Merge branch 'master' into visuals-radar-tracks

2026-06-11 00:04:33 +08:00 · 2026-03-02 02:44:58 -05:00
parent 920ef49b32 a17a38d8c3
commit 19a5202f4c
551 changed files with 13298 additions and 26189 deletions
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -5,9 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}

 jobs:
  badges:
@@ -20,10 +18,10 @@ jobs:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
    - name: Push badges
      run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
+        python3 selfdrive/ui/translations/create_badges.py

        rm .gitattributes

--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -140,7 +140,7 @@ jobs:
        run: |
          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
          )
          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -168,6 +168,7 @@ jobs:
    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
    runs-on: ubuntu-latest
    strategy:
+      fail-fast: false
      max-parallel: 1
      matrix:
        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -20,27 +20,23 @@ concurrency:
  cancel-in-progress: true

 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  CI: 1

 jobs:
  generate_cereal_artifact:
    name: Generate cereal validation artifacts
    runs-on: ubuntu-24.04
    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
        with:
          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+        run: scons -j$(nproc) cereal
      - name: Generate the log file
        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
+          export PYTHONPATH=${{ github.workspace }}
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
      - name: 'Prepare artifact'
        run: |
          mkdir -p "cereal/messaging/tests/cereal_validations"
@@ -57,20 +53,26 @@ jobs:
    runs-on: ubuntu-24.04
    needs: generate_cereal_artifact
    steps:
-      - uses: actions/checkout@v4
+      - name: Checkout sunnypilot
+        uses: actions/checkout@v6
+      - name: Checkout upstream openpilot
+        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
+          path: openpilot
          submodules: true
          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
      - name: Download build artifacts
        uses: actions/download-artifact@v4
        with:
          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
      - name: 'Run the validation'
        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
+          export PYTHONPATH=${{ github.workspace }}/openpilot
+          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v8
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -5,7 +5,44 @@ on:
    types: [created, edited]

 jobs:
-  # TODO: gc old branches in a separate job in this workflow
+  cleanup-branches:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Delete stale Jenkins branches
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
+            const prefixes = ['tmp-jenkins', '__jenkins'];
+
+            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              per_page: 100,
+            })) {
+              for (const branch of response.data) {
+                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
+
+                const { data: commit } = await github.rest.repos.getCommit({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  ref: branch.commit.sha,
+                });
+
+                const commitDate = new Date(commit.commit.committer.date).getTime();
+                if (commitDate < cutoff) {
+                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
+                  await github.rest.git.deleteRef({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    ref: `heads/${branch.name}`,
+                  });
+                }
+              }
+            }
+
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
--- a/.github/workflows/mici_raylib_ui_preview.yaml
+++ b/.github/workflows/mici_raylib_ui_preview.yaml
@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -17,6 +17,8 @@ jobs:
    steps:
      - name: Checkout
        uses: actions/checkout@v6
+        with:
+          submodules: true
      - name: Checkout master
        uses: actions/checkout@v6
        with:
@@ -25,14 +27,12 @@ jobs:
      - run: git lfs pull
      - run: cd base && git lfs pull

-      - run: pip install onnx
-
      - name: scripts/reporter.py
        id: report
        run: |
          echo "content<<EOF" >> $GITHUB_OUTPUT
          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
          echo "EOF" >> $GITHUB_OUTPUT

      - name: Post model report comment
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -6,7 +6,7 @@ on:

 env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh prebuilt
+  BUILD: release/ci/docker_build_sp.sh

 jobs:
  build_prebuilt:
@@ -28,7 +28,7 @@ jobs:
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
    - uses: actions/checkout@v6
      with:
        submodules: true
--- a/.github/workflows/raylib_ui_preview.yaml
+++ b/.github/workflows/raylib_ui_preview.yaml
@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${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>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <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 ${{ github.workspace }}/master_ui_raylib/${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 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -7,20 +7,12 @@ on:
 jobs:
  build___nightly:
    name: build __nightly
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
      checks: read
      contents: write
    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
    - name: Wait for green check mark
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
@@ -29,14 +21,11 @@ jobs:
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
+        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
    - uses: actions/checkout@v6
      with:
        submodules: true
        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
+    - run: ./tools/op.sh setup
    - name: Push __nightly
      run: BRANCH=__nightly release/build_stripped.sh
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,9 +6,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}

 jobs:
  update_translations:
@@ -16,12 +14,13 @@ jobs:
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
      - uses: actions/checkout@v6
-      - uses: ./.github/workflows/setup-with-retry
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
+        run: python3 selfdrive/ui/update_translations.py --vanish
      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
        with:
          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
          commit-message: "Update translations"
@@ -35,33 +34,49 @@ jobs:
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v6
      with:
        submodules: true
+    - run: ./tools/op.sh setup
    - name: uv lock
-      if: github.repository == 'commaai/openpilot'
+      run: uv lock --upgrade
+    - name: uv pip tree
+      id: pip_tree
      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
+        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
+        uv pip tree >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
+    - name: venv size
+      id: venv_size
+      run: |
+        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
+        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
+        echo "" >> $GITHUB_OUTPUT
+        echo "Top 10 by size:" >> $GITHUB_OUTPUT
+        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
+          | grep -v '\.dist-info' \
+          | grep -v '__pycache__' \
+          | sort -rh \
+          | head -10 \
+          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
    - name: bump submodules
      run: |
-        git config --global --add safe.directory '*'
+        git config submodule.msgq.update none
+        git config submodule.rednose_repo.update none
+        git config submodule.teleoprtc_repo.update none
        git config submodule.tinygrad.update none
        git submodule update --remote
        git add .
    - name: update car docs
      run: |
-        export PYTHONPATH="$PWD"
        scons -j$(nproc) --minimal opendbc_repo
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -70,5 +85,16 @@ jobs:
        branch: auto-package-updates
        base: master
        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
+        body: |
+          Automatic PR from repo-maintenance -> package_updates
+
+          ```
+          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
+          ${{ steps.venv_size.outputs.VENV_SIZE }}
+          ```
+
+          ```
+          $ uv pip tree
+          ${{ steps.pip_tree.outputs.PIP_TREE }}
+          ```
        labels: bot
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -173,9 +173,18 @@ jobs:

            echo "Compiling: $onnx_file -> $output_file"
            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

+      - name: Validate Model Outputs
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --validate-only \
+            --model-dir "${{ env.MODELS_DIR }}"
+
      - name: Prepare Output
        run: |
          sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -184,7 +193,6 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
-            --include='*.thneed' \
            --include='*.pkl' \
            --include='*.onnx' \
            --exclude='*' \
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -180,8 +180,6 @@ jobs:
          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
          echo "Building sunnypilot's modeld_v2..."
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
          echo "Building sunnypilot's locationd..."
@@ -219,7 +217,6 @@ jobs:
            --exclude='**/.venv/' \
            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
            --exclude='third_party/*x86*' \
            --exclude='third_party/*Darwin*' \
            --delete-excluded \
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -241,10 +241,3 @@ jobs:
          gh run watch "$RUN_ID"
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -18,15 +18,8 @@ concurrency:
  cancel-in-progress: true

 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
+  CI: 1
+  PYTHONPATH: ${{ github.workspace }}
  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

 jobs:
@@ -36,10 +29,11 @@ jobs:
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
+      PYTHONPATH: /tmp/releasepilot
    steps:
    - uses: actions/checkout@v6
      with:
@@ -53,17 +47,15 @@ jobs:
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
+      timeout-minutes: 30
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: python3 system/manager/build.py
    - name: Run tests
      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: release/check-dirty.sh
    - name: Check submodules
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
@@ -85,26 +77,6 @@ jobs:
        fi
        release/check-submodules.sh

-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
  build_mac:
    name: build macOS
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
@@ -112,45 +84,13 @@ jobs:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ hashFiles('tools/Brewfile') }}
-          brew-macos-
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
+    - name: Remove Homebrew from environment
+      run: |
+        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
+        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
+    - run: ./tools/op.sh setup
    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+      run: scons

  static_analysis:
    name: static analysis
@@ -158,18 +98,16 @@ jobs:
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
    steps:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
    - name: Static analysis
      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+      run: scripts/lint/lint.sh

  unit_tests:
    name: unit tests
@@ -177,24 +115,22 @@ jobs:
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        source selfdrive/test/setup_xvfb.sh
+        # Pre-compile Python bytecode so each pytest worker doesn't need to
+        $PYTEST --collect-only -m 'not slow' -qq
+        MAX_EXAMPLES=1 $PYTEST -m 'not slow'

  process_replay:
    name: process replay
@@ -203,28 +139,19 @@ jobs:
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v5
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
+      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
+      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
    - name: Print diff
      id: print-diff
      if: always()
@@ -235,16 +162,32 @@ jobs:
      with:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
+    - name: Checkout ci-artifacts
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v4
+      with:
+        repository: commaai/ci-artifacts
+        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+        path: ${{ github.workspace }}/ci-artifacts
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        git config user.name "GitHub Actions Bot"
+        git config user.email "<>"
+        git fetch origin process-replay || true
+        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
+        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        echo "${{ github.sha }}" > ref_commit
+        git add .
+        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
+        git push origin process-replay
    - name: Run regen
      if: false
      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        ONNXCPU: 1
+      run: $PYTEST selfdrive/test/process_replay/test_regen.py

  simulator_driving:
    name: simulator driving
@@ -252,73 +195,44 @@ jobs:
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    if: false  # FIXME: Started to timeout recently
    steps:
    - uses: actions/checkout@v6
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons -j$(nproc)
    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
+      timeout-minutes: 2
      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+        source selfdrive/test/setup_xvfb.sh
+        pytest -s tools/sim/tests/test_metadrive_bridge.py

-  create_raylib_ui_report:
-    name: Create raylib UI Report
+  create_ui_report:
+    name: Create UI Report
    runs-on: ${{
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
      - uses: actions/checkout@v6
        with:
          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
+        run: scons -j$(nproc)
+      - name: Create UI Report
+        run: |
+          source selfdrive/test/setup_xvfb.sh
+          python3 selfdrive/ui/tests/diff/replay.py
+          python3 selfdrive/ui/tests/diff/replay.py --big
+      - name: Upload UI Report
        uses: actions/upload-artifact@v6
        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v6
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/diff/report
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,175 @@
+name: "ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+  # variant:video_prefix:master_branch
+  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
+
+jobs:
+  preview:
+    if: github.repository == 'sunnypilot/sunnypilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: ui-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting mici master ui
+        uses: actions/checkout@v6
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_mici
+          ref: openpilot_master_ui_mici_raylib
+
+      - name: Getting big master ui
+        uses: actions/checkout@v6
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_big
+          ref: openpilot_master_ui_big_raylib
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        run: |
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video branch <<< "$variant"
+            master_dir="${{ github.workspace }}/master_${name}"
+            cd "$master_dir"
+            git checkout --orphan=new_branch
+            git rm -rf *
+            git branch -D "$branch"
+            git branch -m "$branch"
+            git config user.name "GitHub Actions Bot"
+            git config user.email "<>"
+            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
+            git add .
+            git commit -m "${name} video for commit ${{ env.SHA }}"
+            git push origin "$branch" --force
+          done
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diffs
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+
+          COMMENT=""
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video _ <<< "$variant"
+            diff_name="${name}_diff"
+
+            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
+            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
+
+            diff_exit_code=0
+            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
+              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
+              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+
+            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
+            if [ $diff_exit_code -eq 0 ]; then
+              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
+            else
+              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
+            fi
+          done
+
+          {
+            echo "COMMENT<<EOF"
+            echo "$COMMENT"
+            echo "EOF"
+          } >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_mici
+        run: |
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "ui videos for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff reports to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          for variant in $VARIANTS; do
+            IFS=':' read -r name _ _ <<< "$variant"
+            diff_name="${name}_diff"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            git add "${diff_name}_pr_${{ github.event.number }}.html"
+          done
+          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
+            ## UI Preview
+            ${{ steps.find_diff.outputs.COMMENT }}
+          comment_tag: run_id_ui_preview
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@@ -64,9 +64,7 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

-selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
+selfdrive/modeld/models/*.pkl*
 sunnypilot/modeld*/models/*.pkl

 # openpilot log files
@@ -100,6 +98,7 @@ Pipfile
 .ionide

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

--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
  path = sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,104 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
+  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
+  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+* What's Changed (sunnypilot/opendbc)
+  * Honda: DBC for Accord 9th Generation by @mvl-boston
+  * FCA: update tire stiffness values for `RAM_HD` by @dparring
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
+  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+* New Contributors (sunnypilot/sunnypilot)
+  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
+  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
+  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
+  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
+  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+* New Contributors (sunnypilot/opendbc)
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
+  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000

 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,14 +1,38 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ubuntu:24.04

 ENV PYTHONUNBUFFERED=1

-ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*

+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

-COPY . ${OPENPILOT_PATH}/
+COPY --chown=$USER . ${OPENPILOT_PATH}/

-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/$USER/.local/bin/"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN tools/setup_dependencies.sh && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+USER root
+RUN git config --global --add safe.directory '*'
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,82 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/Dockerfile.sunnypilot
+++ b/Dockerfile.sunnypilot
@@ -1,12 +0,0 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-RUN scons --cache-readonly -j$(nproc)
--- a/Dockerfile.sunnypilot_base
+++ b/Dockerfile.sunnypilot_base
@@ -1,83 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-    rsync \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/19
+++ b/19
@@ -210,30 +210,23 @@ node {
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'sensord': {
@@ -251,11 +244,9 @@ node {
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
        ])
      },
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,8 @@
 Version 0.10.4 (2026-02-17)
 ========================
+* Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
+* Reduce comma four standby power usage by 77% to 52 mW

 Version 0.10.3 (2025-12-17)
 ========================
--- a/64
+++ b/64
@@ -18,6 +18,7 @@ AddOption('--asan', action='store_true', help='turn on ASAN')
 AddOption('--ubsan', action='store_true', help='turn on UBSan')
 AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
          action='store_false',
          dest='extras',
@@ -28,7 +29,6 @@ AddOption('--minimal',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 elif arch == "aarch64" and os.path.isfile('/TICI'):
  arch = "larch64"
 assert arch in [
@@ -38,6 +38,25 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

+if arch != "larch64":
+  import bzip2
+  import capnproto
+  import eigen
+  import ffmpeg as ffmpeg_pkg
+  import libjpeg
+  import libyuv
+  import ncurses
+  import openssl3
+  import python3_dev
+  import zeromq
+  import zstd
+  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, openssl3, zeromq, zstd]
+  py_include = python3_dev.INCLUDE_DIR
+else:
+  # TODO: remove when AGNOS has our new vendor pkgs
+  pkgs = []
+  py_include = sysconfig.get_paths()['include']
+
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
@@ -46,15 +65,13 @@ env = Environment(
    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
  },
-  CC='clang',
-  CXX='clang++',
  CCFLAGS=[
    "-g",
    "-fPIC",
    "-O2",
    "-Wunused",
    "-Werror",
-    "-Wshadow",
+    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
    "-Wno-unknown-warning-option",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
@@ -73,7 +90,7 @@ env = Environment(
    "#third_party/acados/include/blasfeo/include",
    "#third_party/acados/include/hpipm/include",
    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
+    [x.INCLUDE_DIR for x in pkgs],
  ],
  LIBPATH=[
    "#common",
@@ -81,8 +98,8 @@ env = Environment(
    "#third_party",
    "#selfdrive/pandad",
    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
    f"#third_party/acados/{arch}/lib",
+    [x.LIB_DIR for x in pkgs],
  ],
  RPATH=[],
  CYTHONCFILESUFFIX=".cpp",
@@ -94,7 +111,8 @@ env = Environment(

 # Arch-specific flags and paths
 if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
+  env["CC"] = "clang"
+  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
    "/usr/local/lib",
    "/system/vendor/lib64",
@@ -105,17 +123,10 @@ if arch == "larch64":
  env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
    "/System/Library/Frameworks/OpenGL.framework/Libraries",
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
 else:
  env.Append(LIBPATH=[
    "/usr/lib",
@@ -138,6 +149,22 @@ if _extra_cc:
 if arch != "Darwin":
  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])

+# Shorter build output: show brief descriptions instead of full commands.
+# Full command lines are still printed on failure by scons.
+if not GetOption('verbose'):
+  for action, short in (
+    ("CC",     "CC"),
+    ("CXX",    "CXX"),
+    ("LINK",   "LINK"),
+    ("SHCC",   "CC"),
+    ("SHCXX",  "CXX"),
+    ("SHLINK", "LINK"),
+    ("AR",     "AR"),
+    ("RANLIB", "RANLIB"),
+    ("AS",     "AS"),
+  ):
+    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
+
 # progress output
 node_interval = 5
 node_count = 0
@@ -149,10 +176,9 @@ if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)

 # ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
@@ -215,10 +241,8 @@ SConscript(['selfdrive/SConscript'])

 SConscript(['sunnypilot/SConscript'])

-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+if Dir('#tools/cabana/').exists() and arch != "larch64":
+  SConscript(['tools/cabana/SConscript'])


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

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

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

--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -153,6 +153,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
      navigation @1;
      vision @2;
      policy @3;
+      offPolicy @4;
    }
  }

--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -499,7 +499,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  pmicTempC @39 :List(Float32);
  intakeTempC @46 :Float32;
  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@@ -592,6 +593,7 @@ struct PandaState @0xa7649e2575e4591e {
  harnessStatus @21 :HarnessStatus;
  sbu1Voltage @35 :Float32;
  sbu2Voltage @36 :Float32;
+  soundOutputLevel @37 :UInt16;

  # can health
  canState0 @29 :PandaCanState;
@@ -1478,6 +1480,11 @@ struct ProcLog {

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

  struct CPUTimes {
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -25,14 +25,14 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }

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

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

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

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

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

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

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

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

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

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

-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
+  std::unique_ptr<Context> msgq_context;
+  std::unique_ptr<BridgeZmqContext> zmq_context;
  std::mutex mutex;
  std::condition_variable cv;
  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
  std::vector<SocketPair> socket_pairs;
 };
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 import pytest

 from cereal import log, car
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized

 import cereal.services as services
 from cereal.services import SERVICE_LIST
--- a/common/SConscript
+++ b/common/SConscript
@@ -5,7 +5,6 @@ common_libs = [
  'swaglog.cc',
  'util.cc',
  'ratekeeper.cc',
-  'clutil.cc',
 ]

 _common = env.Library('common', common_libs, LIBS="json11")
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
--- a/common/clutil.h
+++ b/common/clutil.h
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
--- a/common/file_chunker.py
+++ b/common/file_chunker.py
@@ -0,0 +1,37 @@
+import math
+import os
+from pathlib import Path
+
+CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
+
+def get_chunk_name(name, idx, num_chunks):
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
+
+def get_manifest_path(name):
+  return f"{name}.chunkmanifest"
+
+def get_chunk_paths(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  with open(path, 'rb') as f:
+    data = f.read()
+  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  for i, chunk_path in enumerate(chunk_paths):
+    with open(chunk_path, 'wb') as f:
+      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+
+def read_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
+  if os.path.isfile(path):
+    return Path(path).read_bytes()
+  raise FileNotFoundError(path)
--- a/common/mat.h
+++ b/common/mat.h
@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}
--- a/common/parameterized.py
+++ b/common/parameterized.py
@@ -0,0 +1,47 @@
+import sys
+import pytest
+import inspect
+
+
+class parameterized:
+  @staticmethod
+  def expand(cases):
+    cases = list(cases)
+
+    if not cases:
+      return lambda func: pytest.mark.skip("no parameterized cases")(func)
+
+    def decorator(func):
+      params = [p for p in inspect.signature(func).parameters if p != 'self']
+      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
+      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
+      expand_params = params[: len(normalized[0])]
+      if len(expand_params) == 1:
+        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
+      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
+
+    return decorator
+
+
+def parameterized_class(attrs, input_list=None):
+  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
+    params_list = attrs
+  else:
+    assert input_list is not None
+    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
+    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
+
+  def decorator(cls):
+    globs = sys._getframe(1).f_globals
+    for i, params in enumerate(params_list):
+      name = f"{cls.__name__}_{i}"
+      new_cls = type(name, (cls,), dict(params))
+      new_cls.__module__ = cls.__module__
+      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
+      globs[name] = new_cls
+    # Don't collect the un-parametrised base, but return it so outer decorators
+    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
+    cls.__test__ = False
+    return cls
+
+  return decorator
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -115,6 +115,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
    {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrainingVersion", {PERSISTENT, STRING}},
    {"UbloxAvailable", {PERSISTENT, BOOL}},
    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -136,6 +137,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
@@ -168,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -189,7 +192,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // Model Manager params
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
@@ -217,6 +220,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -249,7 +253,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},

    // Speed Limit
    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
@@ -267,6 +271,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -27,14 +27,14 @@ public:
    auto param_path = Params().getParamPath();
    if (util::file_exists(param_path)) {
      std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
      unlink(param_path.c_str());
    }
    if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
    }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
    unsetenv("OPENPILOT_PREFIX");
  }

--- a/common/ratekeeper.cc
+++ b/common/ratekeeper.cc
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"

-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+    : name(name_),
+      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
  interval = 1 / rate;
  last_monitor_time = seconds_since_boot();
  next_frame_time = last_monitor_time + interval;
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
    REQUIRE(util::read_file(filename).empty());

    std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
+    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
    std::string ret = util::read_file(filename);
    bool equal = (ret == content);
    REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }

 TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
+  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";

-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
    struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
  };

  SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
  }
  SECTION("a file exists with the same name") {
    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
    REQUIRE(f != -1);
    close(f);
    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
--- a/common/util.cc
+++ b/common/util.cc
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }

 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
+  auto verify_dir = [](const std::string& path) -> bool {
    struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
  };
  // remove trailing /'s
  while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
  char buffer[128];
  std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);

  if (!pipe) {
    return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {

 bool system_time_valid() {
  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
  time_t min_date = mktime(&min_tm);

  struct stat st;
--- a/common/util.h
+++ b/common/util.h
@@ -97,6 +97,13 @@ bool create_directories(const std::string &dir, mode_t mode);

 std::string check_output(const std::string& command);

+inline void check_system(const std::string& cmd) {
+  int ret = std::system(cmd.c_str());
+  if (ret != 0) {
+    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
+  }
+}
+
 bool system_time_valid();

 inline void sleep_for(const int milliseconds) {
--- a/common/utils.py
+++ b/common/utils.py
@@ -167,6 +167,92 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
      proc.kill()


+def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
+  rows = [list(row) for row in tabular_data]
+
+  def fmt(val):
+    if isinstance(val, str):
+      return val
+    if isinstance(val, (bool, int)):
+      return str(val)
+    try:
+      return format(val, floatfmt)
+    except (TypeError, ValueError):
+      return str(val)
+
+  formatted = [[fmt(c) for c in row] for row in rows]
+  hdrs = [str(h) for h in headers] if headers else None
+
+  ncols = max((len(r) for r in formatted), default=0)
+  if hdrs:
+    ncols = max(ncols, len(hdrs))
+  if ncols == 0:
+    return ""
+
+  for r in formatted:
+    r.extend([""] * (ncols - len(r)))
+  if hdrs:
+    hdrs.extend([""] * (ncols - len(hdrs)))
+
+  widths = [0] * ncols
+  if hdrs:
+    for i in range(ncols):
+      widths[i] = len(hdrs[i])
+  for row in formatted:
+    for i in range(ncols):
+      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
+
+  def _align(s, w):
+    if stralign == "center":
+      return s.center(w)
+    return s.ljust(w)
+
+  if tablefmt == "html":
+    parts = ["<table>"]
+    if hdrs:
+      parts.append("<thead>")
+      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
+      parts.append("</thead>")
+    parts.append("<tbody>")
+    for row in formatted:
+      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
+    parts.append("</tbody>")
+    parts.append("</table>")
+    return "\n".join(parts)
+
+  if tablefmt == "simple_grid":
+    def _sep(left, mid, right):
+      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
+
+    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
+
+    def _fmt_row(cells):
+      split = [c.split('\n') for c in cells]
+      nlines = max(len(s) for s in split)
+      for s in split:
+        s.extend([""] * (nlines - len(s)))
+      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
+
+    lines = [top]
+    if hdrs:
+      lines.extend(_fmt_row(hdrs))
+      lines.append(mid_sep)
+    for ri, row in enumerate(formatted):
+      lines.extend(_fmt_row(row))
+      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
+    return "\n".join(lines)
+
+  # simple
+  gap = "  "
+  lines = []
+  if hdrs:
+    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
+    lines.append(gap.join("-" * w for w in widths))
+  for row in formatted:
+    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
+  return "\n".join(lines)
+
+
 def retry(attempts=3, delay=1.0, ignore_failure=False):
  def decorator(func):
    @functools.wraps(func)
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 344 Supported Cars
+# 336 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,10 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -91,7 +88,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
@@ -122,7 +118,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -140,9 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -166,15 +159,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -354,7 +346,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||

 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?

 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.

 ### What gets merged?

 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.

 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +29,17 @@ All of these are examples of good PRs:

 ### What doesn't get merged?

-* **style changes**: code is art, and it's up to the author to make it beautiful 
+* **style changes**: code is art, and it's up to the author to make it beautiful
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.

 ### First contribution

 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There are a lot of bounties that don't require a comma 3X or a car.

 ## Pull Requests

--- a/docs/README.md
+++ b/docs/README.md
@@ -8,7 +8,7 @@ NOTE: Those commands must be run in the root directory of openpilot, **not /docs

 **1. Install the docs dependencies**
 ``` bash
-pip install .[docs]
+uv pip install .[docs]
 ```

 **2. Build the new site**
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/car-porting/what-is-a-car-port.md
@@ -21,10 +21,10 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable

-## panda
+## safety

-* `board/safety/safety_[brand].h`: Brand-specific safety logic
-* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests

 ## openpilot

--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,26 +20,34 @@ dependencies = [
  # core
  "cffi",
  "scons",
-  "pycapnp==2.1.0",
+  "pycapnp",
  "Cython",
  "setuptools",
  "numpy >=2.0",

+  # vendored native dependencies
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
+  "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3",
+  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
+  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
+
  # body / webrtcd
+  "av",
  "aiohttp",
  "aiortc",
-  # aiortc does not put an upper bound on pyopenssl and is now incompatible
-  # with the latest release
-  "pyopenssl < 24.3.0",
-  "pyaudio",

  # panda
  "libusb1",
  "spidev; platform_system == 'Linux'",

-  # modeld
-  "onnx >= 1.14.0",
-
  # logging
  "pyzmq",
  "sentry-sdk",
@@ -67,7 +75,6 @@ dependencies = [
  # ui
  "raylib > 5.5.0.3",
  "qrcode",
-  "mapbox-earcut",
  "jeepney",
 ]

@@ -86,30 +93,21 @@ testing = [
  "pytest-subtests",
  # https://github.com/pytest-dev/pytest-xdist/pull/1229
  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-timeout",
  "pytest-asyncio",
  "pytest-mock",
-  "pytest-repeat",
  "ruff",
  "codespell",
  "pre-commit-hooks",
 ]

 dev = [
-  "av",
-  "azure-identity",
-  "azure-storage-blob",
-  "dictdiffer",
  "matplotlib",
  "opencv-python-headless",
-  "parameterized >=0.8, <0.9",
-  "pyautogui",
-  "pywinctl",
-  "tabulate",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 ]

 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]

@@ -133,7 +131,6 @@ cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 asyncio_default_fixture_loop_scope = "function"
-#timeout = "30"  # you get this long by default
 markers = [
  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
  "tici: tests that are only meant to run on the C3/C3X",
@@ -151,7 +148,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"

--- a/2
+++ b/2
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -72,9 +72,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/driving_vision.onnx
-rm selfdrive/modeld/models/driving_policy.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
+rm -f selfdrive/modeld/models/*.onnx
+rm -f sunnypilot/modeld*/models/*.onnx

 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
--- a/release/ci/docker_build_sp.sh
+++ b/release/ci/docker_build_sp.sh
@@ -1,12 +1,14 @@
 #!/usr/bin/env bash
 set -e

-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_IMAGE=sunnypilot
+DOCKER_FILE=Dockerfile.openpilot
+DOCKER_REGISTRY=ghcr.io/sunnypilot
+COMMIT_SHA=$(git rev-parse HEAD)
+
 if [ -n "$TARGET_ARCHITECTURE" ]; then
  PLATFORM="linux/$TARGET_ARCHITECTURE"
  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
@@ -15,9 +17,11 @@ else
  TAG_SUFFIX=""
 fi

-source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX"
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA

-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR

 if [ -n "$PUSH_IMAGE" ]; then
  docker push $REMOTE_TAG
--- a/release/ci/docker_common_sp.sh
+++ b/release/ci/docker_common_sp.sh
@@ -1,18 +0,0 @@
-if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
-  export DOCKER_FILE=Dockerfile.sunnypilot_base
-elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
-  export DOCKER_FILE=Dockerfile.sunnypilot
-else
-  echo "Invalid docker build image: '$1'"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/sunnypilot
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-TAG_SUFFIX=$2
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -1,4 +1,5 @@
 import os
+import pickle
 import sys
 import hashlib
 import json
@@ -6,6 +7,41 @@ import re
 from pathlib import Path
 from datetime import datetime, UTC

+REQUIRED_OUTPUT_KEYS = frozenset({
+  "plan",
+  "lane_lines",
+  "road_edges",
+  "lead",
+  "desire_state",
+  "desire_pred",
+  "meta",
+  "lead_prob",
+  "lane_lines_prob",
+  "pose",
+  "wide_from_device_euler",
+  "road_transform",
+  "hidden_state",
+})
+OPTIONAL_OUTPUT_KEYS = frozenset({
+  "planplus",
+  "sim_pose",
+  "desired_curvature",
+})
+
+
+def validate_model_outputs(metadata_paths: list[Path]) -> None:
+  combined_keys: set[str] = set()
+  for path in metadata_paths:
+    with open(path, "rb") as f:
+      metadata = pickle.load(f)
+    combined_keys.update(metadata.get("output_slices", {}).keys())
+  missing = REQUIRED_OUTPUT_KEYS - combined_keys
+  if missing:
+    raise ValueError(f"Combined model metadata is missing required output keys: {sorted(missing)}")
+  detected_optional = sorted(OPTIONAL_OUTPUT_KEYS & combined_keys)
+  if detected_optional:
+    print(f"Optional output keys detected: {detected_optional}")
+

 def create_short_name(full_name):
  # Remove parentheses and extract alphanumeric words
@@ -68,8 +104,10 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")

  # Build the metadata structure
+  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+
  model_metadata = {
-    "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring",
+    "type": model_type,
    "artifact": {
      "file_name": tinygrad_file.name,
      "download_uri": {
@@ -122,9 +160,19 @@ if __name__ == "__main__":
  parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
  parser.add_argument("--custom-name", help="Custom display name for the model")
  parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--validate-only", action="store_true")
  parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
  args = parser.parse_args()

+  if args.validate_only:
+    metadata_paths = glob.glob(os.path.join(args.model_dir, "*_metadata.pkl"))
+    if not metadata_paths:
+      print(f"No metadata files found in {args.model_dir}", file=sys.stderr)
+      sys.exit(1)
+    validate_model_outputs([Path(p) for p in metadata_paths])
+    print(f"Validated {len(metadata_paths)} metadata files successfully.")
+    sys.exit(0)
+
  # Find all ONNX files in the given directory
  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
  if not model_paths:
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -1,17 +1,33 @@
 #!/usr/bin/env python3
 import os
 import glob
-import onnx
+
+from tinygrad.nn.onnx import OnnxPBParser

 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
 MODEL_PATH = "/selfdrive/modeld/models/"

+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj = {"metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
 def get_checkpoint(f):
-  model = onnx.load(f)
-  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  model = MetadataOnnxPBParser(f).parse()
+  metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
  return metadata['model_checkpoint'].split('/')[0]

+
 if __name__ == "__main__":
  print("| | master | PR branch |")
  print("|-| -----  | --------- |")
@@ -24,8 +40,4 @@ if __name__ == "__main__":
    fn = os.path.basename(f)
    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print(
-      "|", fn, "|",
-      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
-      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
-    )
+    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
--- a/selfdrive/assets/fonts/process.py
+++ b/selfdrive/assets/fonts/process.py
@@ -11,7 +11,7 @@ LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"

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


 def _languages():
--- a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
--- a/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
--- a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
--- a/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle.png
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
--- a/selfdrive/assets/icons_mici/buttons/button_side_back.png
+++ b/selfdrive/assets/icons_mici/buttons/button_side_back.png
--- a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png
--- a/selfdrive/assets/icons_mici/buttons/button_side_check.png
+++ b/selfdrive/assets/icons_mici/buttons/button_side_check.png
--- a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png
+++ b/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png
--- a/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
+++ b/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
--- a/selfdrive/assets/icons_mici/onroad/turn_signal_right.png
+++ b/selfdrive/assets/icons_mici/onroad/turn_signal_right.png
--- a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
+++ b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
--- a/selfdrive/assets/icons_mici/settings/keyboard/confirm.png
+++ b/selfdrive/assets/icons_mici/settings/keyboard/confirm.png
--- a/selfdrive/assets/icons_mici/settings/keyboard/enter.png
+++ b/selfdrive/assets/icons_mici/settings/keyboard/enter.png
--- a/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
+++ b/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
--- a/selfdrive/assets/icons_mici/settings/network/new/connect_button.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/connect_button.png
--- a/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png
--- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png
--- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png
--- a/selfdrive/assets/icons_mici/settings/network/new/lock.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/lock.png
--- a/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png
+++ b/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png
--- a/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png
+++ b/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png
--- a/selfdrive/assets/icons_mici/setup/green_button.png
+++ b/selfdrive/assets/icons_mici/setup/green_button.png
--- a/selfdrive/assets/icons_mici/setup/green_button_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/green_button_pressed.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png
--- a/Show More
+++ b/Show More