Merge remote-tracking branch 'origin/master-new' into HKG-long-tune

# Conflicts:
#	opendbc_repo

.github/workflows/selfdrive_tests.yaml

@@ -229,7 +229,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
       run: |
         ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -21,8 +21,6 @@ on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
-  pull_request:
-    branches: [ master, master-new ]
   workflow_dispatch:
     inputs:
       extra_version:

.github/workflows/ui_preview.yaml

@@ -95,8 +95,21 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
+            # Check if the master file exists
+            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+              # This is a new file in PR UI that doesn't exist in master
+              DIFF="${DIFF}<details open>"
+              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
+              DIFF="${DIFF}<table>"
 
-            if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              DIFF="${DIFF}<tr>"
+              DIFF="${DIFF}  <td> master <img src=\"https://dummyimage.com/1986x993/000000/ffffff?text=++Not+in+master\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}</tr>"
+
+              DIFF="${DIFF}</table>"
+              DIFF="${DIFF}</details>"
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif

RELEASES.md

@@ -6,7 +6,7 @@ Version 0.9.8 (2025-02-28)
 ========================
 * New driving model
   * Model now gates applying positive acceleration in Chill mode
-* New driving monitoring model
+* New driver monitoring model
   * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
   * More GPU time for bigger driving models

cereal/custom.capnp

@@ -136,7 +136,8 @@ struct OnroadEventSP @0xda96579883444c35 {
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;  # flags for car specific quirks in sunnypilot
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
 }
 
 struct CarControlSP @0xa5cd762cd951a455 {

cereal/log.capnp

@@ -59,6 +59,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     pcmEnable @23;
     pcmDisable @24;
     radarFault @25;
+    radarTempUnavailable @93;
     brakeHold @26;
     parkBrake @27;
     manualRestart @28;
@@ -728,7 +729,7 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
+  radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -762,6 +763,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
   cumLagMsDEPRECATED @5 :Float32;
+  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }
 
 struct LiveCalibrationData {

common/api/__init__.py

@@ -1,13 +1,9 @@
 from openpilot.common.api.comma_connect import CommaConnectApi
-from sunnypilot.sunnylink.api import SunnylinkApi
 
 
 class Api:
-  def __init__(self, dongle_id, use_sunnylink=False):
-    if use_sunnylink:
-      self.service = SunnylinkApi(dongle_id)
-    else:
-      self.service = CommaConnectApi(dongle_id)
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
 
   def request(self, method, endpoint, **params):
     return self.service.request(method, endpoint, **params)
@@ -22,6 +18,5 @@ class Api:
     return self.service.get_token(expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
-  return SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params) if use_sunnylink \
-    else CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)

common/params_keys.h

@@ -132,7 +132,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
@@ -144,6 +144,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // sunnylink params
     {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"SunnylinkCache_Roles", PERSISTENT},
+    {"SunnylinkCache_Users", PERSISTENT},
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},

launch_chffrplus.sh

@@ -34,25 +34,25 @@ function launch {
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
-  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
-  #    the BASEDIR Git repo. This checks for local development work or the user
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
   #    switching branches/forks, which should not be overwritten.
   # 2. The FINALIZED consistent file has to exist, indicating there's an update
   #    that completed successfully and synced to disk.
 
-  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
     if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
+      echo "${DIR} has been modified, skipping overlay update installation"
     else
       if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
         if [ ! -d /data/safe_staging/old_openpilot ]; then
           echo "Valid overlay update found, installing"
           LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
 
-          mv $BASEDIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $BASEDIR
-          cd $BASEDIR
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
           unset AGNOS_VERSION

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.10"
+  export AGNOS_VERSION="11.11"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -99,11 +99,13 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
+  "dbus-next",
   "dictdiffer",
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
   "pyautogui",
+  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",

release/build_release.sh

@@ -40,8 +40,6 @@ rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
 VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
-
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"

release/ci/squash_and_merge_prs.py

@@ -9,155 +9,189 @@ from datetime import datetime
 
 
 def setup_argument_parser():
-    parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
-    parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-    parser.add_argument('--source-branch', type=str, default='master-new',
-                        help='Source branch for merging')
-    parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
-                        help='Target branch for merging')
-    parser.add_argument('--squash-script-path', type=str, required=True,
-                        help='Path to the squash_and_merge.py script')
-    return parser
+  parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
+  parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
+  parser.add_argument('--source-branch', type=str, default='master-new',
+                      help='Source branch for merging')
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+                      help='Target branch for merging')
+  parser.add_argument('--squash-script-path', type=str, required=True,
+                      help='Path to the squash_and_merge.py script')
+  return parser
 
 
 def validate_squash_script(script_path):
-    if not os.path.isfile(script_path):
-        raise FileNotFoundError(f"Squash script not found at: {script_path}")
-    if not os.access(script_path, os.X_OK):
-        raise PermissionError(f"Squash script is not executable: {script_path}")
+  if not os.path.isfile(script_path):
+    raise FileNotFoundError(f"Squash script not found at: {script_path}")
+  if not os.access(script_path, os.X_OK):
+    raise PermissionError(f"Squash script is not executable: {script_path}")
 
 
 def sort_prs_by_creation(pr_data):
-    """Sort PRs by creation date"""
-    nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
+  """Sort PRs by creation date"""
+  nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
 
-    return sorted(
-        nodes,
-        key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
-    )
+  return sorted(
+    nodes,
+    key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
+  )
 
 
 def add_pr_comment(pr_number, comment):
-    """Add a comment to a PR using gh cli"""
-    try:
-        subprocess.run(
-            ['gh', 'pr', 'comment', str(pr_number), '--body', comment],
-            check=True,
-            capture_output=True,
-            text=True
-        )
-    except subprocess.CalledProcessError as e:
-        print(f"Failed to add comment to PR #{pr_number}: {e.stderr}")
+  """Add or update a comment to a PR using gh cli"""
+  title = "## Squash and Merge"
+
+  try:
+    result = subprocess.run(
+      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+      check=True,
+      capture_output=True,
+      text=True
+    )
+
+    comments_data = json.loads(result.stdout)
+    has_existing_comment = False
+
+    for pr_comment in comments_data['comments']:
+      if pr_comment['body'].startswith(title):
+        has_existing_comment = True
+        break
+
+    full_comment = f"{title}\n\n{comment}"
+
+    if has_existing_comment:
+      subprocess.run(
+        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+    else:
+      subprocess.run(
+        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
+  except json.JSONDecodeError:
+    print(f"Failed to parse comments data for PR #{pr_number}")
+
 
 
 def validate_pr(pr):
-    """Validate a PR and return (is_valid, skip_reason)"""
-    pr_number = pr.get('number', 'UNKNOWN')
-    branch = pr.get('headRefName', '')
+  """Validate a PR and return (is_valid, skip_reason)"""
+  pr_number = pr.get('number', 'UNKNOWN')
+  branch = pr.get('headRefName', '')
 
-    if not branch:
-        return False, f"Missing branch name for PR #{pr_number}"
+  if not branch:
+    return False, f"missing branch name for PR #{pr_number}"
 
-    # Check if checks have passed
-    commits = pr.get('commits', {}).get('nodes', [])
-    if not commits:
-        return False, "No commit data found"
+  # Check if checks have passed
+  commits = pr.get('commits', {}).get('nodes', [])
+  if not commits:
+    return False, "no commit data found"
 
-    status = commits[0].get('commit', {}).get('statusCheckRollup', {})
-    if not status or status.get('state') != 'SUCCESS':
-        return False, "Not all checks have passed"
+  status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+  if not status or status.get('state') != 'SUCCESS':
+    return False, "not all checks have passed"
 
-    # Check for merge conflicts
-    merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'], capture_output=True, text=True)
-    merge_data = json.loads(merge_status.stdout)
-    if not merge_data.get('mergeable'):
-        return False, "Merge conflicts detected"
+  # Check for merge conflicts
+  merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
+                                capture_output=True, text=True)
+  merge_data = json.loads(merge_status.stdout)
+  if not merge_data.get('mergeable'):
+    return False, "merge conflicts detected"
 
-    if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-        return False, f"Branch is `{mergeStateStatus}`"
+  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+    return False, f"branch is `{mergeStateStatus}`"
 
-    return True, None
+  return True, None
 
 
 def process_pr(pr_data, source_branch, target_branch, squash_script_path):
-    try:
-        nodes = sort_prs_by_creation(pr_data)
-        if not nodes:
-            print("No PRs to squash")
-            return 0
+  try:
+    nodes = sort_prs_by_creation(pr_data)
+    if not nodes:
+      print("No PRs to squash")
+      return 0
 
-        print(f"Deleting target branch {target_branch}")
-        subprocess.run(['git', 'branch', '-D', target_branch], check=False)
-        subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
-        success_count = 0
-        for pr in nodes:
-            pr_number = pr.get('number', 'UNKNOWN')
-            branch = pr.get('headRefName', '')
-            title = pr.get('title', '')
-            is_valid, skip_reason = validate_pr(pr)
+    print(f"Deleting target branch {target_branch}")
+    subprocess.run(['git', 'branch', '-D', target_branch], check=False)
+    subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
+    success_count = 0
+    for pr in nodes:
+      pr_number = pr.get('number', 'UNKNOWN')
+      branch = pr.get('headRefName', '')
+      title = pr.get('title', '')
+      is_valid, skip_reason = validate_pr(pr)
 
-            if not is_valid:
-                print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-                add_pr_comment(pr_number, f"⚠️ This PR was skipped in the automated `{target_branch}` squash because {skip_reason}.")
-                continue
+      if not is_valid:
+        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+        add_pr_comment(pr_number,
+                       f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+        continue
 
-            try:
-                # Fetch PR branch
-                subprocess.run(['git', 'fetch', 'origin', branch], check=True)
-                # Delete branch if it exists (ignore errors if it doesn't)
-                subprocess.run(['git', 'branch', '-D', branch], check=False)
-                # Create new branch pointing to origin's branch
-                subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+      try:
+        # Fetch PR branch
+        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        # Delete branch if it exists (ignore errors if it doesn't)
+        subprocess.run(['git', 'branch', '-D', branch], check=False)
+        # Create new branch pointing to origin's branch
+        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
 
-                # Run squash script
-                subprocess.run([
-                    squash_script_path,
-                    '--target', target_branch,
-                    '--source', branch,
-                    '--title', f"{title} (#{pr_number})",
-                ], check=True)
+        # Run squash script
+        subprocess.run([
+          squash_script_path,
+          '--target', target_branch,
+          '--source', branch,
+          '--title', f"{title} (#{pr_number})",
+        ], check=True)
 
-                print(f"Successfully processed PR #{pr_number}")
-                success_count += 1
+        print(f"Successfully processed PR #{pr_number}")
+        success_count += 1
 
-            except subprocess.CalledProcessError as e:
-                print(f"Error processing PR #{pr_number}:")
-                print(f"Command failed with exit code {e.returncode}")
-                error_output = getattr(e, 'stderr', 'No error output available')
-                print(f"Error output: {error_output}")
-                add_pr_comment(pr_number, f"⚠️ Error during automated {target_branch} squash:\n```\n{error_output}\n```")
-                continue
-            except Exception as e:
-                print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
-                continue
+      except subprocess.CalledProcessError as e:
+        print(f"Error processing PR #{pr_number}:")
+        print(f"Command failed with exit code {e.returncode}")
+        error_output = getattr(e, 'stderr', 'No error output available')
+        print(f"Error output: {error_output}")
+        add_pr_comment(pr_number,
+                       f"⚠️ Error during automated `{target_branch}` squash:\n```\n{error_output}\n```")
+        continue
+      except Exception as e:
+        print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        continue
 
-        return success_count
-
-    except Exception as e:
-        import traceback
-        print(f"Error in process_pr: {str(e)}")
-        print("Full traceback:")
-        print(traceback.format_exc())
-        return 0
-
-
-def main():
-    parser = setup_argument_parser()
-    try:
-        args = parser.parse_args()
-        validate_squash_script(args.squash_script_path)
-        pr_data_json = json.loads(args.pr_data)
-
-        # Process the PRs
-        success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
-        print(f"Successfully processed {success_count} PRs")
-
-    except Exception as e:
-        print(f"Fatal error: {str(e)}", file=sys.stderr)
-        return 1
+    return success_count
 
+  except Exception as e:
+    import traceback
+    print(f"Error in process_pr: {str(e)}")
+    print("Full traceback:")
+    print(traceback.format_exc())
     return 0
 
 
+def main():
+  parser = setup_argument_parser()
+  try:
+    args = parser.parse_args()
+    validate_squash_script(args.squash_script_path)
+    pr_data_json = json.loads(args.pr_data)
+
+    # Process the PRs
+    success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
+    print(f"Successfully processed {success_count} PRs")
+
+  except Exception as e:
+    print(f"Fatal error: {str(e)}", file=sys.stderr)
+    return 1
+
+  return 0
+
+
 if __name__ == "__main__":
-    sys.exit(main())
+  sys.exit(main())

release/release_files.py

@@ -8,6 +8,7 @@ ROOT = HERE + "/.."
 
 blacklist = [
   ".git/",
+  ".github/workflows/",
 
   "matlab.*.md",
 

selfdrive/car/card.py

@@ -16,7 +16,7 @@ from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car, get_radar_interface
+from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
@@ -24,8 +24,8 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
-from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car import interfaces
+from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -108,8 +108,8 @@ class Car:
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
-      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
+      sunnypilot_interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
+      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
       self.CP_SP = self.CI.CP_SP
 
@@ -126,8 +126,8 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     # mads
-    MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
+    set_alternative_experience(self.CP, self.params)
+    set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
@@ -192,7 +192,7 @@ class Car:
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
     # log fingerprint in sentry
-    interfaces.log_fingerprint(self.CP)
+    sunnypilot_interfaces.log_fingerprint(self.CP)
 
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
@@ -256,7 +256,7 @@ class Car:
 
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
-      tracks_msg.valid = len(RD.errors) == 0
+      tracks_msg.valid = not any(RD.errors.to_dict().values())
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
@@ -274,7 +274,7 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
+      sunnypilot_interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 

selfdrive/car/tests/test_car_interfaces.py

@@ -35,7 +35,7 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
@@ -44,7 +44,7 @@ class TestCarInterfaces:
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                                            experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp, CarController, CarState)
+    car_interface = CarInterface(car_params, car_params_sp)
     assert car_params
     assert car_params_sp
     assert car_interface

selfdrive/car/tests/test_models.py

@@ -1,5 +1,4 @@
 import time
-import capnp
 import copy
 import os
 import pytest
@@ -68,7 +67,7 @@ class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
 
-  can_msgs: list[capnp.lib.capnp._DynamicStructReader]
+  can_msgs: list[tuple[int, list[CanData]]]
   fingerprint: dict[int, dict[int, int]]
   elm_frame: int | None
   car_safety_mode_frame: int | None
@@ -83,7 +82,8 @@ class TestCarModelBase(unittest.TestCase):
     experimental_long = False
     for msg in lr:
       if msg.which() == "can":
-        can_msgs.append(msg)
+        can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
+        can_msgs.append((can[0], [CanData(*can) for can in can[1]]))
         if len(can_msgs) <= FRAME_FINGERPRINT:
           for m in msg.can:
             if m.src < 64:
@@ -147,15 +147,13 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
-    cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
-
-    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
     cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP_SP
@@ -168,12 +166,15 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP))
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
     self.safety = libsafety_py.libsafety
 
+    safety_param_sp = self.CP_SP.safetyParam
+    self.safety.set_current_safety_param_sp(safety_param_sp)
+
     cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
@@ -203,8 +204,8 @@ class TestCarModelBase(unittest.TestCase):
     CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
-      self.CI.apply(CC, CC_SP, msg.logMonoTime)
+      CS = self.CI.update(msg)
+      self.CI.apply(CC, CC_SP, msg[0])
 
       if CS.canValid:
         can_valid = True
@@ -216,32 +217,32 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP, self.CP_SP)
+    RI = self.CarInterface.RadarInterface(self.CP, self.CP_SP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr: structs.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      rr: structs.RadarData | None = RI.update(msg)
       if rr is not None and i > 50:
-        error_cnt += structs.RadarData.Error.canError in rr.errors
+        error_cnt += rr.errors.canError
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
 
-    start_ts = self.can_msgs[0].logMonoTime
+    start_ts = self.can_msgs[0][0]
 
     failed_addrs = Counter()
     for can in self.can_msgs:
       # update panda timer
-      t = (can.logMonoTime - start_ts) / 1e3
+      t = (can[0] - start_ts) / 1e3
       self.safety.set_timer(int(t))
 
       # run all msgs through the safety RX hook
-      for msg in can.can:
+      for msg in can[1]:
         if msg.src >= 64:
           continue
 
@@ -279,7 +280,7 @@ class TestCarModelBase(unittest.TestCase):
     def test_car_controller(car_control, car_control_sp):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP, self.CP_SP)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
         _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
@@ -394,8 +395,8 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
-      for msg in filter(lambda m: m.src in range(64), can.can):
+      self.CI.update(can)
+      for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
 
@@ -404,8 +405,8 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
-      for msg in filter(lambda m: m.src in range(64), can.can):
+      CS = self.CI.update(can).as_reader()
+      for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")

selfdrive/controls/controlsd.py

@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
-from opendbc.car.car_helpers import get_car_interface
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
@@ -37,7 +37,7 @@ class Controls:
     self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd got CarParamsSP")
 
-    self.CI = get_car_interface(self.CP, self.CP_SP)
+    self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -17,10 +17,10 @@ class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
-    CI = CarInterface(CP, CP_SP, CarController, CarState)
+    CI = CarInterface(CP, CP_SP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)

selfdrive/controls/plannerd.py

@@ -20,7 +20,7 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                           poll='modelV2', ignore_avg_freq=['radarState'])
+                           poll='modelV2')
 
   while True:
     sm.update()

selfdrive/controls/radard.py

@@ -6,6 +6,7 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -51,7 +52,7 @@ class Track:
   def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
     self.identifier = identifier
     self.cnt = 0
-    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.aLeadTau = FirstOrderFilter(_LEAD_ACCEL_TAU, 0.45, DT_MDL)
     self.K_A = kalman_params.A
     self.K_C = kalman_params.C
     self.K_K = kalman_params.K
@@ -74,17 +75,12 @@ class Track:
 
     # Learn if constant acceleration
     if abs(self.aLeadK) < 0.5:
-      self.aLeadTau = _LEAD_ACCEL_TAU
+      self.aLeadTau.x = _LEAD_ACCEL_TAU
     else:
-      self.aLeadTau *= 0.9
+      self.aLeadTau.update(0.0)
 
     self.cnt += 1
 
-  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
-    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
-    self.aLeadK = aLeadK
-    self.aLeadTau = aLeadTau
-
   def get_RadarState(self, model_prob: float = 0.0):
     return {
       "dRel": float(self.dRel),
@@ -93,7 +89,7 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
-      "aLeadTau": float(self.aLeadTau),
+      "aLeadTau": float(self.aLeadTau.x),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
@@ -211,9 +207,7 @@ class RadarD:
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
-    ar_pts = {}
-    for pt in rr.points:
-      ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points}
 
     # *** remove missing points from meta data ***
     for ids in list(self.tracks.keys()):
@@ -233,10 +227,10 @@ class RadarD:
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
-    self.radar_state_valid = sm.all_checks() and len(rr.errors) == 0
+    self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
-    self.radar_state.radarErrors = list(rr.errors)
+    self.radar_state.radarErrors = rr.errors
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):

selfdrive/controls/tests/test_leads.py

@@ -26,6 +26,6 @@ class TestLeads:
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "liveTracks"]
-    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
+    failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)

selfdrive/debug/check_can_parser_performance.py

@@ -6,7 +6,6 @@ from tqdm import tqdm
 from cereal import car
 from opendbc.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
 
 N_RUNS = 10
@@ -25,13 +24,11 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
-    msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
     start_t = time.process_time_ns()
-    for msg in msgs:
-      can_list = can_capnp_to_list([msg])
+    for msg in tm.can_msgs:
       for cp in tm.CI.can_parsers.values():
         if cp is not None:
-          cp.update_strings(can_list)
+          cp.update_strings(msg)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')

selfdrive/debug/run_process_on_route.py

@@ -10,21 +10,21 @@ if __name__ == "__main__":
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--fingerprint", help="The fingerprint to use")
   parser.add_argument("route", help="The route name to use")
-  parser.add_argument("process", help="The process to run")
+  parser.add_argument("process", nargs='+', help="The process(s) to run")
   args = parser.parse_args()
 
-  cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
+  cfgs = [c for c in CONFIGS if c.proc_name in args.process]
 
   lr = LogReader(args.route)
   inputs = list(lr)
 
-  outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
+  outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
 
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route.replace('/', '_')}_{args.process}.zst"
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst"
   print(f"Saving log to {fn}")
   save_log(fn, outputs)

selfdrive/locationd/paramsd.py

@@ -52,14 +52,14 @@ class ParamsLearner:
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
 
-      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
+      yaw_rate_valid = msg.angularVelocityDevice.valid
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
       if yaw_rate_valid:
         self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
       else:
         # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating
-        self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(1)
+        self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0)
 
       localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
       localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
@@ -225,13 +225,13 @@ def main():
       liveParameters.posenetValid = True
       liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
-      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
       liveParameters.roll = float(roll)
       liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
-      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
       liveParameters.angleOffsetDeg = float(angle_offset)
+      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
+      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
+      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
       liveParameters.angleOffsetValid = bool(total_offset_valid)
       liveParameters.valid = all((
         liveParameters.angleOffsetAverageValid,

selfdrive/modeld/models/commonmodel.cc

@@ -37,6 +37,7 @@ cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_hei
 DrivingModelFrame::~DrivingModelFrame() {
   deinit_transform();
   loadyuv_destroy(&loadyuv);
+  CL_CHECK(clReleaseMemObject(input_frames_cl));
   CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
   CL_CHECK(clReleaseMemObject(last_img_cl));
   CL_CHECK(clReleaseCommandQueue(q));
@@ -58,5 +59,6 @@ cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_
 
 MonitoringModelFrame::~MonitoringModelFrame() {
   deinit_transform();
+  CL_CHECK(clReleaseMemObject(input_frame_cl));
   CL_CHECK(clReleaseCommandQueue(q));
 }

selfdrive/pandad/panda.cc

@@ -62,8 +62,27 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16
   handle->control_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
-void Panda::set_alternative_experience(uint16_t alternative_experience) {
-  handle->control_write(0xdf, alternative_experience, 0);
+void Panda::set_alternative_experience(uint16_t alternative_experience, uint16_t safety_param_sp) {
+  handle->control_write(0xdf, alternative_experience, safety_param_sp);
+}
+
+std::string Panda::serial_read(int port_number) {
+  std::string ret;
+  char buffer[USBPACKET_MAX_SIZE] = {};
+
+  while (true) {
+    int bytes_read = handle->control_read(0xe0, port_number, 0, (unsigned char *)buffer, USBPACKET_MAX_SIZE);
+    if (bytes_read <= 0) {
+      break;
+    }
+    ret.append(buffer, bytes_read);
+  }
+
+  return ret;
+}
+
+void Panda::set_uart_baud(int uart, int rate) {
+  handle->control_write(0xe4, uart, int(rate / 300));
 }
 
 cereal::PandaState::PandaType Panda::get_hw_type() {

selfdrive/pandad/panda.h

@@ -63,7 +63,9 @@ public:
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
-  void set_alternative_experience(uint16_t alternative_experience);
+  void set_alternative_experience(uint16_t alternative_experience, uint16_t safety_param_sp=0U);
+  std::string serial_read(int port_number = 0);
+  void set_uart_baud(int uart, int rate);
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);

selfdrive/pandad/panda_safety.cc

@@ -10,7 +10,8 @@ void PandaSafety::configureSafetyMode() {
 
     auto car_params = fetchCarParams();
     if (!car_params.empty()) {
-      LOGW("got %lu bytes CarParams", car_params.size());
+      LOGW("got %lu bytes CarParams", car_params[0].size());
+      LOGW("got %lu bytes CarParamsSP", car_params[1].size());
       setSafetyMode(car_params);
       safety_configured_ = true;
     }
@@ -43,7 +44,8 @@ void PandaSafety::updateMultiplexingMode() {
   }
 }
 
-std::string PandaSafety::fetchCarParams() {
+// TODO-SP: Use structs instead of vector
+std::vector<std::string> PandaSafety::fetchCarParams() {
   if (!params_.getBool("FirmwareQueryDone")) {
     return {};
   }
@@ -56,16 +58,23 @@ std::string PandaSafety::fetchCarParams() {
   if (!params_.getBool("ControlsReady")) {
     return {};
   }
-  return params_.get("CarParams");
+  return {params_.get("CarParams"), params_.get("CarParamsSP")};
 }
 
-void PandaSafety::setSafetyMode(const std::string &params_string) {
+// TODO-SP: Use structs instead of vector
+void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
   AlignedBuffer aligned_buf;
-  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
+  AlignedBuffer aligned_buf_sp;
+
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
+  capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(params_string[1].data(), params_string[1].size()));
+  cereal::CarParamsSP::Reader car_params_sp = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
+  uint16_t safety_param_sp = car_params_sp.getSafetyParam();
 
   for (int i = 0; i < pandas_.size(); ++i) {
     // Default to SILENT safety model if not specified
@@ -76,8 +85,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
       safety_param = safety_configs[i].getSafetyParam();
     }
 
-    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
-    pandas_[i]->set_alternative_experience(alternative_experience);
+    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_sp);
+    pandas_[i]->set_alternative_experience(alternative_experience, safety_param_sp);
     pandas_[i]->set_safety_model(safety_model, safety_param);
   }
 }

selfdrive/pandad/pandad.cc

@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
@@ -470,6 +470,14 @@ void pandad_run(std::vector<Panda *> &pandas) {
       send_peripheral_state(peripheral_panda, &pm);
     }
 
+    // Forward logs from pandas to cloudlog if available
+    for (auto *panda : pandas) {
+      std::string log = panda->serial_read();
+      if (!log.empty()) {
+        LOGD("%s", log.c_str());
+      }
+    }
+
     rk.keepTime();
   }
 

selfdrive/pandad/pandad.h

@@ -16,8 +16,8 @@ public:
 
 private:
   void updateMultiplexingMode();
-  std::string fetchCarParams();
-  void setSafetyMode(const std::string &params_string);
+  std::vector<std::string> fetchCarParams();
+  void setSafetyMode(const std::vector<std::string> &params_string);
 
   bool initialized_ = false;
   bool log_once_ = false;

selfdrive/selfdrived/events.py

@@ -672,6 +672,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
   },
 
+  EventName.radarTempUnavailable: {
+    ET.SOFT_DISABLE: soft_disable_alert("Radar Temporarily Unavailable"),
+    ET.NO_ENTRY: NoEntryAlert("Radar Temporarily Unavailable"),
+  },
+
   # Every frame from the camera should be processed by the model. If modeld
   # is not processing frames fast enough they have to be dropped. This alert is
   # thrown when over 20% of frames are dropped.

selfdrive/selfdrived/selfdrived.py

@@ -92,7 +92,7 @@ class SelfdriveD(CruiseHelper):
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
+                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
     # read params
@@ -294,7 +294,13 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
+    if not self.sm.valid['radarState']:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      else:
+        self.events.add(EventName.radarFault)
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -330,7 +336,7 @@ class SelfdriveD(CruiseHelper):
         self.events.add(EventName.posenetInvalid)
       if not self.sm['livePose'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error

selfdrive/test/process_replay/migration.py

@@ -241,14 +241,16 @@ def migrate_gpsLocation(msgs):
 
 @migration(inputs=["deviceState", "initData"])
 def migrate_deviceState(msgs):
+  init_data = next((m.initData for _, m in msgs if m.which() == 'initData'), None)
+  device_state = next((m.deviceState for _, m in msgs if m.which() == 'deviceState'), None)
+  if init_data is None or device_state is None:
+    return [], [], []
+
   ops = []
-  dt = None
   for i, msg in msgs:
-    if msg.which() == 'initData':
-      dt = msg.initData.deviceType
     if msg.which() == 'deviceState':
       n = msg.as_builder()
-      n.deviceState.deviceType = dt
+      n.deviceState.deviceType = init_data.deviceType
       ops.append((i, n.as_reader()))
   return ops, [], []
 

selfdrive/test/process_replay/process_replay.py

@@ -342,7 +342,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 def get_car_params_callback(rc, pm, msgs, fingerprint):
   params = Params()
   if fingerprint:
-    CarInterface, _, _, _ = interfaces[fingerprint]
+    CarInterface = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
   else:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-465979047295dad5da3a552db9227ed776a26a79
+e9d57157494480637a8ffb52257d2b660a48be67

selfdrive/test/test_onroad.py

@@ -391,7 +391,7 @@ class TestOnroad:
     result += "----------------- Model Timing -----------------\n"
     result += "------------------------------------------------\n"
     cfgs = [
-      ("modelV2", 0.045, 0.035),
+      ("modelV2", 0.045, 0.040),  # TODO: this should be stricter but it's hard to measure exactly
       ("driverStateV2", 0.045, 0.035),
     ]
     for (s, instant_max, avg_max) in cfgs:

selfdrive/ui/qt/api.cc

@@ -79,31 +79,36 @@ bool HttpRequest::timeout() const {
   return reply && reply->error() == QNetworkReply::OperationCanceledError;
 }
 
-void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
-  if (active()) {
-    qDebug() << "HttpRequest is active";
-    return;
-  }
+QNetworkRequest HttpRequest::prepareRequest(const QString &requestURL) {
+  QNetworkRequest request;
   QString token;
   if (create_jwt) {
-    token = CommaApi::create_jwt();
+    token = GetJwtToken();
   } else {
     QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
     QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
     token = json_d["access_token"].toString();
   }
 
-  QNetworkRequest request;
   request.setUrl(QUrl(requestURL));
-  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
+  request.setRawHeader("User-Agent", GetUserAgent().toUtf8());
 
   if (!token.isEmpty()) {
     request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
   }
+  return request;
+}
 
-  if (method == HttpRequest::Method::GET) {
+void HttpRequest::sendRequest(const QString &requestURL, const Method method) {
+  if (active()) {
+    qDebug() << "HttpRequest is active";
+    return;
+  }
+  
+  QNetworkRequest request = prepareRequest(requestURL);
+  if (method == Method::GET) {
     reply = nam()->get(request);
-  } else if (method == HttpRequest::Method::DELETE) {
+  } else if (method == Method::DELETE) {
     reply = nam()->deleteResource(request);
   }
 

selfdrive/ui/qt/api.h

@@ -5,6 +5,7 @@
 #include <QString>
 #include <QTimer>
 
+#include "util.h"
 #include "common/util.h"
 
 namespace CommaApi {
@@ -23,10 +24,11 @@ class HttpRequest : public QObject {
   Q_OBJECT
 
 public:
-  enum class Method {GET, DELETE};
+  enum class Method {GET, DELETE, POST, PUT};
 
   explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
-  void sendRequest(const QString &requestURL, const Method method = Method::GET);
+  virtual void sendRequest(const QString &requestURL, Method method);
+  void sendRequest(const QString &requestURL) { sendRequest(requestURL, Method::GET);}
   bool active() const;
   bool timeout() const;
 
@@ -35,13 +37,14 @@ signals:
 
 protected:
   QNetworkReply *reply = nullptr;
-
-private:
   static QNetworkAccessManager *nam();
   QTimer *networkTimer = nullptr;
   bool create_jwt;
+  virtual QNetworkRequest prepareRequest(const QString& requestURL);
+  [[nodiscard]] virtual QString GetJwtToken() const { return CommaApi::create_jwt(); }
+  [[nodiscard]] virtual QString GetUserAgent() const { return getUserAgent(); }
 
-private slots:
+protected slots:
   void requestTimeout();
   void requestFinished();
 };

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -57,9 +57,17 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(hyundaiRadarTracksToggle);
 
-  auto enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
+  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
+  // error log button
+  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
+  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
+    std::string txt = util::read_file("/data/community/crashes/error.log");
+    ConfirmationDialog::rich(QString::fromStdString(txt), this);
+  });
+  addItem(errorLogBtn);
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -112,6 +120,11 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   }
   experimentalLongitudinalToggle->refresh();
 
+  // Handle specific controls visibility for release branches
+  enableGithubRunner->setVisible(!is_release);
+  errorLogBtn->setVisible(!is_release);
+  joystickToggle->setVisible(!is_release);
+
   offroad = _offroad;
 }
 

selfdrive/ui/qt/offroad/developer_panel.h

@@ -16,9 +16,11 @@ private:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;
+  ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
   ParamControl* hyundaiRadarTracksToggle;
+  ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
 

selfdrive/ui/qt/offroad/firehose.cc

@@ -12,6 +12,10 @@
 #include <QJsonObject>
 #include <QTimer>
 
+#ifdef SUNNYPILOT
+#define UIState UIStateSP
+#endif
+
 FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
   layout = new QVBoxLayout(this);
   layout->setContentsMargins(40, 40, 40, 40);
@@ -67,6 +71,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
     "<br><br>"
     "<b>Frequently Asked Questions</b><br><br>"
     "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br>"
+    "<i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br>"
     "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br>"
     "<i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training."
   ));
@@ -85,7 +90,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
       QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
       QJsonObject json = doc.object();
       int count = json["firehose"].toInt();
-      contribution_label->setText(tr("<b>%1 %2</b> of your driving are in the training dataset so far.").arg(count).arg(count == 1 ? "segment" : "segments"));
+      contribution_label->setText(tr("<b>%n segment(s)</b> of your driving is in the training dataset so far.", "", count));
       contribution_label->show();
     }
   });

selfdrive/ui/qt/offroad/settings.cc

@@ -344,7 +344,11 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       
       // Find the panel by name
       for (int i = 0; i < nav_btns->buttons().size(); i++) {
-        if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) {
+        bool panel_trimmed = false;
+#ifdef SUNNYPILOT
+        panel_trimmed = nav_btns->buttons()[i]->text().trimmed() == tr(panelName.toStdString().c_str());
+#endif
+        if ((nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) || panel_trimmed) {
           index = i;
           break;
         }

selfdrive/ui/qt/setup/setup.cc

@@ -48,7 +48,8 @@ void Setup::download(QString url) {
   auto version = util::read_file("/VERSION");
 
   struct curl_slist *list = NULL;
-  list = curl_slist_append(list, ("X-openpilot-serial: " + Hardware::get_serial()).c_str());
+  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
+  list = curl_slist_append(list, header.c_str());
 
   char tmpfile[] = "/tmp/installer_XXXXXX";
   FILE *fp = fdopen(mkstemp(tmpfile), "wb");

selfdrive/ui/sunnypilot/SConscript

@@ -1,4 +1,5 @@
 widgets_src = [
+  "sunnypilot/qt/request_repeater.cc",
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
@@ -13,6 +14,7 @@ qt_util = [
 
 qt_src = [
   "sunnypilot/ui.cc",
+  "sunnypilot/qt/api.cc",
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
@@ -21,6 +23,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
   "sunnypilot/qt/offroad/settings/sunnypilot_panel.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
@@ -35,11 +38,18 @@ sunnypilot_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc",
 ]
 
+network_src = [
+  "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
+  "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
+  "sunnypilot/qt/network/sunnylink/services/role_service.cc",
+  "sunnypilot/qt/network/sunnylink/services/user_service.cc",
+]
+
 vehicle_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
-sp_widgets_src = widgets_src
+sp_widgets_src = widgets_src + network_src
 sp_qt_src = qt_src + sunnypilot_panel_qt_src + vehicle_panel_qt_src
 sp_qt_util = qt_util
 

selfdrive/ui/sunnypilot/qt/api.cc

@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+
+#include <QApplication>
+#include <QJsonDocument>
+
+#include "util.h"
+#include "selfdrive/ui/qt/util.h"
+
+namespace SunnylinkApi {
+  QString create_jwt(const QJsonObject &payloads, int expiry, bool sunnylink) {
+    QJsonObject header = {{"alg", "RS256"}};
+
+    auto t = QDateTime::currentSecsSinceEpoch();
+    auto dongle_id = sunnylink ? getSunnylinkDongleId() : getDongleId();
+    QJsonObject payload = {{"identity", dongle_id.value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
+    for (auto it = payloads.begin(); it != payloads.end(); ++it) {
+      payload.insert(it.key(), it.value());
+    }
+
+    auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
+    QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
+                  QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
+
+    auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
+    return jwt + "." + CommaApi::rsa_sign(hash).toBase64(b64_opts);
+  }
+} // namespace SunnylinkApi
+
+void HttpRequestSP::sendRequest(const QString& requestURL, Method method, const QByteArray& payload) {
+  if (active()) {
+    return;
+  }
+  QNetworkRequest request = prepareRequest(requestURL);
+
+  if(!payload.isEmpty() && (method == Method::POST || method == Method::PUT)) {
+    request.setHeader(QNetworkRequest::ContentTypeHeader, "application/json");
+  }
+
+  switch (method) {
+    case Method::GET:
+      reply = nam()->get(request);
+      break;
+    case Method::DELETE:
+      reply = nam()->deleteResource(request);
+      break;
+    case Method::POST:
+      reply = nam()->post(request, payload);
+      break;
+    case Method::PUT:
+      reply = nam()->put(request, payload);
+      break;
+  }
+
+  networkTimer->start();
+  connect(reply, &QNetworkReply::finished, this, &HttpRequestSP::requestFinished);
+}

selfdrive/ui/sunnypilot/qt/api.h

@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "common/util.h"
+
+namespace SunnylinkApi {
+  QByteArray rsa_encrypt(const QByteArray& data);
+  QByteArray rsa_decrypt(const QByteArray& data);
+  QString create_jwt(const QJsonObject& payloads = {}, int expiry = 3600, bool sunnylink = false);
+}
+
+class HttpRequestSP : public HttpRequest {
+  Q_OBJECT
+
+public:
+  explicit HttpRequestSP(QObject* parent, bool create_jwt = true, int timeout = 20000, bool sunnylink = false) :
+    HttpRequest(parent, create_jwt, timeout), sunnylink(sunnylink) {}
+
+  using HttpRequest::sendRequest;
+  void sendRequest(const QString& requestURL, Method method, const QByteArray& payload);
+
+private:
+  bool sunnylink;
+
+protected:
+  [[nodiscard]] QString GetJwtToken() const override { return SunnylinkApi::create_jwt({}, 3600, sunnylink); }
+  [[nodiscard]] QString GetUserAgent() const override { return getUserAgent(sunnylink); }
+};

selfdrive/ui/sunnypilot/qt/network/networking.h

@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
  *
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.

selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h

@@ -0,0 +1,56 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+enum class RoleType {
+  ReadOnly,
+  Sponsor,
+  Admin
+};
+
+// haha, a role model xD
+class RoleModel {
+protected:
+  QJsonObject m_raw_json_object;
+
+public:
+  RoleType roleType;
+
+  explicit RoleModel(const RoleType &roleType) : roleType(roleType) { m_raw_json_object = toJson(); }
+  explicit RoleModel(const QJsonObject &json) : RoleModel(stringToRoleType(json["role_type"].toString())) { m_raw_json_object = json; }
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json;
+    json["role_type"] = roleTypeToString(roleType);
+    return json;
+  }
+
+  static RoleType stringToRoleType(const QString &roleTypeString) {
+    if (roleTypeString == "ReadOnly") return RoleType::ReadOnly;
+    if (roleTypeString == "Sponsor")  return RoleType::Sponsor;
+
+    return RoleType::Admin;  // Default to Admin
+  }
+
+  static QString roleTypeToString(const RoleType &roleType) {
+    switch (roleType) {
+      case RoleType::ReadOnly:
+        return "ReadOnly";
+      case RoleType::Sponsor:
+        return "Sponsor";
+      default:  // RoleType::Admin
+        return "Admin";
+    }
+  }
+
+  template <typename T, typename = typename std::enable_if<std::is_base_of<RoleModel, T>::value>::type> T as() const {
+    return T(m_raw_json_object);
+  }
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h

@@ -0,0 +1,83 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+enum class SponsorTier {
+  Free,
+  Novice,
+  Supporter,
+  Contributor,
+  Benefactor,
+  Guardian,
+};
+
+// haha, a role model xD
+class SponsorRoleModel final : RoleModel {
+public:
+  SponsorTier roleTier;
+
+  explicit SponsorRoleModel(const RoleType &roleType, const SponsorTier &roleTier) : RoleModel(roleType), roleTier(roleTier) {}
+  explicit SponsorRoleModel(const QJsonObject &json) : RoleModel(json), roleTier(stringToSponsorTier(json["role_tier"].toString())) {}
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json = RoleModel::toJson();
+    json["role_tier"] = sponsorTierToString(roleTier);
+    return json;
+  }
+
+  static SponsorTier stringToSponsorTier(const QString &sponsorTierString) {
+    const auto sponsorTierStringLower = sponsorTierString.toLower();
+    if (sponsorTierStringLower == "guardian")    return SponsorTier::Guardian;
+    if (sponsorTierStringLower == "novice")      return SponsorTier::Novice;
+    if (sponsorTierStringLower == "supporter")   return SponsorTier::Supporter;
+    if (sponsorTierStringLower == "contributor") return SponsorTier::Contributor;
+    if (sponsorTierStringLower == "benefactor")  return SponsorTier::Benefactor;
+
+    // Default to Free
+    return SponsorTier::Free;
+  }
+
+  static QString sponsorTierToString(const SponsorTier &sponsorTier) {
+    switch (sponsorTier) {
+      case SponsorTier::Guardian:
+        return "Guardian";
+      case SponsorTier::Novice:
+        return "Novice";
+      case SponsorTier::Supporter:
+        return "Supporter";
+      case SponsorTier::Contributor:
+        return "Contributor";
+      case SponsorTier::Benefactor:
+        return "Benefactor";
+
+      default:  // SponsorTier::Free
+        return "Free";
+    }
+  }
+  [[nodiscard]] auto getSponsorTierString() const { return sponsorTierToString(roleTier); }
+
+  static QString sponsorTierToColor(const SponsorTier &sponsorTier) {
+    switch (sponsorTier) {
+      case SponsorTier::Guardian:
+        return "gold";
+      case SponsorTier::Benefactor:
+        return "mediumseagreen";
+      case SponsorTier::Contributor:
+        return "steelblue";
+      case SponsorTier::Supporter:
+        return "mediumpurple";
+      case SponsorTier::Novice:
+        return "white";
+      default:  // SponsorTier::Free
+        return "silver";
+    }
+  }
+  [[nodiscard]] auto getSponsorTierColor() const { return sponsorTierToColor(roleTier); }
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h

@@ -0,0 +1,37 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonObject>
+
+class UserModel {
+public:
+  QString device_id;
+  QString user_id;
+  qint64 created_at;
+  qint64 updated_at;
+  QString token_hash;
+
+  explicit UserModel(const QJsonObject &json) {
+    device_id = json["device_id"].toString();
+    user_id = json["user_id"].toString();
+    created_at = json["created_at"].toInt();
+    updated_at = json["updated_at"].toInt();
+    token_hash = json["token_hash"].toString();
+  }
+
+  [[nodiscard]] QJsonObject toJson() const {
+    QJsonObject json;
+    json["device_id"] = device_id;
+    json["user_id"] = user_id;
+    json["created_at"] = created_at;
+    json["updated_at"] = updated_at;
+    json["token_hash"] = token_hash;
+    return json;
+  }
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc

@@ -0,0 +1,57 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink//services/base_device_service.h"
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
+
+BaseDeviceService::BaseDeviceService(QObject* parent) : QObject(parent) {
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh();
+  });
+  param_watcher->addParam("SunnylinkEnabled");
+}
+
+void BaseDeviceService::paramsRefresh() {
+}
+
+void BaseDeviceService::loadDeviceData(const QString &url, bool poll) {
+  if (!is_sunnylink_enabled()) {
+    LOGW("Sunnylink is not enabled, refusing to load data.");
+    return;
+  }
+
+  auto sl_dongle_id = getSunnylinkDongleId();
+  if (!sl_dongle_id.has_value())
+    return;
+
+  QString fullUrl = SUNNYLINK_BASE_URL + "/device/" + *sl_dongle_id + url;
+  if (poll && !isCurrentyPolling()) {
+    LOGD("Polling %s", qPrintable(fullUrl));
+    LOGD("Cache key: SunnylinkCache_%s", qPrintable(QString(getCacheKey())));
+    repeater = new RequestRepeaterSP(this, fullUrl, "SunnylinkCache_" + getCacheKey(), 60, false, true);
+    connect(repeater, &RequestRepeaterSP::requestDone, this, &BaseDeviceService::handleResponse);
+  } else if (isCurrentyPolling()) {
+    repeater->ForceUpdate();
+  } else {
+    LOGD("Sending one-time %s", qPrintable(fullUrl));
+    initial_request = new HttpRequestSP(this, true, 10000, true);
+    connect(initial_request, &HttpRequestSP::requestDone, this, &BaseDeviceService::handleResponse);
+  }
+}
+
+void BaseDeviceService::stopPolling() {
+  if (repeater != nullptr) {
+    repeater->deleteLater();
+    repeater = nullptr;
+  }
+}

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h

@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+#include "selfdrive/ui/qt/util.h"
+
+class BaseDeviceService : public QObject {
+  Q_OBJECT
+
+protected:
+  void paramsRefresh();
+  void loadDeviceData(const QString &url, bool poll = false);
+  virtual void handleResponse(const QString &response, bool success) = 0;
+
+  static bool is_sunnylink_enabled() { return Params().getBool("SunnylinkEnabled");}
+  ParamWatcher* param_watcher;
+  HttpRequestSP* initial_request = nullptr;
+  RequestRepeaterSP* repeater = nullptr;
+
+public:
+  explicit BaseDeviceService(QObject* parent = nullptr);
+  virtual QString getCacheKey() const = 0;
+  bool isCurrentyPolling() {return repeater != nullptr;}
+  void stopPolling();
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc

@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h"
+
+#include <QJsonArray>
+#include <QJsonDocument>
+
+RoleService::RoleService(QObject* parent) : BaseDeviceService(parent) {}
+
+void RoleService::load() {
+  loadDeviceData(url);
+}
+
+void RoleService::startPolling() {
+  loadDeviceData(url, true);
+}
+
+void RoleService::handleResponse(const QString &response, bool success) {
+  if (!success) return;
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  QJsonArray jsonArray = doc.array();
+
+  std::vector<RoleModel> roles;
+  for (const auto &value : jsonArray) {
+    roles.emplace_back(value.toObject());
+  }
+
+  emit rolesReady(roles);
+  uiStateSP()->setSunnylinkRoles(roles);
+}

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
+
+class RoleService : public BaseDeviceService {
+  Q_OBJECT
+
+public:
+  explicit RoleService(QObject* parent = nullptr);
+  void load();
+  void startPolling();
+  [[nodiscard]] QString getCacheKey() const final { return "Roles"; }
+
+signals:
+  void rolesReady(const std::vector<RoleModel> &roles);
+
+protected:
+  void handleResponse(const QString&response, bool success) override;
+
+private:
+  QString url = "/roles";
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc

@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+#include <QJsonArray>
+#include <QJsonDocument>
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+UserService::UserService(QObject* parent) : BaseDeviceService(parent) {
+  url = "/users";
+}
+
+void UserService::load() {
+  loadDeviceData(url);
+}
+
+void UserService::startPolling() {
+  loadDeviceData(url, true);
+}
+
+void UserService::handleResponse(const QString &response, bool success) {
+  if (!success) {
+    return;
+  }
+
+  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
+  QJsonArray jsonArray = doc.array();
+
+  std::vector<UserModel> users;
+  for (const auto &value : jsonArray) {
+    users.emplace_back(value.toObject());
+  }
+
+  emit usersReady(users);
+  uiStateSP()->setSunnylinkDeviceUsers(users);
+}

selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
+
+class UserService : public BaseDeviceService {
+  Q_OBJECT
+
+public:
+  explicit UserService(QObject* parent = nullptr);
+  void load();
+  void startPolling();
+  [[nodiscard]] QString getCacheKey() const final { return "Users"; };
+
+signals:
+  void usersReady(const std::vector<UserModel>&users);
+
+protected:
+  void handleResponse(const QString&response, bool success) override;
+
+private:
+  QString url = "/users";
+};

selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc

@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+SunnylinkClient::SunnylinkClient(QObject* parent) : QObject(parent) {
+  role_service = new RoleService(parent);
+  user_service = new UserService(parent);
+}

selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h

@@ -0,0 +1,22 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QObject>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
+
+class SunnylinkClient : public QObject {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkClient(QObject* parent);
+  RoleService* role_service;
+  UserService* user_service;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc

@@ -0,0 +1,142 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+
+// Sponsor Upsell
+using qrcodegen::QrCode;
+
+SunnylinkSponsorQRWidget::SunnylinkSponsorQRWidget(bool sponsor_pair, QWidget* parent) : QWidget(parent), sponsor_pair(sponsor_pair) {
+  timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, &SunnylinkSponsorQRWidget::refresh);
+}
+
+void SunnylinkSponsorQRWidget::showEvent(QShowEvent *event) {
+  refresh();
+  timer->start(5 * 60 * 1000);
+  device()->setOffroadBrightness(100);
+}
+
+void SunnylinkSponsorQRWidget::hideEvent(QHideEvent *event) {
+  timer->stop();
+  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
+}
+
+void SunnylinkSponsorQRWidget::refresh() {
+  QString qrString;
+
+  if (sponsor_pair) {
+    QString token = SunnylinkApi::create_jwt({}, 3600, true);
+    auto sl_dongle_id = getSunnylinkDongleId();
+    QByteArray payload = QString("1|" + sl_dongle_id.value_or("") + "|" + token).toUtf8().toBase64();
+    qrString = SUNNYLINK_BASE_URL + "/sso?state=" + payload;
+  } else {
+    qrString = "https://github.com/sponsors/sunnyhaibin";
+  }
+
+  this->updateQrCode(qrString);
+  update();
+}
+
+void SunnylinkSponsorQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  // Integer division to prevent anti-aliasing
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkSponsorQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  QSize s = (size() - img.size()) / 2;
+  p.drawPixmap(s.width(), s.height(), img);
+}
+
+QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
+  QStringList instructions;
+  if (sponsor_pair) {
+    instructions << tr("Scan the QR code to login to your GitHub account")
+                 << tr("Follow the prompts to complete the pairing process")
+                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
+                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+  } else {
+    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
+                 << tr("Choose your sponsorship tier and confirm your support")
+                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+  }
+  return instructions;
+}
+
+SunnylinkSponsorPopup::SunnylinkSponsorPopup(bool sponsor_pair, QWidget *parent) : DialogBase(parent), sponsor_pair(sponsor_pair) {
+  auto *hlayout = new QHBoxLayout(this);
+  auto sunnylink_client = new SunnylinkClient(this);
+  hlayout->setContentsMargins(0, 0, 0, 0);
+  hlayout->setSpacing(0);
+
+  setStyleSheet("SunnylinkSponsorPopup { background-color: #E0E0E0; }");
+
+  // text
+  auto vlayout = new QVBoxLayout();
+  vlayout->setContentsMargins(85, 70, 50, 70);
+  vlayout->setSpacing(50);
+  hlayout->addLayout(vlayout, 1);
+  {
+    auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+    close->setIconSize(QSize(80, 80));
+    close->setStyleSheet("border: none;");
+    vlayout->addWidget(close, 0, Qt::AlignLeft);
+    connect(close, &QPushButton::clicked, this, [=] {
+      sunnylink_client->role_service->load();
+      sunnylink_client->user_service->load();
+      QDialog::reject();
+    });
+
+    //vlayout->addSpacing(30);
+
+    const QString titleText = sponsor_pair ? tr("Pair your GitHub account") : tr("Early Access: Become a sunnypilot Sponsor");
+    const auto title = new QLabel(titleText, this);
+    title->setStyleSheet("font-size: 75px; color: black;");
+    title->setWordWrap(true);
+    vlayout->addWidget(title);
+
+    QStringList instructions = getInstructions(sponsor_pair);
+    QString instructionsHtml = "<ol type='1' style='margin-left: 15px;'>";
+    for (const auto & instruction : instructions) {
+      instructionsHtml += QString("<li style='margin-bottom: 50px;'>%1</li>").arg(instruction);
+    }
+    instructionsHtml += "</ol>";
+    const auto instructionsLabel = new QLabel(instructionsHtml, this);
+
+
+    instructionsLabel->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
+    instructionsLabel->setWordWrap(true);
+    vlayout->addWidget(instructionsLabel);
+
+    vlayout->addStretch();
+  }
+
+  // QR code
+  auto *qr = new SunnylinkSponsorQRWidget(sponsor_pair, this);
+  hlayout->addWidget(qr, 1);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h

@@ -0,0 +1,48 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_BASE_URL = util::getenv("SUNNYLINK_API_HOST", "https://stg.api.sunnypilot.ai").c_str();
+
+class SunnylinkSponsorQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkSponsorQRWidget(bool sponsor_pair = false, QWidget* parent = 0);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  QTimer *timer;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+
+  bool sponsor_pair = false;
+
+private slots:
+  void refresh();
+};
+
+// sponsor popup widget
+class SunnylinkSponsorPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkSponsorPopup(bool sponsor_pair = false, QWidget* parent = 0);
+
+private:
+  static QStringList getInstructions(bool sponsor_pair);
+  bool sponsor_pair = false;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -12,12 +12,26 @@
 
 SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   main_layout = new QStackedLayout(this);
-  ListWidget *list = new ListWidget(this, false);
+  sunnylink_client = new SunnylinkClient(this);
+  param_watcher = new ParamWatcher(this);
+  param_watcher->addParam("SunnylinkEnabled");
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh(param_name, param_value);
+  });
+
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
+  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
+  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
+    is_onroad = !offroad;
+    updatePanel();
+  });
 
   sunnylinkScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(sunnylinkScreen);
+  auto vlayout = new QVBoxLayout(sunnylinkScreen);
   vlayout->setContentsMargins(50, 20, 50, 20);
 
+  auto *list = new ListWidget(this, false);
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",
@@ -26,23 +40,47 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
     "");
   list->addItem(sunnylinkEnabledBtn);
 
+  status_popup = new SunnylinkSponsorPopup(false, this);
+  sponsorBtn = new ButtonControlSP(
+    tr("Sponsor Status"), tr("SPONSOR"),
+    tr("Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."));
+  list->addItem(sponsorBtn);
+  connect(sponsorBtn, &ButtonControlSP::clicked, [=]() {
+    status_popup->exec();
+  });
+  list->addItem(horizontal_line());
+
+  pair_popup = new SunnylinkSponsorPopup(true, this);
+  pairSponsorBtn = new ButtonControlSP(
+    tr("Pair GitHub Account"), tr("PAIR"),
+    tr("Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.") + "🌟");
+  list->addItem(pairSponsorBtn);
+  connect(pairSponsorBtn, &ButtonControlSP::clicked, [=]() {
+    if (getSunnylinkDongleId().value_or(tr("N/A")) == "N/A") {
+      ConfirmationDialog::alert(tr("sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again."), this);
+    } else {
+      pair_popup->exec();
+    }
+  });
+  list->addItem(horizontal_line());
+
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
   });
 
   connect(sunnylinkEnabledBtn, &ParamControl::toggleFlipped, [=](bool enabled) {
+    QString description;
     if (enabled) {
-      auto proud_description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
-      sunnylinkEnabledBtn->showDescription();
-      sunnylinkEnabledBtn->setDescription(proud_description);
+      description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
     } else {
-      auto shame_description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
-      sunnylinkEnabledBtn->showDescription();
-      sunnylinkEnabledBtn->setDescription(shame_description);
-    }
+      description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
 
-    updatePanel(offroad);
+    }
+    sunnylinkEnabledBtn->showDescription();
+    sunnylinkEnabledBtn->setDescription(description);
+
+    updatePanel();
   });
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);
@@ -51,22 +89,81 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->addWidget(sunnylinkScroller);
 
   main_layout->addWidget(sunnylinkScreen);
+
+  if (is_sunnylink_enabled) {
+    startSunnylink();
+  }
+}
+
+void SunnylinkPanel::paramsRefresh(const QString &param_name, const QString &param_value) {
+  // We do it on paramsRefresh because the toggleEvent happens before the value is updated
+  if (param_name == "SunnylinkEnabled" && param_value == "1") {
+    startSunnylink();
+  } else if (param_name == "SunnylinkEnabled" && param_value == "0") {
+    stopSunnylink();
+  }
+
+  updatePanel();
+}
+
+void SunnylinkPanel::startSunnylink() const {
+  if (!sunnylink_client->role_service->isCurrentyPolling()) {
+    sunnylink_client->role_service->startPolling();
+  } else {
+    sunnylink_client->role_service->load();
+  }
+
+  if (!sunnylink_client->user_service->isCurrentyPolling()) {
+    sunnylink_client->user_service->startPolling();
+  } else {
+    sunnylink_client->user_service->load();
+  }
+}
+
+void SunnylinkPanel::stopSunnylink() const {
+  sunnylink_client->role_service->stopPolling();
+  sunnylink_client->user_service->stopPolling();
 }
 
 void SunnylinkPanel::showEvent(QShowEvent *event) {
-  updatePanel(offroad);
+  updatePanel();
+  if (is_sunnylink_enabled) {
+      startSunnylink();
+  }
 }
 
-void SunnylinkPanel::updatePanel(bool _offroad) {
-  QString sunnylink_device_id = tr("Device ID") + "  " + getSunnylinkDongleId().value_or(tr("N/A"));
-
-  sunnylinkEnabledBtn->setEnabled(_offroad);
-
-  if (sunnylinkEnabledBtn->isToggled()) {
-    sunnylinkEnabledBtn->setValue(sunnylink_device_id);
-  } else {
-    sunnylinkEnabledBtn->setValue("");
+void SunnylinkPanel::updatePanel() {
+  if (!isVisible()) {
+    return;
   }
 
-  offroad = _offroad;
+  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
+  sunnylinkEnabledBtn->setEnabled(!is_onroad);
+
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
+  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
+  auto role_name = max_current_sponsor_rule.getSponsorTierString();
+  std::optional role_color = max_current_sponsor_rule.getSponsorTierColor();
+  bool is_paired = uiStateSP()->isSunnylinkPaired();
+  auto paired_users = uiStateSP()->sunnylinkDeviceUsers();
+
+  sunnylinkEnabledBtn->setEnabled(!is_onroad);
+  sunnylinkEnabledBtn->setValue(tr("Device ID") + " " + sunnylinkDongleId);
+
+  sponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
+  sponsorBtn->setText(is_sub ? tr("THANKS ♥")/* + " ♥️"*/ : tr("SPONSOR"));
+  sponsorBtn->setValue(is_sub ? tr(role_name.toStdString().c_str()) : tr("Not Sponsor"), role_color);
+
+  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
+  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
+
+
+  if (!is_sunnylink_enabled) {
+    sunnylinkEnabledBtn->setValue("");
+    sponsorBtn->setValue("");
+    pairSponsorBtn->setValue("");
+  }
+
+  update();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h

@@ -7,7 +7,10 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
+
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SunnylinkPanel : public QFrame {
@@ -16,16 +19,29 @@ class SunnylinkPanel : public QFrame {
 public:
   explicit SunnylinkPanel(QWidget *parent = nullptr);
   void showEvent(QShowEvent *event) override;
+  void paramsRefresh(const QString&param_name, const QString&param_value);
 
 public slots:
-  void updatePanel(bool _offroad);
+  void updatePanel();
 
 private:
   Params params;
   QStackedLayout *main_layout = nullptr;
   QWidget *sunnylinkScreen = nullptr;
   ScrollViewSP *sunnylinkScroller = nullptr;
-  bool offroad;
+  SunnylinkSponsorPopup *status_popup;
+  SunnylinkSponsorPopup *pair_popup;
+  ButtonControlSP* sponsorBtn;
+  ButtonControlSP* pairSponsorBtn;
+  SunnylinkClient* sunnylink_client;
 
   ParamControl *sunnylinkEnabledBtn;
+  bool is_onroad = false;
+  bool is_backup = false;
+  bool is_restore = false;
+  bool is_sunnylink_enabled = false;
+  ParamWatcher *param_watcher;
+  QString sunnylinkBtnDescription;
+  void stopSunnylink() const;
+  void startSunnylink() const;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc

@@ -39,17 +39,19 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
+  // Steering Mode On Brake
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering"), tr("Disengage")};
+  madsSteeringMode = new ButtonParamControl(
+    "MadsSteeringMode",
+    tr("Steering Mode on Brake Pedal"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
+       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
+       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsPauseLateralOnBrake);
+  list->addItem(madsSteeringMode);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -61,7 +63,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  madsSteeringMode->setEnabled(_offroad);
 
   offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.h

@@ -32,5 +32,5 @@ private:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
 };

selfdrive/ui/sunnypilot/qt/request_repeater.cc

@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
+
+RequestRepeaterSP::RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey,
+                                 int period, bool whileOnroad, bool sunnylink) : HttpRequestSP(parent, true, 20000, sunnylink) {
+  request_url = requestURL;
+  while_onroad = whileOnroad;
+  timer = new QTimer(this);
+  timer->setTimerType(Qt::VeryCoarseTimer);
+  connect(timer, &QTimer::timeout, [=]() { this->timerTick(); });
+  timer->start(period * 1000);
+
+  if (!cacheKey.isEmpty()) {
+    prevResp = QString::fromStdString(params.get(cacheKey.toStdString()));
+    if (!prevResp.isEmpty()) {
+      QTimer::singleShot(500, [=]() { emit requestDone(prevResp, true, QNetworkReply::NoError); });
+    }
+    connect(this, &HttpRequest::requestDone, [=](const QString &resp, bool success) {
+      if (success && resp != prevResp) {
+        params.put(cacheKey.toStdString(), resp.toStdString());
+        prevResp = resp;
+      }
+    });
+  }
+
+  // Don't wait for the timer to fire to send the first request
+  ForceUpdate();
+}
+
+void RequestRepeaterSP::timerTick() {
+  if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
+    LOGD("Sending request for %s", qPrintable(request_url));
+    sendRequest(request_url);
+  }
+}

selfdrive/ui/sunnypilot/qt/request_repeater.h

@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/request_repeater.h"
+
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/api.h"
+
+class RequestRepeaterSP : public HttpRequestSP {
+
+private:
+  Params params;
+  QTimer *timer;
+  QString prevResp;
+  QString request_url;
+  bool while_onroad;
+  void timerTick();
+
+public:
+  RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool whileOnroad=false, bool sunnylink = false);
+  void ForceUpdate() {
+    LOGD("Forcing update for %s", qPrintable(request_url));
+    timerTick();
+  }
+};

selfdrive/ui/sunnypilot/ui.cc

@@ -48,6 +48,16 @@ UIStateSP *uiStateSP() {
   return &ui_state;
 }
 
+void UIStateSP::setSunnylinkRoles(const std::vector<RoleModel>& roles) {
+  sunnylinkRoles = roles;
+  emit sunnylinkRolesChanged(roles);
+}
+
+void UIStateSP::setSunnylinkDeviceUsers(const std::vector<UserModel>& users) {
+  sunnylinkUsers = users;
+  emit sunnylinkDeviceUsersChanged(users);
+}
+
 DeviceSP *deviceSP() {
   static DeviceSP _device;
   return &_device;

selfdrive/ui/sunnypilot/ui.h

@@ -7,6 +7,11 @@
 
 #pragma once
 
+#include <optional>
+
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
+#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
 
 class UIStateSP : public UIState {
@@ -15,12 +20,54 @@ class UIStateSP : public UIState {
 public:
   UIStateSP(QObject *parent = 0);
   void updateStatus() override;
+  void setSunnylinkRoles(const std::vector<RoleModel> &roles);
+  void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
+
+  inline std::vector<RoleModel> sunnylinkDeviceRoles() const { return sunnylinkRoles; }
+  inline bool isSunnylinkAdmin() const {
+    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
+      return role.roleType == RoleType::Admin;
+    });
+  }
+  inline bool isSunnylinkSponsor() const {
+    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
+      return role.roleType == RoleType::Sponsor && role.as<SponsorRoleModel>().roleTier != SponsorTier::Free;
+    });
+  }
+  inline SponsorRoleModel sunnylinkSponsorRole() const {
+    std::optional<SponsorRoleModel> sponsorRoleWithHighestTier = std::nullopt;
+    for (const auto &role : sunnylinkRoles) {
+      if(role.roleType != RoleType::Sponsor)
+        continue;
+
+      if (auto sponsorRole = role.as<SponsorRoleModel>(); !sponsorRoleWithHighestTier.has_value() || sponsorRoleWithHighestTier->roleTier < sponsorRole.roleTier) {
+        sponsorRoleWithHighestTier = sponsorRole;
+      }
+    }
+    return sponsorRoleWithHighestTier.value_or(SponsorRoleModel(RoleType::Sponsor, SponsorTier::Free));
+  }
+  inline SponsorTier sunnylinkSponsorTier() const {
+    return sunnylinkSponsorRole().roleTier;
+  }
+  inline std::vector<UserModel> sunnylinkDeviceUsers() const { return sunnylinkUsers; }
+  inline bool isSunnylinkPaired() const {
+    return std::any_of(sunnylinkUsers.begin(), sunnylinkUsers.end(), [](const UserModel &user) {
+      return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
+    });
+  }
 
 signals:
+  void sunnylinkRoleChanged(bool subscriber);
+  void sunnylinkRolesChanged(std::vector<RoleModel> roles);
+  void sunnylinkDeviceUsersChanged(std::vector<UserModel> users);
   void uiUpdate(const UIStateSP &s);
 
 private slots:
   void update() override;
+
+private:
+  std::vector<RoleModel> sunnylinkRoles = {};
+  std::vector<UserModel> sunnylinkUsers = {};
 };
 
 UIStateSP *uiStateSP();

selfdrive/ui/tests/test_ui/run.py

@@ -207,6 +207,11 @@ def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
   click(278, 522)
   time.sleep(UI_DELAY)
 
+def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
+  setup_settings_sunnylink(click, pm)
+  click(1967, 225)
+  time.sleep(UI_DELAY)
+
 def setup_settings_sunnypilot(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
   click(278, 852)
@@ -268,6 +273,7 @@ CASES = {
 
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
+  "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
   "settings_sunnypilot": setup_settings_sunnypilot,
   "settings_sunnypilot_mads": setup_settings_sunnypilot_mads,
   "settings_trips": setup_settings_trips,

selfdrive/ui/translations/main_ar.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">عرض</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -419,33 +431,42 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 وضع خرطوم الحريق 🔥</translation>
     </message>
     <message>
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>يتعلم تطبيق openpilot كيفية القيادة من خلال مشاهدة البشر، مثلك، أثناء القيادة.
+
+يتيح لك وضع خرطوم الحريق زيادة تحميلات بيانات التدريب لتحسين نماذج القيادة في OpenPilot. كلما زادت البيانات، زادت النماذج، مما يعني وضعًا تجريبيًا أفضل.</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
+        <translation>وضع خرطوم الحريق: نشط</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>نشط</translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;غير نشط&lt;/span&gt;: اتصل بشبكة غير محسوبة</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.&lt;br&gt;&lt;br&gt;يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;الأسئلة المتكررة&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم كيف أو أين أقود؟&lt;/i&gt; لا، فقط قد كما تفعل عادة.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟&lt;/i&gt; لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.&lt;br&gt;&lt;br&gt;&lt;i&gt;ما هو محول USB-C الجيد؟&lt;/i&gt; أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم أي برنامج أستخدم؟&lt;/i&gt; نعم، فقط النسخة الأصلية من openpilot (وأفرع معينة) يمكن استخدامها للتدريب.</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
+        </translation>
     </message>
 </context>
 <context>
@@ -925,7 +946,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>خرطوم الحريق</translation>
     </message>
 </context>
 <context>
@@ -972,7 +993,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">خرطوم الحريق</translation>
     </message>
 </context>
 <context>
@@ -1441,6 +1462,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">غير متاح</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">إقران</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
@@ -1469,11 +1573,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>مرحباً بكم في openpilot</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; قبل الاستمرار.</translation>
     </message>
 </context>
 <context>
@@ -1634,15 +1738,15 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>انفتح</translation>
     </message>
     <message>
         <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>قم بزيادة تحميلات بيانات التدريب الخاصة بك لتحسين نماذج القيادة الخاصة بـ openpilot.</translation>
     </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; وضع خرطوم الحريق &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_de.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ANSEHEN</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -1425,6 +1440,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">Nicht verfügbar</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_en.ts

@@ -1,6 +1,16 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!DOCTYPE TS>
 <TS version="2.1" language="en_US">
+<context>
+    <name>FirehosePanel</name>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n segment&lt;/b&gt; of your driving is in the training dataset so far.</numerusform>
+            <numerusform>&lt;b&gt;%n segments&lt;/b&gt; of your driving are in the training dataset so far.</numerusform>
+        </translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message numerus="yes">

selfdrive/ui/translations/main_es.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -1425,6 +1440,93 @@ Esto puede tardar un minuto.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished">Estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished">PATROCINADOR</translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished">Conviértete en patrocinador de sunnypilot para obtener acceso anticipado a las funciones de sunnylink cuando estén disponibles.</translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished">Emparejar cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished">Empareja tu cuenta de GitHub para otorgar a tu dispositivo beneficios de patrocinador, incluido acceso a la API en sunnylink.</translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished">ID del dongle de sunnylink no encontrado. Esto puede deberse a una conexión débil o a un problema de registro en sunnylink. Por favor, reinicia y vuelve a intentarlo.</translation>
+    </message>
+    <message>
+        <source>THANKS</source>
+        <translation type="obsolete">GRACIAS</translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished">No patrocinador</translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished">Emparejado</translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished">No emparejado</translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished">GRACIAS ♥</translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished">Escanea el código QR para iniciar sesión en tu cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished">Sigue las indicaciones para completar el proceso de emparejamiento</translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished">Vuelve a ingresar al panel de &quot;sunnylink&quot; para verificar el estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished">Si el estado de patrocinio no se actualizó, por favor contacta a un moderador en Discord en https://discord.gg/sunnypilot</translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished">Escanea el código QR para visitar la página de GitHub Sponsors de sunnyhaibin</translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished">Elige tu nivel de patrocinio y confirma tu apoyo</translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished">Únete a nuestra comunidad en Discord en https://discord.gg/sunnypilot y contacta a un moderador para confirmar tu estado de patrocinio</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished">Empareja tu cuenta de GitHub</translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished">Acceso temprano: conviértete en patrocinador de sunnypilot</translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_fr.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VOIR</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -1425,6 +1440,89 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">ASSOCIER</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_ja.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -952,7 +966,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">データ学習</translation>
     </message>
 </context>
 <context>
@@ -1421,6 +1435,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">該当なし</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">OK</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_ko.ts

@@ -129,11 +129,11 @@
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
+        <translation>경고: openpilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+        <translation>이 차량에서 openpilot은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">보기</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -425,27 +437,31 @@
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다.
+
+파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다.</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
+        <translation>파이어호스 모드: 활성화</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>활성화</translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성&lt;/span&gt;: 무제한 네트워크에 연결</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.&lt;br&gt;&lt;br&gt;파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;자주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방법이나 장소가 중요한가요?&lt;/i&gt; 아니요, 평소처럼 운전하시면 됩니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;파이어호스 모드에서 제 모든 구간을 가져오나요?.&lt;br&gt;&lt;br&gt;&lt;i&gt; 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋은 USB-C 케이블은 무엇인가요?&lt;/i&gt; 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다.</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
     </message>
 </context>
 <context>
@@ -604,7 +620,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+        <translation>openpilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
@@ -612,7 +628,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1</translation>
+        <translation>장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
     </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -952,7 +968,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">파이어호스</translation>
     </message>
 </context>
 <context>
@@ -1421,6 +1437,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">동기화</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
@@ -1449,11 +1548,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>오픈 파일럿에 오신 것을 환영합니다.</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. 최신 약관은 &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; 에서 최신 약관을 읽은 후 계속하세요.</translation>
     </message>
 </context>
 <context>
@@ -1556,7 +1655,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 실험 모드 로고도 우측 상단에 표시됩니다.</translation>
+        <translation>운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 우측 상단에 실험 모드 로고가 표시됩니다.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
@@ -1564,7 +1663,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
+        <translation>openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
     </message>
     <message>
         <source>Enable Dynamic Experimental Control</source>

selfdrive/ui/translations/main_pt-BR.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">VER</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -419,33 +431,38 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Mode Firehose 🔥</translation>
+        <translation>🔥 Modo Firehose 🔥</translation>
     </message>
     <message>
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>O openpilot aprende a dirigir observando humanos, como você, dirigirem.
+
+O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor.</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
+        <translation>Modo Firehose: ATIVO</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>ATIVO</translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem restrição &lt;br&gt; de dados</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Perguntas Frequentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Todos os meus segmentos são enviados no Modo Firehose?&lt;/i&gt; Não, selecionamos apenas um subconjunto dos seus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;Qual é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de telefone ou laptop deve ser suficiente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa qual software eu uso?&lt;/i&gt; Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento.</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n segmento&lt;/b&gt; da sua direção está no conjunto de dados de treinamento até agora.</numerusform>
+            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; da sua direção estão no conjunto de dados de treinamento até agora.</numerusform>
+        </translation>
     </message>
 </context>
 <context>
@@ -956,7 +973,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Firehose</translation>
     </message>
 </context>
 <context>
@@ -1425,6 +1442,89 @@ Isso pode levar até um minuto.</translation>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">PAREAR</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
@@ -1453,11 +1553,11 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>Bem vindo ao openpilot</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
     </message>
 </context>
 <context>
@@ -1626,7 +1726,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Mode Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Modo Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_th.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">ดู</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -1421,6 +1435,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">ไม่มี</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">จับคู่</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_tr.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">BAK</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -431,14 +443,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Firehose Mode: ACTIVE</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>ACTIVE</source>
         <translation type="unfinished"></translation>
@@ -447,6 +451,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -1419,6 +1433,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -425,27 +437,31 @@
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 通过观察人类驾驶（包括您）来学习如何驾驶。
+
+“训练数据上传模式”允许您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更强大的模型，也就意味着更优秀的“实验模式”。</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
+        <translation>训练数据上传模式：激活中</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>激活中</translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;未激活&lt;/span&gt;：请连接至不限流量的网络</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。&lt;br&gt;&lt;br&gt;Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常见问题&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我开车的方式或地点有影响吗？&lt;/i&gt;不会，请像平常一样驾驶即可。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模式会上传所有的驾驶片段吗？&lt;/i&gt;不会，我们会选择性地上传部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什么是好的 USB-C 充电器？&lt;/i&gt;任何快速手机或笔记本电脑充电器都应该适用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的软件版本有影响吗？&lt;/i&gt;有的，只有官方 openpilot（以及特定的分支）可以用于训练。</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;目前已有 %n 段&lt;/b&gt; 您的驾驶数据被纳入训练数据集。</numerusform>
+        </translation>
     </message>
 </context>
 <context>
@@ -952,7 +968,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">训练上传</translation>
     </message>
 </context>
 <context>
@@ -1421,6 +1437,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">N/A</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">配对</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
@@ -1449,11 +1548,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>欢迎使用 openpilot</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>您必须接受《条款与条件》才能使用 openpilot。在继续之前，请先阅读最新条款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -159,6 +159,18 @@
         <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Error Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation type="unfinished">觀看</translation>
+    </message>
+    <message>
+        <source>View the error log for sunnypilot crashes.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -425,27 +437,31 @@
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 透過觀察人類駕駛（包括您）來學習如何駕駛。
+
+「訓練資料上傳模式」可讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就意味著更優秀的「實驗模式」。</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
-        <translation type="unfinished"></translation>
+        <translation>訓練資料上傳模式：啟用中</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>啟用中</translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;未啟用&lt;/span&gt;：請連接至不限流量的網路</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。&lt;br&gt;&lt;br&gt;訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常見問題&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我開車的方式或地點有影響嗎？&lt;/i&gt; 不會，請像平常一樣駕駛即可。&lt;br&gt;&lt;br&gt;&lt;i&gt;訓練資料上傳模式會上傳所有的駕駛片段嗎？&lt;/i&gt;不會，我們會選擇性地上傳部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什麼是好的 USB-C 充電器？&lt;/i&gt;任何快速手機或筆電充電器都應該適用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的軟體版本有影響嗎？&lt;/i&gt;有的，只有官方 openpilot（以及特定的分支）可以用於訓練。</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;目前已有 %n 段&lt;/b&gt; 您的駕駛數據被納入訓練資料集。</numerusform>
+        </translation>
     </message>
 </context>
 <context>
@@ -952,7 +968,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">訓練上傳</translation>
     </message>
 </context>
 <context>
@@ -1421,6 +1437,89 @@ This may take up to a minute.</source>
         <source>N/A</source>
         <translation type="unfinished">無法使用</translation>
     </message>
+    <message>
+        <source>Sponsor Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPONSOR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair GitHub Account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished">配對</translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SunnylinkSponsorPopup</name>
+    <message>
+        <source>Scan the QR code to login to your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Follow the prompts to complete the pairing process</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose your sponsorship tier and confirm your support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pair your GitHub account</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Early Access: Become a sunnypilot Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
@@ -1449,11 +1548,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>歡迎使用 openpilot</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>您必須接受《條款與條件》才能使用 openpilot。在繼續之前，請先閱讀最新條款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
     </message>
 </context>
 <context>

sunnypilot/mads/helpers.py

@@ -1,63 +1,57 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.common.params import Params
-
+from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
-from opendbc.car.hyundai.values import HyundaiSafetyFlags
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsParams:
-  def __init__(self):
-    self.params = Params()
+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
 
-  def read_param(self, key: str):
-    return self.params.get_bool(key)
 
-  def set_alternative_experience(self, CP):
-    enabled = self.read_param("Mads")
-    pause_lateral_on_brake = self.read_param("MadsPauseLateralOnBrake")
+def read_steering_mode_param(params: Params):
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
 
-    if enabled:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-      if pause_lateral_on_brake:
-        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+def set_alternative_experience(CP: structs.CarParams, params: Params):
+  enabled = params.get_bool("Mads")
+  steering_mode = read_steering_mode_param(params)
 
-  def set_car_specific_params(self, CP, CP_SP):
-    if CP.brand == "hyundai":
-      # TODO-SP: This should be separated from MADS module for future implementations
-      #          Use "HyundaiLongitudinalMainCruiseToggleable" param
-      hyundai_cruise_main_toggleable = True
-      if hyundai_cruise_main_toggleable:
-        CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
-        CP.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE.value
+  if enabled:
+    CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-    # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-    if CP.brand == "tesla":
-      self.params.remove("Mads")
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
+
+
+def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  if CP.brand == "hyundai":
+    # TODO-SP: This should be separated from MADS module for future implementations
+    #          Use "HyundaiLongitudinalMainCruiseToggleable" param
+    hyundai_cruise_main_toggleable = True
+    if hyundai_cruise_main_toggleable:
+      CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+      CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
+
+  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
+  if CP.brand == "tesla":
+    params.remove("Mads")
+
+  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
+  if CP.brand == "rivian":
+    params.remove("Mads")

sunnypilot/mads/mads.py

@@ -1,34 +1,14 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-
-from openpilot.sunnypilot.mads.helpers import MadsParams
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -43,7 +23,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
-    self.mads_params = MadsParams()
+    self.params = selfdrive.params
 
     self.enabled = False
     self.active = False
@@ -60,14 +40,14 @@ class ModularAssistiveDrivingSystem:
         self.allow_always = True
 
     # read params on init
-    self.enabled_toggle = self.mads_params.read_param("Mads")
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.enabled_toggle = self.params.get_bool("Mads")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def update_events(self, CS: car.CarState):
     def update_unified_engagement_mode():
@@ -104,11 +84,11 @@ class ModularAssistiveDrivingSystem:
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -144,6 +124,12 @@ class ModularAssistiveDrivingSystem:
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
+         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
+        self.events_sp.add(EventNameSP.lkasDisable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)

sunnypilot/mads/state.py

@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 from cereal import log, custom

sunnypilot/mads/tests/test_mads_state_machine.py

@@ -1,27 +1,8 @@
 """
-The MIT License
-
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-Last updated: July 29, 2024
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
 """
 
 import pytest

sunnypilot/modeld/runners/run_helpers.py

@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import os
 import pickle

sunnypilot/models/fetcher.py

@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import json
 import time

sunnypilot/models/helpers.py

@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import hashlib
 import os

sunnypilot/models/manager.py

@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 import asyncio
 import os

sunnypilot/models/tests/model_manager_audit.py

@@ -1,7 +1,9 @@
-# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#
-# This file is part of sunnypilot and is licensed under the MIT License.
-# See the LICENSE.md file in the root directory for more details.
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 
 from cereal import messaging, custom
 

sunnypilot/sunnylink/api.py

@@ -55,7 +55,7 @@ class SunnylinkApi(BaseApi):
     imei_try = 0
     while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
       try:
-        imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
       except Exception:
         self._status_update(f"Error getting imei, trying again... [{imei_try + 1}/{MAX_RETRIES}]")
         time.sleep(1)

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -5,6 +5,7 @@ from __future__ import annotations
 import base64
 import gzip
 import os
+import ssl
 import threading
 import time
 
@@ -29,7 +30,8 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require
 DISALLOW_LOG_UPLOAD = threading.Event()
 
 params = Params()
-sunnylink_api = SunnylinkApi(params.get("SunnylinkDongleId", encoding='utf-8'))
+sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
 
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
@@ -211,7 +213,7 @@ def main(exit_event: threading.Event = None):
 
   UploadQueueCache.initialize(upload_queue)
 
-  ws_uri = SUNNYLINK_ATHENA_HOST
+  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0
   while (exit_event is None or not exit_event.is_set()) and sunnylink_ready(params):
@@ -222,8 +224,9 @@ def main(exit_event: threading.Event = None):
       cloudlog.event("sunnylinkd.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(
         ws_uri,
-        cookie=f"jwt={sunnylink_api.get_token()}",
+        header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
         enable_multithread=True,
+        sslopt={"cert_reqs": ssl.CERT_NONE if "localhost" in ws_uri else ssl.CERT_REQUIRED},
         timeout=SUNNYLINK_RECONNECT_TIMEOUT_S,
       )
       cloudlog.event("sunnylinkd.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,

system/camerad/cameras/camera_qcom2.cc

@@ -141,7 +141,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete
 
   const auto &sensor = camera.sensor;
-  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;
+  // Offset idx by one to not get stuck in self loop
+  const float cur_ev_ = cur_ev[(camera.buf.cur_frame_data.frame_id - 1) % 3] * sensor->ev_scale;
 
   // Scale target grey between min and 0.4 depending on lighting conditions
   float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), target_grey_minimums[camera.cc.camera_num], 0.4);

system/camerad/cameras/spectra.cc

@@ -237,7 +237,7 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
   : m(master),
     enabled(config.enabled),
     cc(config) {
-  ife_buf_depth = (cc.output_type == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
+  ife_buf_depth = VIPC_BUFFER_COUNT;
   assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
@@ -266,7 +266,7 @@ int SpectraCamera::clear_req_queue() {
   req_mgr_flush_request.link_hdl = link_handle;
   req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
   int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
-  LOGD("flushed all req: %d", ret);
+  LOGD("flushed all req: %d", ret);  // returns a "time until timeout" on clearing the workq
 
   for (int i = 0; i < MAX_IFE_BUFS; ++i) {
     destroySyncObjectAt(i);
@@ -1258,6 +1258,8 @@ void SpectraCamera::camera_close() {
   LOG("-- Stop devices %d", cc.camera_num);
 
   if (enabled) {
+    clear_req_queue();
+
     // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
     // LOGD("stop sensor: %d", ret);
     int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
@@ -1328,7 +1330,16 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
   uint64_t timestamp = event_data->u.frame_msg.timestamp;    // timestamped in the kernel's SOF IRQ callback
   //LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
 
-  if (stress_test("skipping SOF event")) return false;
+  // if there's a lag, some more frames could have already come in before
+  // we cleared the queue, so we'll still get them with valid (> 0) request IDs.
+  if (timestamp < last_requeue_ts) {
+    LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
+    return false;
+  }
+
+  if (stress_test("skipping SOF event")) {
+    return false;
+  }
 
   if (!validateEvent(request_id, frame_id_raw)) {
     return false;
@@ -1379,7 +1390,7 @@ bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
 
     if (request_id != request_id_last + 1) {
       LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
-      clearAndRequeue(request_id_last + 1);
+      clearAndRequeue(request_id + 1);
       return false;
     }
   }
@@ -1390,6 +1401,7 @@ void SpectraCamera::clearAndRequeue(uint64_t from_request_id) {
   // clear everything, then queue up a fresh set of frames
   LOGW("clearing and requeuing camera %d from %lu", cc.camera_num, from_request_id);
   clear_req_queue();
+  last_requeue_ts = nanos_since_boot();
   for (uint64_t id = from_request_id; id < from_request_id + ife_buf_depth; ++id) {
     enqueue_frame(id);
   }
@@ -1400,11 +1412,20 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
   int buf_idx = request_id % ife_buf_depth;
   assert(sync_objs_ife[buf_idx]);
 
+  if (stress_test("sync sleep time")) {
+    util::sleep_for(350);
+    return false;
+  }
+
   auto waitForSync = [&](uint32_t sync_obj, int timeout_ms, const char *sync_type) {
+    double st = millis_since_boot();
     struct cam_sync_wait sync_wait = {};
     sync_wait.sync_obj = sync_obj;
     sync_wait.timeout_ms = stress_test(sync_type) ? 1 : timeout_ms;
-    return do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0;
+    bool ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0;
+    double et = millis_since_boot();
+    if (!ret) LOGE("camera %d %s failed after %.2fms", cc.camera_num, sync_type, et-st);
+    return ret;
   };
 
   // wait for frame from IFE
@@ -1415,6 +1436,7 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
     // BPS is typically 7ms
     success = waitForSync(sync_objs_bps[buf_idx], 50, "BPS sync");
   }
+
   return success;
 }
 

system/camerad/cameras/spectra.h

@@ -181,6 +181,7 @@ public:
   int sync_objs_ife[MAX_IFE_BUFS] = {};
   int sync_objs_bps[MAX_IFE_BUFS] = {};
   uint64_t request_id_last = 0;
+  uint64_t last_requeue_ts = 0;
   uint64_t frame_id_raw_last = 0;
   int invalid_request_count = 0;
   bool skip_expected = true;
@@ -202,11 +203,16 @@ private:
   inline static bool first_frame_synced = false;
 
   // a mode for stressing edge cases: realignment, sync failures, etc.
-  inline bool stress_test(const char* log) {
-    static double prob = std::stod(util::getenv("SPECTRA_ERROR_PROB", "-1"));;
-    bool triggered = (prob > 0) && ((static_cast<double>(rand()) / RAND_MAX) < prob);
+  inline bool stress_test(std::string log) {
+    static double last_trigger = 0;
+    static double prob = std::stod(util::getenv("SPECTRA_ERROR_PROB", "-1"));
+    static double dt = std::stod(util::getenv("SPECTRA_ERROR_DT", "1"));
+    bool triggered = (prob > 0) && \
+                     ((static_cast<double>(rand()) / RAND_MAX) < prob) && \
+                     (millis_since_boot() - last_trigger) > dt;
     if (triggered) {
-      LOGE("stress test (cam %d): %s", cc.camera_num, log);
+      last_trigger = millis_since_boot();
+      LOGE("stress test (cam %d): %s", cc.camera_num, log.c_str());
     }
     return triggered;
   }

system/camerad/main.cc

@@ -6,9 +6,8 @@
 #include "common/util.h"
 
 int main(int argc, char *argv[]) {
-  int ret = util::set_realtime_priority(53);
-  assert(ret == 0);
-  ret = util::set_core_affinity({6});
+  // doesn't need RT priority since we're using isolcpus
+  int ret = util::set_core_affinity({6});
   assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
 
   camerad_thread();

system/hardware/tici/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
-    "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
-    "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
-    "size": 18475008,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
+    "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
+    "hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
+    "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
+    "ondevice_hash": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img.xz",
-    "hash": "e4872f4132111b7b28586d978dd01bb48ffa031e103d029ebede7613c1bc2aa6",
-    "hash_raw": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz",
+    "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72",
+    "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
     "size": 4404019200,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e",
+    "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af",
     "alt": {
-      "hash": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img",
+      "hash": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img",
       "size": 4404019200
     }
   }