.texture(btn_img_pressed_path, 100, 224)
-
-  def _render(self, _) -> bool:
-    x = int(self._rect.x + 12)
-    y = int(self._rect.y + (self._rect.height - self._txt_btn.height) / 2)
-    rl.draw_texture(self._txt_btn if not self.is_pressed else self._txt_btn_back,
-                    x, y, rl.WHITE)
-
-    return False
@@ -3,7 +3,6 @@ import os
 import sys
 import subprocess
 import tempfile
-import base64
 import webbrowser
 import argparse
 from pathlib import Path
@@ -25,12 +24,6 @@ def compare_frames(frame1_path, frame2_path):
  return result.returncode == 0


-def frame_to_data_url(frame_path):
-  with open(frame_path, 'rb') as f:
-    data = f.read()
-  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
-
-
 def create_diff_video(video1, video2, output_path):
  """Create a diff video using ffmpeg blend filter with difference mode."""
  print("Creating diff video...")
@@ -60,20 +53,16 @@ def find_differences(video1, video2):

    print(f"Comparing {len(frames1)} frames...")
    different_frames = []
-    frame_data = []

    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
      is_different = not compare_frames(f1, f2)
      if is_different:
        different_frames.append(i)

-      if i < 10 or i >= len(frames1) - 10 or is_different:
-        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
-
-    return different_frames, frame_data, len(frames1)
+    return different_frames, len(frames1)


-def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+def generate_html_report(video1, video2, basedir, different_frames, total_frames):
  chunks = []
  if different_frames:
    current_chunk = [different_frames[0]]
@@ -177,14 +166,14 @@ def main():
  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
  create_diff_video(args.video1, args.video2, diff_video_path)

-  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+  different_frames, total_frames = find_differences(args.video1, args.video2)

  if different_frames is None:
    sys.exit(1)

  print()
  print("Generating HTML report...")
-  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames)

  with open(DIFF_OUT_DIR / args.output, 'w') as f:
    f.write(html)
@@ -6,7 +6,6 @@
  "Español": "es",
  "Türkçe": "tr",
  "Українська": "uk",
-  "العربية": "ar",
  "ไทย": "th",
  "中文（繁體）": "zh-CHT",
  "中文（简体）": "zh-CHS",
@@ -3,7 +3,7 @@ import pytest
 import time
 import numpy as np
 from dataclasses import dataclass
-from tabulate import tabulate
+from openpilot.common.utils import tabulate

 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
@@ -115,6 +115,55 @@ def _parse_proc_stat(stat: str) -> ProcStat | None:
    cloudlog.exception("failed to parse /proc/<pid>/stat")
    return None

+class SmapsData(TypedDict):
+  pss: int       # bytes
+  pss_anon: int  # bytes
+  pss_shmem: int # bytes
+
+
+_SMAPS_KEYS = {b'Pss:', b'Pss_Anon:', b'Pss_Shmem:'}
+
+# smaps_rollup (kernel 4.14+) is ideal but missing on some BSP kernels;
+# fall back to per-VMA smaps (any kernel). Pss_Anon/Pss_Shmem only in 5.x+.
+_smaps_path: str | None = None  # auto-detected on first call
+
+# per-VMA smaps is expensive (kernel walks page tables for every VMA).
+# cache results and only refresh every N cycles to keep CPU low.
+_smaps_cache: dict[int, SmapsData] = {}
+_smaps_cycle = 0
+_SMAPS_EVERY = 20  # refresh every 20th cycle (40s at 0.5Hz)
+
+
+def _read_smaps(pid: int) -> SmapsData:
+  global _smaps_path
+  try:
+    if _smaps_path is None:
+      _smaps_path = 'smaps_rollup' if os.path.exists(f'/proc/{pid}/smaps_rollup') else 'smaps'
+
+    result: SmapsData = {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+    with open(f'/proc/{pid}/{_smaps_path}', 'rb') as f:
+      for line in f:
+        parts = line.split()
+        if len(parts) >= 2 and parts[0] in _SMAPS_KEYS:
+          val = int(parts[1]) * 1024  # kB -> bytes
+          if parts[0] == b'Pss:':
+            result['pss'] += val
+          elif parts[0] == b'Pss_Anon:':
+            result['pss_anon'] += val
+          elif parts[0] == b'Pss_Shmem:':
+            result['pss_shmem'] += val
+    return result
+  except (FileNotFoundError, PermissionError, ProcessLookupError, OSError):
+    return {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+
+
+def _get_smaps_cached(pid: int) -> SmapsData:
+  """Return cached smaps data, refreshing every _SMAPS_EVERY cycles."""
+  if _smaps_cycle == 0 or pid not in _smaps_cache:
+    _smaps_cache[pid] = _read_smaps(pid)
+  return _smaps_cache.get(pid, {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0})
+
+
 class ProcExtra(TypedDict):
  pid: int
  name: str
@@ -189,6 +238,13 @@ def build_proc_log_message(msg) -> None:
    for j, arg in enumerate(extra['cmdline']):
      cmdline[j] = arg

+    # smaps is expensive (kernel walks page tables); skip small processes, use cache
+    if r['rss'] * PAGE_SIZE > 5 * 1024 * 1024:
+      smaps = _get_smaps_cached(r['pid'])
+      proc.memPss = smaps['pss']
+      proc.memPssAnon = smaps['pss_anon']
+      proc.memPssShmem = smaps['pss_shmem']
+
  cpu_times = _cpu_times()
  cpu_list = pl.init('cpuTimes', len(cpu_times))
  for i, ct in enumerate(cpu_times):
@@ -212,6 +268,9 @@ def build_proc_log_message(msg) -> None:
  pl.mem.inactive = mem_info["Inactive:"]
  pl.mem.shared = mem_info["Shmem:"]

+  global _smaps_cycle
+  _smaps_cycle = (_smaps_cycle + 1) % _SMAPS_EVERY
+

 def main() -> NoReturn:
  pm = messaging.PubMaster(['procLog'])
@@ -16,7 +16,6 @@ TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
 LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")

 UNIFONT_LANGUAGES = [
-  "ar",
  "th",
  "zh-CHT",
  "zh-CHS",
@@ -73,8 +73,14 @@ class GuiScrollPanel2:

  def _update_state(self, bounds_size: float, content_size: float) -> None:
    """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
-    if self._state == ScrollState.AUTO_SCROLL:
-      max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+
+    if self._state == ScrollState.STEADY:
+      # if we find ourselves out of bounds, scroll back in (from external layout dimension changes, etc.)
+      if self.get_offset() > max_offset or self.get_offset() < min_offset:
+        self._state = ScrollState.AUTO_SCROLL
+
+    elif self._state == ScrollState.AUTO_SCROLL:
      # simple exponential return if out of bounds
      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
      if out_of_bounds and self._handle_out_of_bounds:
@@ -631,7 +631,7 @@ class WifiManager:
      known_connections = self._get_connections()
      networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
      # sort with quantized strength to reduce jumping
-      networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower()))
+      networks.sort(key=lambda n: (-n.is_connected, -n.is_saved, -round(n.strength / 100 * 2), n.ssid.lower()))
      self._networks = networks

      self._update_ipv4_address()
@@ -94,12 +94,12 @@ class NetworkConnectivityMonitor:
 class SetupState(IntEnum):
  GETTING_STARTED = 0
  NETWORK_SETUP = 1
-  NETWORK_SETUP_CUSTOM_SOFTWARE = 8
-  SOFTWARE_SELECTION = 2
-  CUSTOM_SOFTWARE = 3
-  DOWNLOADING = 4
-  DOWNLOAD_FAILED = 5
-  CUSTOM_SOFTWARE_WARNING = 6
+  NETWORK_SETUP_CUSTOM_SOFTWARE = 2
+  SOFTWARE_SELECTION = 3
+  CUSTOM_SOFTWARE = 4
+  DOWNLOADING = 5
+  DOWNLOAD_FAILED = 6
+  CUSTOM_SOFTWARE_WARNING = 7


 class StartPage(Widget):
@@ -590,15 +590,9 @@ class Setup(Widget):
  def _custom_software_warning_back_button_callback(self):
    self._set_state(SetupState.SOFTWARE_SELECTION)

-  def _custom_software_warning_continue_button_callback(self):
-    self._set_state(SetupState.CUSTOM_SOFTWARE)
-
  def _getting_started_button_callback(self):
    self._set_state(SetupState.SOFTWARE_SELECTION)

-  def _software_selection_back_button_callback(self):
-    self._set_state(SetupState.GETTING_STARTED)
-
  def _software_selection_continue_button_callback(self):
    self.use_openpilot()

@@ -195,7 +195,7 @@ NAV_BAR_WIDTH = 205
 NAV_BAR_HEIGHT = 8

 DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT  # px extra to push down when dismissing
-DISMISS_TIME_SECONDS = 1.5
+DISMISS_TIME_SECONDS = 2.0


 class NavBar(Widget):
@@ -242,6 +242,7 @@ class NavWidget(Widget, abc.ABC):
    self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
    self._playing_dismiss_animation = False
    self._trigger_animate_in = False
+    self._nav_bar_show_time = 0.0
    self._back_enabled: bool | Callable[[], bool] = True
    self._nav_bar = NavBar()

@@ -330,6 +331,7 @@ class NavWidget(Widget, abc.ABC):
    if self._trigger_animate_in:
      self._pos_filter.x = self._rect.height
      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+      self._nav_bar_show_time = rl.get_time()
      self._trigger_animate_in = False

    new_y = 0.0
@@ -366,18 +368,24 @@ class NavWidget(Widget, abc.ABC):

    if self.back_enabled:
      bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+      nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
+      # User dragging or dismissing, nav bar follows NavWidget
      if self._back_button_start_pos is not None or self._playing_dismiss_animation:
        self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x
+      # Waiting to show
+      elif nav_bar_delayed:
+        self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+      # Animate back to top
      else:
        self._nav_bar_y_filter.update(NAV_BAR_MARGIN)

-      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
-      self._nav_bar.render()
-
      # draw black above widget when dismissing
      if self._rect.y > 0:
        rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)

+      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
+      self._nav_bar.render()
+
    return ret

  def show_event(self):
@@ -15,7 +15,6 @@ ANIMATION_SCALE = 0.6
 MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
 DO_ZOOM = False
 DO_JELLO = False
-SCROLL_BAR = False


 class LineSeparator(Widget):
@@ -33,9 +32,52 @@ class LineSeparator(Widget):
                 LINE_COLOR)


+class ScrollIndicator(Widget):
+  HORIZONTAL_MARGIN = 4
+
+  def __init__(self):
+    super().__init__()
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
+    self._scroll_offset: float = 0.0
+    self._content_size: float = 0.0
+    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
+    self._scroll_offset = scroll_offset
+    self._content_size = content_size
+    self._viewport = viewport
+
+  def _render(self, _):
+    # scale indicator width based on content size
+    indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
+
+    # position based on scroll ratio
+    slide_range = self._viewport.width - indicator_w
+    max_scroll = self._content_size - self._viewport.width
+    scroll_ratio = -self._scroll_offset / max_scroll
+    x = self._viewport.x + scroll_ratio * slide_range
+    # don't bounce up when NavWidget shows
+    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
+
+    # squeeze when overscrolling past edges
+    dest_left = max(x, self._viewport.x)
+    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
+    dest_w = max(indicator_w / 2, dest_right - dest_left)
+
+    # keep within viewport after applying minimum width
+    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
+    dest_left = max(dest_left, self._viewport.x)
+
+    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
+    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
+    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
+                        rl.Color(255, 255, 255, int(255 * 0.45)))
+
+
 class Scroller(Widget):
  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING,
-               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING):
+               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING,
+               scroll_indicator: bool = True):
    super().__init__()
    self._items: list[Widget] = []
    self._horizontal = horizontal
@@ -65,7 +107,8 @@ class Scroller(Widget):
    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
    self._scroll_enabled: bool | Callable[[], bool] = True

-    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80)
+    self._show_scroll_indicator = scroll_indicator
+    self._scroll_indicator = ScrollIndicator()

    for item in items:
      self.add_widget(item)
@@ -241,15 +284,13 @@ class Scroller(Widget):
      else:
        item.render()

-    # Draw scroll indicator
-    if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0:
-      _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height
-      scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height
-      scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height)
-      rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
-
    rl.end_scissor_mode()

+    # Draw scroll indicator
+    if self._show_scroll_indicator and self._horizontal and len(self._visible_items) > 0:
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      self._scroll_indicator.render()
+
  def show_event(self):
    super().show_event()
    if self._reset_scroll_at_show:
@@ -1,5 +1,9 @@
 acados_repo/
-lib
+/lib
 !x86_64/
 !larch64/
 !aarch64/
+!Darwin/
+!*.so
+!*.so.*
+!*.dylib
@@ -0,0 +1 @@
+
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e

+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

 ARCHNAME="x86_64"
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:821ce18f417d211c4845b60482d465b809f90dc7d04f023d652d8221e87679b1
-size 553544
+oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
+size 540488
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3feea7927d004064bbc5a13c3287467669ce801cb0a3c616cf9e089816da5a0b
-size 2155088
+oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
+size 2416112
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a042716f515913786581dff39799eb71fc66caddfa18b1c9f0d54f00c1568fd2
-size 1572648
+oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
+size 1531024
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6abea4815e3f03cff06fe8a9602e97f9acf102f18f803571460a94595b93be4
-size 262824
+oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
+size 262464
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7a360d4b53826b91ada3358156d44a14d497bdd8ace88707fd4b386ed6d194c7
-size 17503920
+oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
+size 5088536
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+# Reproducible builds: pin timestamps to epoch
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+pids=()
+names=()
+logs=()
+
+for script in "$DIR"/*/build.sh; do
+  [ -f "$script" ] || continue
+  name=$(basename "$(dirname "$script")")
+  log=$(mktemp)
+  names+=("$name")
+  logs+=("$log")
+  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
+  pids+=($!)
+done
+
+failed=0
+for i in "${!pids[@]}"; do
+  echo "--- ${names[$i]} ---"
+  if wait "${pids[$i]}"; then
+    echo "OK"
+  else
+    echo "FAILED (exit $?)"
+    failed=1
+  fi
+  cat "${logs[$i]}"
+  rm -f "${logs[$i]}"
+  echo
+done
+
+[ $failed -ne 0 ] && exit $failed
+
+# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
+# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
+while IFS= read -r -d '' lib; do
+  tmpdir=$(mktemp -d)
+  lib=$(realpath "$lib")
+  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
+    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
+  fi
+  rm -rf "$tmpdir"
+done < <(find "$DIR" -name '*.a' \
+  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
+  -print0)
+
+echo -e "\033[32mAll third_party builds succeeded.\033[0m"
@@ -1 +1,2 @@
-libyuv/
+/libyuv/
+!*.a
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e

+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

 ARCHNAME=$(uname -m)
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
+oid sha256:adafce26582e425164df7af36253ce58e3ed1dba9965650745c93bd96e42e976
 size 462482
@@ -1 +0,0 @@
-../include
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e21a3bd8df01cf4ce5461e7bf6654239196036c3f829255145265c7bf31a791d
-size 511974
+oid sha256:00f9759c67c6fa21657fabde9e096478ea5809716989599f673f638f039431e5
+size 504790
@@ -1,3 +1,4 @@
 /raylib_repo/
 /raylib_python_repo/
 /wheel/
+!*.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584
-size 6515352
+oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
+size 6392532
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e

+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 SUDO=""

 # Use sudo if not root
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:91e9a07513e84f7b553da01b34b24e12fe7130131ef73ebdb3dac3b838db815b
+oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
 size 2001860
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143
-size 2769684
+oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
+size 2771092
@@ -40,7 +40,7 @@ def parse_args():
  parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB")
  parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier")
  parser.add_argument("--demo", action="store_true", help="Use demo route with default timing")
-  parser.add_argument("--big", action="store_true", default=True, help="Use big UI (2160x1080)")
+  parser.add_argument("--big", action="store_true", help="Use big UI (2160x1080)")
  parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera")
  parser.add_argument("--windowed", action="store_true", help="Show window")
  parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay")
@@ -208,7 +208,10 @@ class FrameQueue:

 def load_route_metadata(route):
  from openpilot.common.params import Params, UnknownKeyName
-  lr = LogReader(route.log_paths()[0])
+  path = next((item for item in route.log_paths() if item), None)
+  if not path:
+    raise Exception('error getting route metadata: cannot find any uploaded logs')
+  lr = LogReader(path)
  init_data, car_params = lr.first('initData'), lr.first('carParams')

  params = Params()
@@ -226,11 +229,11 @@ def load_route_metadata(route):
  }


-def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, center=False):
+def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
+  import pyray as rl
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
  box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE
-  # measure_text_ex is NOT auto-scaled, so multiply by font_scale
-  # draw_text_ex IS auto-scaled, so pass size directly
-  text_size = rl.measure_text_ex(font, text, size * font_scale, 0)
+  text_size = measure_text_cached(font, text, size)
  text_width, text_height = int(text_size.x), int(text_size.y)
  if center:
    x = (gui_app.width - text_width) // 2
@@ -238,25 +241,41 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c
  rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)


-def render_overlays(rl, gui_app, font, font_scale, metadata, title, start_time, frame_idx, show_metadata, show_time):
+def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
+  from openpilot.system.ui.lib.wrap_text import wrap_text
+  metadata_size = 16 if big else 12
+  title_size = 32 if big else 24
+  time_size = 24 if big else 16
+
+  # Time overlay
+  time_width = 0
+  if show_time:
+    t = start_time + frame_idx / FRAMERATE
+    time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}"
+    time_width = int(measure_text_cached(font, time_text, time_size).x)
+    draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font)
+
+  # Metadata overlay (first 5 seconds)
  if show_metadata and metadata and frame_idx < FRAMERATE * 5:
    m = metadata
    text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}",
                      f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"])
-    # Truncate if too wide (leave 20px margin on each side)
-    max_width = gui_app.width - 40
-    while rl.measure_text_ex(font, text, 15 * font_scale, 0).x > max_width and len(text) > 20:
-      text = text[:-4] + "..."
-    draw_text_box(rl, text, 0, 8, 15, gui_app, font, font_scale, center=True)
+    # Wrap text if too wide (leave margin on each side)
+    margin = 2 * (time_width + 10 if show_time else 20)  # leave enough margin for time overlay
+    max_width = gui_app.width - margin
+    lines = wrap_text(font, text, metadata_size, max_width)

+    # Draw wrapped metadata text
+    y_offset = 6
+    for line in lines:
+      draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True)
+      line_height = int(measure_text_cached(font, line, metadata_size).y) + 4
+      y_offset += line_height
+
+  # Title overlay
  if title:
-    draw_text_box(rl, title, 0, 60, 32, gui_app, font, font_scale, center=True)
-
-  if show_time:
-    t = start_time + frame_idx / FRAMERATE
-    time_text = f"{int(t)//60:02d}:{int(t)%60:02d}"
-    time_width = int(rl.measure_text_ex(font, time_text, 24 * font_scale, 0).x)
-    draw_text_box(rl, time_text, gui_app.width - time_width - 45, 45, 24, gui_app, font, font_scale)
+    draw_text_box(title, 0, 60, title_size, gui_app, font, center=True)


 def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
@@ -269,7 +288,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
  else:
    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView  # type: ignore[assignment]
  from openpilot.selfdrive.ui.ui_state import ui_state
-  from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+  from openpilot.system.ui.lib.application import gui_app, FontWeight
  timer.lap("import")

  logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)")
@@ -313,7 +332,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
        ui_state.update()
        if should_render:
          road_view.render()
-          render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time)
+          render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time)
        frame_idx += 1
        pbar.update(1)
    timer.lap("render")
@@ -329,7 +348,6 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
 def main():
  logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s")
  args = parse_args()
-  assert args.big, "Clips doesn't support mici UI yet. TODO: make it work"

  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start)
  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed,
@@ -1,12 +1,4 @@
-from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"

-def get_url(*args, **kwargs):
-  return OpenpilotCIContainer.get_url(*args, **kwargs)
-
-def upload_file(*args, **kwargs):
-  return OpenpilotCIContainer.upload_file(*args, **kwargs)
-
-def upload_bytes(*args, **kwargs):
-  return OpenpilotCIContainer.upload_bytes(*args, **kwargs)
-
-BASE_URL = OpenpilotCIContainer.BASE_URL
+def get_url(route_name: str, segment_num, filename: str) -> str:
+  return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}"
@@ -9,7 +9,7 @@ import webbrowser
 from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
-from tabulate import tabulate
+from openpilot.common.utils import tabulate

 from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
@@ -3,8 +3,9 @@ import sys
 import markdown
 import numpy as np
 import matplotlib.pyplot as plt
-from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

 TIME = 0
 LEAD_DISTANCE= 2
@@ -21,7 +22,6 @@ axis_labels = ['Time (s)',
               'Lead distance (m)'
               ]

-
 def get_html_from_results(results, labels, AXIS):
  fig, ax = plt.subplots(figsize=(16, 8))
  for idx, speed in enumerate(list(results.keys())):
@@ -38,242 +38,272 @@ def get_html_from_results(results, labels, AXIS):
  plt.close(fig)
  return fig_buffer.getvalue() + '<br/>'

+def generate_mpc_tuning_report():
+  htmls = []

-htmls = []
+  results = {}
+  name = 'Resuming behind lead'
+  labels = []
+  for lead_accel in np.linspace(1.0, 4.0, 4):
+    man = Maneuver(
+      '',
+      duration=11,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 10 * lead_accel],
+      cruise_values=[100, 100],
+      prob_lead_values=[1.0, 1.0],
+      breakpoints=[1., 11],
+    )
+    valid, results[lead_accel] = man.evaluate()
+    labels.append(f'{lead_accel} m/s^2 lead acceleration')

-results = {}
-name = 'Resuming behind lead'
-labels = []
-for lead_accel in np.linspace(1.0, 4.0, 4):
-  man = Maneuver(
-    '',
-    duration=11,
-    initial_speed=0.0,
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(0.0, 0.0),
-    speed_lead_values=[0.0, 10 * lead_accel],
-    cruise_values=[100, 100],
-    prob_lead_values=[1.0, 1.0],
-    breakpoints=[1., 11],
-  )
-  valid, results[lead_accel] = man.evaluate()
-  labels.append(f'{lead_accel} m/s^2 lead acceleration')
-
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))


-results = {}
-name = 'Approaching stopped car from 140m'
-labels = []
-for speed in np.arange(0,45,5):
-  man = Maneuver(
-    name,
-    duration=30.,
-    initial_speed=float(speed),
-    lead_relevancy=True,
-    initial_distance_lead=140.,
-    speed_lead_values=[0.0, 0.],
-    breakpoints=[0., 30.],
-  )
-  valid, results[speed] = man.evaluate()
-  results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
-  labels.append(f'{speed} m/s approach speed')
+  results = {}
+  name = 'Approaching stopped car from 140m'
+  labels = []
+  for speed in np.arange(0,45,5):
+    man = Maneuver(
+      name,
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=140.,
+      speed_lead_values=[0.0, 0.],
+      breakpoints=[0., 30.],
+    )
+    valid, results[speed] = man.evaluate()
+    results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
+    labels.append(f'{speed} m/s approach speed')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, D_REL))


-results = {}
-name = 'Following 5s oscillating lead'
-labels = []
-speed = np.int64(10)
-for oscil in np.arange(0, 10, 1):
-  man = Maneuver(
-    '',
-    duration=30.,
-    initial_speed=float(speed),
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(speed, speed),
-    speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
-    breakpoints=[0.,2., 5, 8, 15, 18, 25.],
-  )
-  valid, results[oscil] = man.evaluate()
-  labels.append(f'{oscil} m/s oscilliation size')
+  results = {}
+  name = 'Following 5s (triangular) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  for oscil in np.arange(0, 10, 1):
+    man = Maneuver(
+      '',
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
+      breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscillation size')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, D_REL))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))


+  results = {}
+  name = 'Following 5s (sinusoidal) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  duration = float(30)
+  f_osc = 1. / 5
+  for oscil in np.arange(0, 10, 1):
+    bps = DT_MDL * np.arange(int(duration / DT_MDL))
+    lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps)
+    man = Maneuver(
+      '',
+      duration=duration,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=lead_speeds,
+      breakpoints=bps,
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscilliation size')

-results = {}
-name = 'Speed profile when converging to steady state lead at 30m/s'
-labels = []
-for distance in np.arange(20, 140, 10):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=30.0,
-    lead_relevancy=True,
-    initial_distance_lead=distance,
-    speed_lead_values=[30.0],
-    breakpoints=[0.],
-  )
-  valid, results[distance] = man.evaluate()
-  results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
-  labels.append(f'{distance} m initial distance')
-
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))


-results = {}
-name = 'Speed profile when converging to steady state lead at 20m/s'
-labels = []
-for distance in np.arange(20, 140, 10):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=20.0,
-    lead_relevancy=True,
-    initial_distance_lead=distance,
-    speed_lead_values=[20.0],
-    breakpoints=[0.],
-  )
-  valid, results[distance] = man.evaluate()
-  results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
-  labels.append(f'{distance} m initial distance')
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 30m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=30.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[30.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+    labels.append(f'{distance} m initial distance')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, D_REL))


-results = {}
-name = 'Following car at 30m/s that comes to a stop'
-labels = []
-for stop_time in np.arange(4, 14, 1):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=30.0,
-    lead_relevancy=True,
-    initial_distance_lead=60.0,
-    speed_lead_values=[30.0, 30.0, 0.0, 0.0],
-    breakpoints=[0., 20., 20 + stop_time, 30 + stop_time],
-  )
-  valid, results[stop_time] = man.evaluate()
-  results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
-  labels.append(f'{stop_time} seconds stop time')
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 20m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=20.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[20.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+    labels.append(f'{distance} m initial distance')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, D_REL))


-results = {}
-name = 'Response to cut-in at half follow distance'
-labels = []
-for speed in np.arange(0, 40, 5):
-  man = Maneuver(
-    '',
-    duration=10,
-    initial_speed=float(speed),
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(speed, speed)/2,
-    speed_lead_values=[speed, speed, speed],
-    cruise_values=[speed, speed, speed],
-    prob_lead_values=[0.0, 0.0, 1.0],
-    breakpoints=[0., 5.0, 5.01],
-  )
-  valid, results[speed] = man.evaluate()
-  labels.append(f'{speed} m/s speed')
+  results = {}
+  name = 'Following car at 30m/s that comes to a stop'
+  labels = []
+  for stop_time in np.arange(4, 14, 1):
+    man = Maneuver(
+      '',
+      duration=30,
+      initial_speed=30.0,
+      cruise_values=[30.0, 30.0, 30.0],
+      lead_relevancy=True,
+      initial_distance_lead=60.0,
+      speed_lead_values=[30.0, 30.0, 0.0],
+      breakpoints=[0., 5., 5 + stop_time],
+    )
+    valid, results[stop_time] = man.evaluate()
+    results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
+    labels.append(f'{stop_time} seconds stop time')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, D_REL))


-results = {}
-name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
-labels = []
-for speed in np.arange(0, 40, 5):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=0.0,
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(0.0, 0.0),
-    speed_lead_values=[0.0, 0.0, speed],
-    prob_lead_values=[1.0, 1.0, 1.0],
-    breakpoints=[0., 1.0, speed/2],
-  )
-  valid, results[speed] = man.evaluate()
-  labels.append(f'{speed} m/s speed')
+  results = {}
+  name = 'Response to cut-in at half follow distance'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=20,
+      initial_speed=float(speed),
+      cruise_values=[speed, speed, speed],
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed)/2,
+      speed_lead_values=[speed, speed, speed],
+      prob_lead_values=[0.0, 0.0, 1.0],
+      breakpoints=[0., 5.0, 5.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, D_REL))


-results = {}
-name = 'From stop to cruise'
-labels = []
-for speed in np.arange(0, 40, 5):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=0.0,
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(0.0, 0.0),
-    speed_lead_values=[0.0, 0.0],
-    cruise_values=[0.0, speed],
-    prob_lead_values=[0.0, 0.0],
-    breakpoints=[1., 1.01],
-  )
-  valid, results[speed] = man.evaluate()
-  labels.append(f'{speed} m/s speed')
+  results = {}
+  name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=60,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0, speed],
+      prob_lead_values=[1.0, 1.0, 1.0],
+      breakpoints=[0., 1.0, speed/2],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))


-results = {}
-name = 'From cruise to min'
-labels = []
-for speed in np.arange(10, 40, 5):
-  man = Maneuver(
-    '',
-    duration=50,
-    initial_speed=float(speed),
-    lead_relevancy=True,
-    initial_distance_lead=desired_follow_distance(0.0, 0.0),
-    speed_lead_values=[0.0, 0.0],
-    cruise_values=[speed, 10.0],
-    prob_lead_values=[0.0, 0.0],
-    breakpoints=[1., 1.01],
-  )
-  valid, results[speed] = man.evaluate()
-  labels.append(f'{speed} m/s speed')
+  results = {}
+  name = 'From stop to cruise'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[0.0, speed],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')

-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))

-if len(sys.argv) < 2:
-  file_name = 'long_mpc_tune_report.html'
-else:
-  file_name = sys.argv[1]

-with open(file_name, 'w') as f:
-  f.write(markdown.markdown('# MPC longitudinal tuning report'))
+  results = {}
+  name = 'From cruise to min'
+  labels = []
+  for speed in np.arange(10, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[speed, 10.0],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')

-with open(file_name, 'a') as f:
-  for html in htmls:
-    f.write(html)
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, EGO_V))
+  htmls.append(get_html_from_results(results, labels, EGO_A))
+
+  return htmls
+
+if __name__ == '__main__':
+  htmls = generate_mpc_tuning_report()
+
+  if len(sys.argv) < 2:
+    file_name = 'long_mpc_tune_report.html'
+  else:
+    file_name = sys.argv[1]
+
+  with open(file_name, 'w') as f:
+    f.write(markdown.markdown('# MPC longitudinal tuning report'))
+    for html in htmls:
+      f.write(html)
@@ -161,9 +161,9 @@ function op_check_python() {
    loge "ERROR_PYTHON_NOT_FOUND"
    return 1
  else
-    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
-    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
-    VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
+    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($4, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
+    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($6, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
+    VERSION=$(echo $INSTALLED_PYTHON_VERSION | awk '{ split($2, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
    if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
      echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
    else
@@ -160,9 +160,12 @@ def ui_thread(addr):

    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]

-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[: vipc_client.height * 3 // 2, : vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
+    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
+    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
+    nv12_size = h * 3 // 2 * stride
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
+    num_px = w * h
+    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)

    qcam = "QCAM" in os.environ
    bb_scale = (528 if qcam else camera.fcam.width) / 640.0